JP6684940B2 - Vehicle gaze guidance device - Google Patents

Description

  The present invention relates to a visual line guiding device that guides the visual line of an occupant in a vehicle such as an automobile.

  In recent years, automobiles are equipped with a navigation device that displays a guide route on a liquid crystal display as in Patent Document 1 or a device that supports driving in an emergency by monitoring the traveling environment by various radars as in Patent Document 2. It is installed.

JP, 2007-263839, A JP, 2014-159249, A

However, the automobile is still traveling based on the operation by the occupant. While traveling, the occupant checks the safety of the outside of the vehicle from the vehicle window such as the windshield, determines the confirmed outside condition of the vehicle, and operates the vehicle accordingly. In this case, the driving stability and safety of the vehicle are basically determined by the driving ability of the occupant. Depending on the situation, the occupant moves to switch the line of sight so as to appropriately check the front of the vehicle, diagonally forward, left and right, backward, diagonally backward, etc., while maintaining the line of sight stably in a certain direction, drive.
For this reason, for example, regarding safety, even if you are a beginner who does not know how to use your eyes to check the surroundings while driving, as with advanced users, you need to properly perform the necessary external safety checks. Is required. Further, even a bus crew member who is driving in a tired state is required to carry out necessary safety confirmations like a general passenger member who is not tired. Further, even if the occupant tries to check the outside of the vehicle, it may be possible to assume a situation in which the surroundings are difficult to see due to heavy rain or the like and sufficient confirmation cannot be performed. Even in such bad weather conditions, the occupants are required to carry out necessary safety checks. In other words, even if you are a beginner who does not know how to use your eyes while driving, in the case of bad weather such as heavy rain at night, perform necessary safety confirmation and continue to drive appropriately and safely according to the situation. Is required.

  As described above, in vehicles such as automobiles, it is potentially required to assist the occupant's driving itself, not to present the information on the guide route or to assist the driving in an emergency.

The visual line guiding device for a vehicle according to the present invention relates to a display member for displaying an image on a windshield or a screen that is transparent for an occupant who is in the vehicle to visually recognize the outside of the vehicle, and a landscape visually recognized by the occupant from the inside of the vehicle. And a perspective view on the screen through which the line of sight passes when the occupant visually recognizes an expected course where the vehicle is expected to pass, based on the landscape information. A position or a perspective position specifying unit that specifies a perspective position where the right edge and the left edge of the expected course of the vehicle are seen through, and the related information acquisition that acquires related information about the risk around the vehicle or the traveling itself of the vehicle. It includes a part, wherein the display member, based on the perspectives, so that can seem to overlap with the right and left edges of the predicted course of the vehicle On the windshield or the screen, a pair of running reference marks are displayed side by side at intervals corresponding to the vehicle width of the vehicle, and a warning line indicating a caution in running the vehicle is displayed on the windshield or In the case where the screen is displayed at a position where it does not overlap the pair of travel reference marks and the pair of travel reference marks and the attention line are displayed, the display timings of the pair of travel reference marks and the attention line do not overlap. The display of the pair of travel reference marks is changed according to the related information .

In the present invention, the landscape information acquisition unit acquires the landscape information about the scenery visually recognized by the occupant from the inside of the vehicle, and the perspective position specifying unit determines, based on the scenery information, the expected route in which the vehicle is expected to pass. Identifies the perspective position on the windshield or screen through which the line of sight passes when viewed by or the perspective position at which the right and left edges of the expected course of the vehicle are seen through. Then, the display member causes the windshield or the screen to display a pair of running reference marks side by side on the windshield or the screen at intervals corresponding to the vehicle width or more of the vehicle based on the perspective position. As a result, the occupant can see the pair of running reference marks displayed on the windshield or the screen so as to overlap the right edge and the left edge of the predicted course of the vehicle. The line of sight of the occupant can be guided to the predicted course of the vehicle highlighted by the pair of driving reference marks. The occupant can confirm the expected course that needs to be confirmed during driving. The distance between the pair of travel reference marks can be checked to see if the vehicle can travel safely. Further, the display of the pair of travel reference marks stabilizes the line of sight of the occupant in the expected course, and as a result, the vehicle can travel stably. Further, even after the occupant has moved the line of sight in another direction, the line of sight can be easily and promptly returned to the direction of the desired predicted course. There is no need to search for a predicted course when returning the line of sight.
In particular, since the pair of running reference marks are displayed so as to overlap the right edge and the left edge of the expected course, it is difficult for the occupant's eyes to concentrate on one point, and it becomes easier to observe the direction of the expected course as a whole. It is easy to check not only on the predicted course but also on the left and right of the predicted course.
On the other hand, if, for example, one running reference mark is displayed on the expected course, the eyes of the occupant are likely to concentrate on that point. As a result, even if the line of sight of the occupant can be guided by the traveling reference mark at one point, the consciousness concentrates only at that one point, and it becomes difficult to observe the expected course direction as a whole. In particular, it becomes difficult to confirm the safety on the left and right of the predicted course that is a subtle distance from the one driving reference mark. In the present invention, such misleading is unlikely to occur.
In addition, when displaying a caution line indicating the precautions for running the vehicle at a position that does not overlap the pair of travel reference marks on the windshield or screen, and displaying a pair of travel reference marks and a caution line, The driving reference mark and the alert line are switched and displayed so that the display timings do not overlap. Therefore, the occupant can distinguish and recognize that the pair of travel reference marks and the attention line are displays regarding different reasons based on the displays. Further, the occupant can easily judge the degree of danger to the predicted course based on the display positional relationship and understanding.

FIG. 1 is an explanatory diagram of an automobile according to a first embodiment of the present invention. FIG. 2 is a schematic configuration diagram of the line-of-sight guidance system mounted on the automobile of FIG. FIG. 3 is a flowchart of a display process periodically executed by the display control unit of FIG. FIG. 4 is a diagram showing an example of a car window image captured by the front camera through the windshield. FIG. 5 is a diagram illustrating an example of various specified portions specified for the captured car window image in FIG. 4. FIG. 6 is an explanatory diagram of an example of calculation processing for obtaining perspective coordinates on the windshield. FIG. 7: is explanatory drawing of an example of the vehicle window scenery which an occupant sees through a windshield. FIG. 8 is a flowchart of display processing according to the second embodiment of the present invention. FIG. 9 is an explanatory diagram of a display example of a windshield that switches and displays a pair of running reference marks and an alert line. FIG. 10 is a flowchart of display processing according to the third embodiment of the present invention. FIG. 11 is an explanatory diagram showing various modifications of the pair of travel reference marks displayed on the windshield by the projector. FIG. 12 is a flowchart of a display process periodically executed by the display control unit according to the fourth embodiment of the present invention. FIG. 13 is an explanatory diagram of an example of a car window view seen by a passenger through the windshield. FIG. 14 is a flowchart of a process of changing a pair of lane lines according to the fifth embodiment of the present invention. FIG. 15 is a flowchart of a display process periodically executed by the display control unit of FIG. 2 according to the sixth embodiment of the present invention. FIG. 16 is an explanatory diagram of an example of a vehicle window view seen by the occupant through the windshield where the lane lines grow and disappear. FIG. 17 is a flowchart of a display process periodically executed by the display control unit of the seventh embodiment of the present invention. FIG. 18 is an explanatory diagram of an example of a car window view seen by the occupant through the windshield in which the movement mark moves along the lane line. FIG. 19 is an explanatory diagram of a modified example of the scenery of the car window seen by the occupant through the windshield in which the movement mark moves in a direction separating from the lane line.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[First Embodiment]
In the first embodiment, an example in which a pair of travel reference marks for guiding the line of sight of the occupant M is displayed on the windshield 8 will be described.
FIG. 1 is an explanatory diagram of an automobile 1 according to a first embodiment of the present invention. The automobile 1 is an example of a vehicle. FIG. 1 is a view of the automobile 1 viewed from above.
The automobile 1 in FIG. 1 has a vehicle body 2. The vehicle body 2 has a front room 3 in which an engine and the like are arranged, a passenger room 4 in which an occupant M rides, and a rear room 5 in which luggage and the like are put.
In the passenger compartment 4, a plurality of seats 6 on which the passenger M is seated are arranged in front and rear two rows. In front of the front seat 6, a dashboard 7 extending in the left-right direction is arranged. A windshield 8 is arranged on the upper side of the dashboard 7. The windshield 8 is a transparent or translucent member through which the occupant M in the occupant compartment 4 can see the outside of the vehicle.
The occupant M gets in the occupant room 4 and sits on the seat 6. The occupant M running is restrained by the seat 6 by the seat belt 9.
On the upper part of the windshield 8, a rearview mirror 10 for confirming the rear of the vehicle body 2 is arranged. Side mirrors 11 are arranged outside the passenger compartment 4 to the left and right of the seats 6 in the front row. The occupant M can confirm not only the front surroundings of the automobile 1 through the windshield 8 but also the rear surroundings of the automobile 1 by using the room mirror 10 and the side mirror 11.
Operating members such as a steering wheel 12, a brake pedal 13, an accelerator pedal 14, and a shift lever 15 are arranged around a seat 6 of an occupant M who drives the automobile 1. The occupant M seated on the seat 6 operates the operation member to drive the automobile 1.

By the way, the automobile 1 in recent years is equipped with a navigation device that displays a guide route on a liquid crystal display, or with a device that monitors the traveling environment by various radars and supports driving in an emergency.
However, the automobile 1 is still traveling based on the operation by the occupant M. While traveling, the occupant M checks the safety of the outside of the vehicle from the vehicle window such as the windshield 8, judges the confirmed outside condition of the vehicle, and operates the vehicle 1 accordingly. In this case, the driving stability and safety of the automobile 1 are basically determined by the driving ability of the occupant M. Depending on the situation, the occupant M may move so as to switch the line of sight so as to appropriately check the front, diagonally forward, left and right, backward, diagonally backward, etc. of the vehicle body 2, or stably maintain the line of sight in a certain direction. While driving.

For this reason, for example, regarding safety, even if you are a beginner who does not know how to use your eyes to check the surroundings while driving, as with advanced users, you need to properly perform the necessary external safety checks. Is required. For example, it is necessary to visually confirm front front, front right diagonal front, and front left diagonal front.
Further, even a bus crew member who operates in a tired state is required to carry out necessary safety confirmations, like the general crew member M who is not tired.
Further, even if the occupant M tries to confirm the outside of the vehicle, it may be possible to assume a situation where the surroundings are difficult to see due to heavy rain or the like and sufficient confirmation cannot be performed. Even in such a bad weather condition, the occupant M is required to perform necessary safety confirmation.
In this way, even for beginners who do not know how to use their eyes while driving, in the case of bad weather such as heavy rain at night, appropriately perform the necessary safety confirmation and continue to drive safely according to the situation. Is required.

In addition to this, for example, in traveling stability, the occupant M is required to drive while checking the course from an appropriate line of sight.
For example, when cornering along a curved road, it is desirable to first move the vehicle body 2 to the brake point at the outer edge of the course when entering a corner. Therefore, by using this display method, the vehicle body 2 is naturally caused to approach the outside of the braking point. The vehicle body 2 is guided to the clipping point by this display method. At the same time, by guiding the line of sight further away, it is possible to stabilize the vehicle body behavior and draw an arc. When the occupant M drives the automobile 1 from such a viewpoint, the automobile 1 can trace the out-in-in line in which the second half of the corner is stable and the avoidance action is easy to take. The vehicle body 2 can smoothly pass through the corner in a stable state. As a result, not only the running stability of the automobile 1 but also the running safety can be improved.
As described above, in the automobile 1, it is potentially required not only to present the information on the guide route and to assist the driving in an emergency, but also to assist the driving of the occupant M itself.

FIG. 2 is a schematic configuration diagram of the line-of-sight guidance system 20 mounted on the automobile 1 of FIG.
The line-of-sight guidance system 20 of FIG. 2 includes a front camera 21, a rear camera 22, an in-vehicle camera 23, a driving support device 24, an ECU (Engine Control Unit) 25, a GPS (Global Positioning System) receiver 26, a navigation device 27, a wireless communication unit 28, and a micro. It has a computer 29 and a projector 30. A display control unit 31 is realized in the microcomputer 29.

  The front camera 21 is a camera that images the outside of the vehicle in front of the vehicle body 2. The front camera 21 may be, for example, a plurality of CMOS (Complementary Metal Oxide Semiconductor) sensors. The plurality of CMOS sensors are, for example, arranged side by side in the left-right direction of the vehicle body 2 along the upper edge of the windshield 8 and fixedly installed forward. The plurality of CMOS sensors may be fixedly installed on the front surface of the room mirror 10 side by side in a forward direction. With the plurality of CMOS sensors fixedly installed on the vehicle body 2, it is possible to obtain a plurality of images that are slightly deviated in the left-right direction with respect to a vehicle exterior scene in front of the vehicle body 2 or a target object such as another automobile. The imaging position in the image indicates the relative direction from the CMOS sensor to the target. Then, the relative direction and the relative distance between the own vehicle (vehicle body 2) and the target object can be calculated by, for example, trigonometric calculation with the installation positions of the plurality of CMOS sensors as the apexes of the base. It is possible to obtain the relative spatial position of the target object based on the host vehicle (body 2).

  The rear camera 22 is a camera that captures an image of the rear of the vehicle body 2. The rear camera 22 may be, for example, a plurality of CMOS sensors. The plurality of CMOS sensors are fixedly installed side by side in the left-right direction of the vehicle body 2 along the upper edge of the rear glass, for example. A plurality of CMOS sensors may be fixedly installed side by side on the left and right side mirrors 11 in a rearward direction. With the plurality of CMOS sensors fixedly installed on the vehicle body 2, it is possible to obtain a plurality of images that are slightly deviated in the left-right direction with respect to the exterior scenery behind the vehicle body 2 or a target object such as another automobile. Then, it is possible to obtain the relative spatial position of the target object with respect to the own vehicle (vehicle body 2).

  The in-vehicle camera 23 is a camera that images the inside of the passenger compartment 4. The in-vehicle camera 23 may be, for example, a plurality of CMOS sensors. The plurality of CMOS sensors are fixedly installed rearward, for example, side by side in the left-right direction of the vehicle body 2 on the upper edge portion of the windshield 8. Instead of this trigonometric arrangement, one of the plurality of CMOS sensors may be fixedly installed rearward on the dashboard 7, and the other may be fixedly installed downward on the roof of the vehicle body 2 above the seat 6. Even in this case, the Cartesian coordinate system allows the relative spatial position of the head and the eyes of the occupant M seated on the seat 6 in each image from the imaging position of the head and the eyes to the own vehicle (vehicle body 2). Can be calculated.

The travel support device 24 is a computer device connected to the front camera 21 and the rear camera 22. The travel support device 24 generates information on a moving body such as another automobile 1 existing around the own vehicle (vehicle body 2) based on the images captured by these cameras. The information of the moving body includes information such as a relative direction and distance, and a relative moving direction. The relative moving direction of the moving body can be calculated based on changes in the direction and the distance of the moving body in the plurality of images captured before and after time. The travel support device 24 determines the risk of a collision or the like based on the generated information on the moving body, and outputs the braking signal, the airbag deployment signal, or the like to the ECU 25 when there is a risk of the collision.
In addition, the traveling support device 24 outputs the data of the captured images of the front camera 21 and the rear camera 22 to the display control unit 31 of the microcomputer 29 together with the moving body information indicating the risk around the vehicle body 2. The images captured by the front camera 21 and the rear camera 22 can be used as an image of the scenery of the car window regarding the scenery visually recognized by the occupant M from the inside of the vehicle.

  The ECU 25 is a computer device that controls the traveling of the automobile 1 based on the operation of the occupant M and signals from the traveling support device 24 and the like. The ECU 25 outputs a control signal to the engine and the brake device of the automobile 1. The ECU 25 outputs relevant information about the traveling of the vehicle body 2, such as the vehicle speed, the steering angle of the steering wheel 12, the presence / absence of operation of the brake pedal 13, and the operation amount to the display control unit 31.

  The GPS receiver 26 receives GPS signals from GPS satellites. The GPS receiver 26 generates information such as the spatial position (latitude, longitude, altitude) of the own vehicle (vehicle body 2), moving speed, and time from a plurality of GPS signals received from a plurality of GPS satellites. The GPS receiver 26 outputs the generated related information about the traveling of the vehicle body 2 to the display control unit 31.

The navigation device 27 is connected to the GPS receiver 26. The navigation device 27 has accumulated information such as map data, road data, and terrain data. The road data includes node data regarding intersections of a plurality of roads and link data regarding each road section between the intersections. The node data includes information such as the number of lanes at the intersection and lane regulation information. The link data includes information such as the number of lanes on each road and lane regulation information. When the destination is set, the navigation device 27 uses the accumulated information to generate, for example, data indicating a moving route from the current position to the destination, and displays the generated moving route together with a map on the display.
The navigation device 27 also outputs map data, road data, topographical data, and guide route data to the display control unit 31 of the microcomputer 29. The map data, the road data, the terrain data, and the guide route data can be used as the landscape information about the vehicle window landscape visually recognized by the occupant M from inside the vehicle.

  The wireless communication unit 28 wirelessly communicates with a base station installed on the ground, for example. The wireless communication unit 28 acquires information from a server device connected to the Internet, for example, through a base station. Examples of such information include traffic information and regulation information. Further, the wireless communication unit 28 may acquire, for example, position information, moving speed, moving direction, etc. of mobile phones existing in the vicinity. The position information of the mobile phone can be used as the position information of a moving body such as a person, a child, or a dog. The wireless communication unit 28 may also acquire map data, road data, and terrain data around the vehicle (vehicle body 2) traveling. Then, the navigation device 27 outputs the acquired information to the display control unit 31 of the microcomputer 29.

  The components such as the GPS receiver 26, the navigation device 27, and the wireless communication unit 28 may be detachably provided to the vehicle body 2. Examples of devices that can be used for such purposes include mobile information terminals such as mobile phones and multifunctional mobile communication devices. Further, as the front camera 21, the rear camera 22, and the in-vehicle camera 23, an image pickup device of a personal digital assistant may be used. Even in this case, for example, by enabling the portable information terminal to be attached to the vehicle body 2 in a predetermined posture, the front camera 21, the rear camera 22, or the inside of the vehicle fixed to the vehicle body 2 in a predetermined imaging direction is fixed. It can be used as the camera 23.

  The projector 30 projects an image on the windshield 8, for example. In addition to this, the projector 30 may project an image on a transparent or translucent screen installed between the occupant M and the windshield 8 or on glasses worn by the occupant M. The windshield 8 may be attached with, for example, a transparent film in order to display the projected image. The projector 30 is installed in the dashboard 7 toward the windshield 8. The reflected light of the windshield 8 allows the occupant M to visually recognize the image projected on the windshield 8. By adjusting the amount of light projected from the projector 30 onto the windshield 8 or limiting the range or time of the image projected onto the windshield 8, the occupant M can visually recognize the scenery outside the vehicle through the windshield 8. The image projected on 8 can be visually recognized.

The microcomputer 29 is connected to the in-vehicle camera 23, the driving support device 24, the ECU 25, the navigation device 27, the wireless communication unit 28, and the projector 30. The microcomputer 29 is a computer device having a memory and a CPU (Central Processing Unit). The CPU reads and executes the program stored in the memory. As a result, the display control unit 31 is realized in the microcomputer 29.
The display control unit 31 outputs the image for guiding the line of sight of the occupant M to the projector 30 so as to call the attention of the occupant M by using the information input to the microcomputer 29 from these connected devices. As a result, an image for guiding the line of sight of the occupant M is displayed on the windshield 8 through which the occupant M who has boarded the vehicle body 2 can see the outside of the vehicle. As will be described later, the display control unit 31 uses the perspective coordinates on the windshield 8 through which the line of sight passes when the occupant M visually recognizes an expected course where the vehicle body 2 is expected to pass based on the scenery information outside the vehicle and the perspective coordinates. The perspective coordinates through which the right edge and the left edge of the predicted course are seen are specified, and a pair of running reference marks that overlap the right edge and the left edge of the predicted course are displayed on the windshield 8.
The microcomputer 29 may be provided with the display control unit 31, for example, a function as the travel support device 24, a function as the ECU 25, a function as the navigation device 27, and a function as the wireless communication unit 28. In this case, devices such as the front camera 21, the rear camera 22, and the GPS receiver 26 may be directly connected to the microcomputer 29.

Next, an example of the processing for the gaze guidance by the gaze guidance system 20 of FIG. 2 will be described. The line-of-sight guidance system 20 guides the line of sight of the occupant M by superimposing and displaying a running reference mark on a scene desired by the occupant M, for example, a course.
FIG. 3 is a flowchart of a display process periodically executed by the display control unit 31 of FIG. The display control unit 31 repeatedly executes the process of FIG. 3 every 100 milliseconds, for example, to update the display on the windshield 8.
FIG. 4 is a diagram showing an example of a car window image IM imaged by the front camera 21 through the windshield 8.
FIG. 5 is a diagram illustrating an example of various specified portions specified for the captured car window image IM in FIG. 4.

In order to guide the line of sight of the occupant M, the display control unit 31 periodically executes the display process of FIG. The display control unit 31 first determines whether or not a display for guiding the line of sight of the occupant M is necessary (step ST1).
The display control unit 31 measures, for example, the unstable behavior of the vehicle body 2 or the degree of tension of the occupant M and digitizes it, and when the value exceeds a certain level, it determines that the gaze guidance display is necessary.
Further, the display control unit 31 determines that the gaze guidance display is necessary when there is a change in the traveling environment such as a sharp curve or the vehicle body 2 popping out.
In addition, the display control unit 31 may determine the latest movement of the line of sight of the occupant M in the past, and may determine that the line-of-sight guidance display is necessary when there is a moving body that has not been noticed.
In other cases, the display control unit 31 determines that the line-of-sight guidance display is unnecessary and ends the display process of FIG.
The display control unit 31 may determine whether or not the gaze guidance display is necessary immediately before the display process described below.

When determining that the gaze guidance display is necessary, the display control unit 31 continues the display process of FIG. 3 and acquires information for the gaze guidance (step ST2).
The information acquired by this processing includes, for example, a captured image of the front of the vehicle body 2 by the front camera 21 that can be used as the front vehicle window image IM, and an in-vehicle camera 23 that can be used to determine the line of sight of the occupant M. There is a captured image inside the vehicle.

After acquiring the information for guiding the line of sight, the display control unit 31 looks at the spatial position of the direction or point where the line of sight of the occupant M is desired to be guided, and the perspective coordinates on the windshield 8 through which the line of sight of the occupant M passes. Estimate P (x, y) (step ST3).
By displaying the traveling reference mark 41 for guiding the line of sight of the occupant M at the perspective coordinates P (x, y), the line of sight of the occupant M can be directed to the direction or point. Here, a case where the line of sight of the occupant M is guided along the predicted course will be described as an example. In the car window image IM of FIG. 4, the road extends straight ahead in front of the vehicle body 2. In this case, as indicated by a dotted frame in FIG. 4, the occupant M needs to visually check the condition of the road surface of the road on which the automobile 1 is traveling.

In the process of estimating the perspective coordinates P (x, y) of the line of sight to the guide point, the display control unit 31 first specifies the coordinate range that is the predicted course (own lane) in the vehicle window image IM (step ST4).
The display control unit 31 uses, for example, guide route data, link data of road data, and the like to specify the image capturing coordinate range in which the road that is the expected course in the vehicle window image IM is captured. For example, in the case of the car window image IM of FIG. 4, the imaging range of the straight road hatched in FIG. 5 is the imaging coordinate range of the road that is the expected course.
If the road is determined to be a two-lane road facing each other based on the road data, or if it is determined to be a two-lane road on one side, the image capturing range of the lane in which the vehicle is traveling is set as the image capturing coordinate that is the expected course. It should be a range.
Further, when the white line line and the yellow line line that divides the road into lanes can be recognized by the processing on the vehicle window image IM, the imaging range of the lane in which the vehicle is traveling may be specified based on this information.

After specifying the imaging coordinate range that is the predicted course (own lane), the display control unit 31 specifies the visual field center coordinates PC in the vehicle window image IM that can overlook the road surface of the predicted course (( Step ST5).
The display control unit 31 specifies, for example, the center position of a predetermined distance on the expected route as the visual field center coordinate PC. In the case of the car window image IM in FIG. 4, as shown in FIG. 5, for example, the center of the dotted frame in FIG. 4 is specified as the visual field center coordinate PC.

After identifying the visual field center coordinates PC to be guided with respect to the vehicle window image IM, the display control unit 31 sets the pair of left and right visual line guidance coordinates PL and PR which are separated from the visual field center coordinates PC by a lane width or a distance corresponding to the vehicle width. Is specified (step ST6). Specifically, in the case of the car window image IM of FIG. 4, the display control unit 31 takes a pair of right and left edges of the lane located in the left-right direction (horizontal direction) from the visual field center coordinate PC of FIG. The gaze guidance coordinates PL, PR are specified.
The vehicle width information, the road width, and the lane width information can be acquired from the navigation device 27. The display control unit 31 refers to the acquired information and specifies the pair of left and right line-of-sight guidance coordinates PL and PR at intervals equal to or larger than the vehicle width. When the road width or the lane width is smaller than the vehicle width, the pair of line-of-sight guidance coordinates PL and PR are specified by shifting from the right edge and the left edge of the lane so that the distance becomes equal to or more than the vehicle width.

Next, the display control unit 31 specifies the spatial position of the viewpoint (starting point of the line of sight) of the occupant M based on the image captured inside the vehicle by the in-vehicle camera 23 (step ST7).
In the case of FIG. 2, the captured image inside the vehicle includes the face of the occupant M. In this case, by specifying the position of the head or the eyeball in the image, the direction of the head or the eyeball with respect to the in-vehicle camera 23 can be specified. The occupant M is seated on the seat 6 and is restrained by the seat belt 9. Therefore, the distance from the in-vehicle camera 23 to the head or the eyeball can be estimated from the information on the front and rear positions of the sliding seat 6. Based on these pieces of information, the display control unit 31 specifies the spatial position of the head or the eyeball of the occupant M who is on board.
In addition to this, for example, in a state in which a reference mark that overlaps with a predetermined object outside the vehicle is displayed, an occupant M moves his / her head left and right, and an image in a state in which the reference mark appears to overlap with the predetermined object outside the vehicle is used as a reference. An image is captured and held. After that, the spatial position of the head or the eyeball of the occupant M who is in the vehicle is determined by the difference between the imaging position of the head or the eyeball in the reference image and the imaging position of the head or the eyeball in the in-vehicle image at the time of processing. May be specified. Even in this case, the display control unit 31 can specify the approximate spatial position of the head or the eyeball of the occupant M who is on board.

Next, the display control unit 31 calculates the perspective coordinates P (x, y) on the windshield 8 through which the line of sight passes when the occupant M looks at the line-of-sight guidance position through the windshield 8 (step ST8).
FIG. 6 is an explanatory diagram of an example of a calculation process for obtaining perspective coordinates P (x, y) on the windshield 8. FIG. 6 is a schematic sectional view in which the vehicle body 2 and the road are cut along a vertical plane. FIG. 6 shows the road surface, the front camera 21 fixedly installed on the vehicle body 2, the windshield 8, the head and eyes of the occupant M. Further, a car window image IM imaged by the front camera 21 is schematically illustrated. In this case, the car window image IM can be treated as a virtual image that is erected in front of the vehicle body 2 at the intersection of the lower edge of the imaging range of the front camera 21 and the road surface.
Under such a spatial positional relationship, the spatial position of the line-of-sight guidance point P1 on the road can be obtained by extending the line segment connecting the front camera 21 and the line-of-sight guidance coordinates PL and PR in the car window image IM. Then, a line segment connecting the spatial position of the line-of-sight guidance point P1 on this road and the spatial position of the head or the eyeball of the occupant M intersects with the windshield 8. By calculating based on such a positional relationship, when the occupant M looks at the line-of-sight guidance point P1 through the windshield 8, the display control unit 31 transmits perspective coordinates P (x on the windshield 8 through which the line of sight passes. , Y) can be calculated.

After calculating the perspective coordinates P (x, y) on the windshield 8, the display control unit 31 starts a process of horizontally displaying the pair of travel reference marks 41 at the perspective coordinates P (x, y) ( Step ST9).
The display control unit 31 displays the right travel reference mark 41 at the right perspective coordinates P (x, y). Further, the left travel reference mark 41 is displayed at the left perspective coordinates P (x, y).
FIG. 7 is an explanatory diagram of an example of a car window view seen by the occupant M through the windshield 8. In FIG. 7, the pair of travel reference marks 41 are displayed side by side so as to overlap the right and left edges of the lane in which the vehicle is traveling.
Specifically, the right travel reference mark 41 is composed of a travel reference line L1 that extends so as to overlap the right edge of the lane and a sight line reference line L2 that extends from the travel reference line L1 toward the outer right side. The left travel reference mark 41 is composed of a travel reference line L1 that extends to overlap the left edge of the lane, and a line-of-sight reference line L2 that extends from the travel reference line L1 toward the left outside. The pair of line-of-sight reference lines L2 are displayed at the same height on the left and right.
The line of sight of the occupant M can be guided by the pair of travel reference marks 41, particularly to the height position of the pair of line-of-sight reference lines L2. Then, the occupant M can visually recognize the spatial position of the right edge and the spatial position of the left edge of the lane by the pair of travel reference lines L1. Further, since the pair of travel reference marks 41 appear to overlap the right edge and the left edge of the lane, the occupant M can recognize that the lane width is equal to or larger than the vehicle width of the vehicle body 2.

As described above, in the present embodiment, the display control unit 31 acquires the vehicle window image IM visually recognized by the occupant M from the inside of the vehicle, and based on the vehicle window image IM, the right side of the expected course where the vehicle is expected to pass. The perspective coordinates P (x, y) on the windshield 8 through which the line of sight passes when the occupant M visually recognizes the edge and the left edge are specified. Then, based on the perspective coordinates P (x, y), the projector 30 causes the windshield 8 to display the pair of traveling reference marks 41 side by side at intervals corresponding to the vehicle width of the own vehicle or more. This allows the occupant M to see the pair of travel reference marks 41 displayed on the windshield 8 so as to overlap the right edge and the left edge of the predicted course of the vehicle body 2. The line of sight of the occupant M can be guided to the predicted course highlighted by the pair of travel reference marks 41. The occupant M can confirm the expected course that needs to be confirmed during driving. The distance between the pair of travel reference marks 41 can be checked to see if the vehicle can travel safely.
Further, due to the display of the pair of travel reference marks 41, the line of sight of the occupant M is stabilized in the expected course, and as a result, the vehicle body 2 can travel stably.
In addition, even after the occupant M has moved his or her line of sight in another direction, the line of sight can be easily and promptly returned to the desired direction of the predicted course. There is no need to search for a predicted course when returning the line of sight.
In particular, since the pair of running reference marks 41 are displayed so as to overlap the right edge and the left edge of the predicted course, the line of sight of the occupant M is hard to concentrate on one point, and it is easy to observe the entire predicted course. It is easy to check not only on the predicted course but also on the left and right of the predicted course.
On the other hand, if, for example, one running reference mark 41 is displayed in the center of the predicted course, the line of sight of the occupant M is likely to concentrate on that point. As a result, even if the line-of-sight of the occupant M can be guided to the expected course by one point of the driving reference mark 41, the consciousness concentrates on only one point, and it becomes difficult to observe the entire expected course. In particular, it becomes difficult to confirm the safety at the right edge and the left edge of the predicted course, which are slightly deviated from the one travel reference mark 41. In the present embodiment, such misleading is unlikely to occur.

  Further, in the present embodiment, the display control unit 31 identifies the perspective coordinates P (x, y) of the edge of the road or lane on which the vehicle (body 2) is traveling in the vehicle window image IM, and the projector 30 , The traveling reference mark 41 is displayed at the perspective coordinates P (x, y). Therefore, the occupant M can see the pair of traveling reference marks 41 overlapping with the right edge and the left edge of the predicted course of the vehicle (body 2).

Further, as described above, in the present embodiment, the display control unit 31 acquires the landscape information on the landscape visually recognized by the occupant M from the inside of the vehicle, and based on the landscape information, the expected passage of the own vehicle is expected. The perspective coordinates P (x, y) on the windshield 8 through which the line of sight passes when the occupant M visually recognizes the route are specified. Then, based on the perspective coordinates P (x, y), the projector 30 causes the windshield 8 to have a pair of running reference lines along the right edge and the left edge of the windshield 8 at intervals corresponding to the vehicle width of the vehicle or more. Display L1 side by side. This allows the occupant M to see the pair of traveling reference lines L1 displayed on the windshield 8 so as to overlap with the right edge and the left edge of the predicted course of the vehicle. The line of sight of the occupant M can be guided to the predicted course highlighted by the pair of travel reference lines L1. The occupant M can confirm the expected course that needs to be confirmed during driving, for example, the width of the expected course and the traveling direction. The distance between the pair of traveling reference lines L1 can be confirmed to confirm whether or not the vehicle can travel safely.
Further, in the present embodiment, a pair of line-of-sight reference lines L1 and a pair of line-of-sight reference lines L2 extending outward from the pair of line-of-travel reference lines L1 are displayed. The two substantially T-shaped marks are displayed so as to sandwich the expected course. Human beings have the characteristic of trying to match their eyes with a line extending along the horizontal direction. The height level of the line of sight is guided by the pair of line-of-sight reference lines L2. Then, in a display having an intersection such as a substantially T-shape, the occupant M tends to hold the line of sight near the intersection. In addition, the pair of substantially T-shaped displays that are separated in the horizontal direction makes the occupant M aware of the interval. By utilizing this characteristic, the pair of substantially T-shaped displays can stabilize the line of sight.
By displaying the combination of the traveling reference line L1 and the line-of-sight reference line L2, the line-of-sight of the occupant M is stabilized in the expected course at a distance corresponding to the pair of line-of-sight reference lines L2, and as a result, the automobile 1 is stable. Can drive. Further, even after the occupant M has moved the line of sight in another direction, the line of sight can be easily and promptly returned to the direction of the distance. There is no need to search for a predicted course when returning the line of sight. Since the pair of substantially T-shaped characters are displayed at the portion where the line of sight is desired, the occupant M can intuitively grasp the road width and the traveling direction at the position of the line of sight.
In particular, since the pair of running reference lines L1 are displayed so as to overlap the right edge and the left edge of the predicted course, it is difficult for the occupant's eyes to concentrate on one point, and it is easy to observe the direction of the predicted course as a whole. Become. It is easy to check not only on the predicted course but also on the left and right of the predicted course.
On the other hand, if, for example, one traveling reference line is displayed on the expected course, the line of sight of the occupant M is likely to concentrate at that point. As a result, even if the line of sight of the occupant M can be guided by one traveling reference line, consciousness concentrates on only that one line, and it becomes difficult to observe the expected course direction as a whole. In particular, it becomes difficult to confirm the safety on the left and right of the predicted course, which is a surrounding area that is slightly separated from one travel reference line. In the present embodiment, such misleading is unlikely to occur.

  Further, in the present embodiment, the length of the line-of-sight reference line L2 extending outward from each of the pair of travel reference lines L1 is longer than the travel reference line L1. Therefore, a sense of unity can be provided between the pair of travel reference lines L1 and the pair of line-of-sight reference lines L2 that are displayed apart from each other in the horizontal direction in the horizontal direction. The entire display can be made to be conscious by the display related to one. Further, the line of sight of a person is easily guided between the pair of line-of-sight reference lines L2. By utilizing this characteristic, the line of sight of the occupant M can be guided between the pair of line-of-sight reference lines L2.

  Further, in the present embodiment, the projector 30 displays the line-of-sight reference line L2 at the height at which the line of sight of the occupant M is desired to be guided. Therefore, the line of sight of the occupant can be guided between the pair of line-of-sight reference lines L2 regardless of the length of the pair of line-of-sight reference lines L1.

[Second Embodiment]
In the second embodiment, an example in which a pair of running reference marks 41 and a caution line 42 are displayed on the windshield 8 will be described.
The configurations of the automobile 1 and the line-of-sight guidance system 20 in the second embodiment are the same as those in the first embodiment, and the same reference numerals are used and the description thereof is omitted. In the following description, differences will be mainly described.

FIG. 8 is a flowchart of display processing according to the second embodiment of the present invention.
FIG. 9 is an explanatory diagram of a display example of the windshield 8 that switches and displays the pair of running reference marks 41 and the attention line 42. FIG. 9A shows a state in which a pair of running reference marks 41 are displayed. FIG. 9B shows a state in which one alert line 42 is displayed.

As shown in FIG. 8, in step ST3, after calculating the perspective coordinates P (x, y) on the windshield 8 through which the line of sight passes, the display control unit 31 starts the display process.
In the display process, the display control unit 31 first displays a pair of travel reference marks 41 horizontally on the calculated perspective coordinates P (x, y) as shown in FIG. 9A (step ST9). As a result, the line of sight is guided to and around the road surface of the course.
After displaying the pair of traveling reference marks 41 for a predetermined period, the display control unit 31 erases the pair of traveling reference marks 41 (step ST11), and displays a caution line 42 as shown in FIG. 9B ( Step ST12). Then, the alert line 42 is erased (step ST13). The attention line 42 in FIG. 9B indicates the direction of the guide route. The attention line 42 indicating the direction of the guide route extends from the center position of the upper edge of the windshield 8 and is curved downward and rightward along the expected course. By displaying such a caution line 42, the line of sight is guided, and the occupant M can recognize that the planned course is turning to the right. It is possible to indicate points to be noted when the vehicle body 2 travels.
Further, as is clear by comparing FIG. 9 (A) and FIG. 9 (B), the attention line 42 is displayed in a shifted position so as not to overlap the display position of the pair of travel reference marks 41. ing. By preventing the position and the timing from overlapping in this way, the occupant M can display the pair of running reference marks 41 and the attention line 42, which are continuously displayed, with different line-of-sight guidance displays corresponding to different points of caution. Can be easily recognized.

As described above, in the present embodiment, the projector 30 causes the windshield 8 to display the caution line 42 indicating the precautions for traveling of the vehicle body 2 in addition to the pair of traveling reference marks 41. Therefore, the line of sight of the occupant M can be guided not only on the predicted course but also on points to be noted in traveling of the vehicle body 2. It is possible to make the occupant M recognize an unaware point, or to make the occupant M recognize an early point.
In particular, in the present embodiment, a caution line 42 indicating a caution for running the vehicle body 2 is displayed at a position not overlapping the pair of running reference marks 41 with the timing of the pair of running reference marks 41 being shifted. Therefore, the occupant M can distinguish and recognize that the pair of travel reference marks 41 and the alert line 42 are displays regarding different reasons based on the displays. Further, the occupant M can easily judge the degree of danger to the predicted course based on the display positional relationship and understanding.

[Third Embodiment]
In the third embodiment, an example in which the pair of travel reference marks 41 displayed on the windshield 8 are changed according to the situation will be described.
The configurations of the automobile 1 and the line-of-sight guidance system 20 in the third embodiment are similar to those in the first embodiment, and the same reference numerals are used and the description thereof is omitted. In the following description, differences will be mainly described.

FIG. 10 is a flowchart of display processing according to the third embodiment of the present invention.
As shown in FIG. 10, after calculating the perspective coordinates P (x, y) on the windshield 8 through which the line of sight passes in step ST3, the display control unit 31 further performs the perspective coordinates before starting the display process. It is determined whether P (x, y) and the travel reference mark 41 need to be changed. The display control unit 31 determines whether or not the change is necessary based on the information acquired from the device connected to the microcomputer 29.

Specifically, the display control unit 31 first determines the peripheral risk (step ST21).
For example, when a moving object such as the bicycle 51 is shown on the road of the predicted course or on the side of the road in the captured image in the front, the display control unit 31 determines that the change is necessary.
Further, when it is expected that the vehicle jumps out on the road or a dangerous material on the road is predicted, the display control unit 31 determines that the change is necessary.
Further, when the road is sharply curved or the road surface changes, the display control unit 31 determines that the change is necessary.
In other cases, the display control unit 31 determines that the change is unnecessary.

Next, the display control unit 31 determines the traveling state of the own vehicle (step ST22).
For example, when the captured image in the front is dark, the display control unit 31 determines that the change is necessary.
If the vehicle speed is equal to or higher than the predetermined value, the display control unit 31 determines that the change is necessary.
In other cases, the display control unit 31 determines that the change is unnecessary.

After that, the display control unit 31 determines whether or not the change is necessary (step ST23).
When it is determined that the change is unnecessary in all the above determinations, the display control unit 31 determines that the change is not necessary, and displays the pair of travel reference marks 41 on the initial perspective coordinates P (x, y) (step ST24).

  In other cases, the display control unit 31 determines that the change is necessary, changes the traveling reference mark 41 to be displayed, and changes the display coordinates of the traveling reference mark 41 in accordance with the reason for determining that the change is required. Then, the changed running reference mark 41 is displayed (step ST25).

  FIG. 11 is an explanatory diagram showing various modifications of the pair of travel reference marks 41 displayed on the windshield 8 by the projector 30.

FIG. 11 (A) is a modification example when the bicycle 51 is traveling on the right end of the road of the expected course. In this case, the display coordinates of the driving reference mark 41 on the right side are changed to be closer to the center of the lane than the bicycle 51.
The driving reference mark 41 on the right side may be displayed so as to move from the position of the right edge of the lane to the changed position.
When the distance between the pair of travel reference marks 41 after the change is smaller than the vehicle width, the display coordinates of the left travel reference mark 41 may be changed to the left side so that the distance becomes the vehicle width.

  FIG. 11B is a modification example in the case where the bicycle 51 may intrude into the road of the expected course from the right side. In this case, the driving reference mark 41 on the right side is changed to a thicker line than usual. This enables the highlighted display of the bicycle 51 coming in from the right side of the road.

  FIG. 11C is a modification example in the case where the inside of the tunnel gets in and the outside becomes dark. In this case, in each of the travel reference marks 41, the travel reference line L1 that extends to overlap the edge of the lane is extended to the front side. As a result, even in a situation where the outside of the vehicle is dark and it is difficult to visually recognize the lane, it is possible to easily recognize the lane by displaying the extended traveling reference line L1.

  FIG. 11D is a modification example when the vehicle speed exceeds a predetermined speed limit. In this case, the pair of travel reference marks 41 are displayed so as to be shifted toward the center of the lane so that the distance between them becomes narrow. As a result, the occupant M may feel as if the lane width has become narrower and may slow down the speed.

  FIG. 11 (E) is a modification example when the vehicle speed exceeds a predetermined speed limit. In this case, the color of the pair of travel reference marks 41 is changed from normal green to red, for example. Since the drawings are black and white, the solid lines are shown as being changed to broken lines. Accordingly, the occupant M can know that the vehicle speed exceeds the speed limit.

As described above, in the present embodiment, the display control unit 31 acquires the relevant information about the risk around the vehicle body 2 or the traveling itself of the vehicle body 2, and the projector 30 transmits the pair of traveling information according to the relevant information. The display of the reference mark 41 is changed.
Therefore, the occupant M can recognize relevant information about the risk around the vehicle body 2 or the traveling itself of the vehicle body 2 without moving the line of sight from the pair of traveling reference marks 41. The occupant M can confirm the reason recognized by the display, for example. The burden on the occupant M for confirming the surrounding safety can be reduced.

[Fourth Embodiment]
In the fourth embodiment, an example will be described in which a pair of lane lines for guiding the line of sight of the occupant M is displayed on the windshield 8.
The configurations of the automobile 1 and the line-of-sight guidance system 20 in the fourth embodiment are the same as those in the first embodiment, and the same reference numerals are used and the description thereof is omitted. In the following description, differences will be mainly described.

Next, an example of processing for guiding the line of sight by the line-of-sight guidance system 20 according to the fourth embodiment of the present invention will be described. The line-of-sight guidance system 20 guides the line of sight of the occupant M by displaying the scenery that the occupant M wants to see, for example, the lane line in the course.
FIG. 12 is a flowchart of a display process periodically executed by the display control unit 31 according to the third embodiment of the present invention. The display control unit 31 repeatedly executes the processing in FIG. 12 every 100 milliseconds, for example, to update the display on the windshield 8.

In order to guide the line of sight of the occupant M, the display control unit 31 periodically executes the display process of FIG. The display control unit 31 first determines whether or not a display for guiding the line of sight of the occupant M is necessary (step ST1).
The display control unit 31 measures, for example, the unstable behavior of the vehicle body 2 or the degree of tension of the occupant M and digitizes it, and when the value exceeds a certain level, it determines that the gaze guidance display is necessary.
Further, the display control unit 31 determines that the gaze guidance display is necessary when there is a change in the traveling environment such as a sharp curve or the vehicle body 2 popping out.
In addition, the display control unit 31 may determine the latest movement of the line of sight of the occupant M in the past, and may determine that the line-of-sight guidance display is necessary when there is a moving body that has not been noticed.
In other cases, the display control unit 31 determines that the line-of-sight guidance display is unnecessary and ends the display process of FIG.
The display control unit 31 may determine whether or not the gaze guidance display is necessary immediately before the display process described below.

When determining that the gaze guidance display is necessary, the display control unit 31 continues the display process of FIG. 12 and acquires information for the gaze guidance (step ST2).
The information acquired by this processing includes, for example, a captured image of the front of the vehicle body 2 by the front camera 21 that can be used as the front vehicle window image IM, and an in-vehicle camera 23 that can be used to determine the line of sight of the occupant M. There is a captured image inside the vehicle.

After acquiring the information for guiding the line of sight, the display control unit 31 estimates the perspective coordinates P (x, y) on the windshield 8 through which the line of sight of the occupant M passes when looking at the point of the braking distance ( Step ST31).
By displaying the lane line 61 for guiding the line of sight of the occupant M at the perspective coordinates P (x, y), the line of sight of the occupant M can be directed to the direction or point. Here, a case where the line of sight of the occupant M is guided along the predicted course will be described as an example. In the car window image IM of FIG. 4, the road extends straight ahead in front of the vehicle body 2. In this case, as indicated by a dotted frame in FIG. 4, the occupant M needs to visually check the condition of the road surface of the road on which the automobile 1 is traveling.

In the process of estimating the perspective coordinates P (x, y) of the line of sight to the guidance point, the display control unit 31 first specifies the coordinate range that is the predicted course (own lane) in the vehicle window image IM (step ST32).
The display control unit 31 uses, for example, guide route data, link data of road data, and the like to specify the image capturing coordinate range in which the road that is the expected course in the vehicle window image IM is captured. For example, in the case of the car window image IM of FIG. 4, the imaging range of the straight road hatched in FIG. 5 is the imaging coordinate range of the road that is the expected course.
If the road is determined to be a two-lane road facing each other based on the road data, or if it is determined to be a two-lane road on one side, the image capturing range of the lane in which the vehicle is traveling is set as the image capturing coordinate that is the expected course. It should be a range.
Further, when the white line line and the yellow line line that divides the road into lanes can be recognized by the processing on the vehicle window image IM, the imaging range of the lane in which the vehicle is traveling may be specified based on this information.

Next, the display control unit 31 estimates the braking distance (step ST33).
The display control unit 31 acquires vehicle speed information from the ECU 25, for example, and calculates a braking distance according to the type of road surface on which the vehicle is traveling, such as a paved road or a gravel road.
The display control unit 31 may calculate the braking distance according to the weather or the like. The weather conditions such as fine weather and rain may be acquired by the wireless communication unit 28 or may be determined based on rain noise or brightness of the image of the front camera 21.
Then, when the display control unit 31 is traveling at 60 km / h, for example, as shown in FIG. 5, the display control unit 31 makes a field of view at a position of a braking distance at that speed, for example, a substantially central position of a dotted frame in FIG. It is specified as the central coordinate PC (step ST34).

After identifying the visual field center coordinates PC to be guided with respect to the vehicle window image IM, the display control unit 31 sets the pair of left and right visual line guidance coordinates PL and PR which are separated from the visual field center coordinates PC by a lane width or a distance corresponding to the vehicle width. Is specified (step ST35). Specifically, in the case of the car window image IM of FIG. 4, the display control unit 31 takes a pair of right and left edges of the lane located in the left-right direction (horizontal direction) from the visual field center coordinate PC of FIG. The gaze guidance coordinates PL, PR are specified.
The vehicle width information, the road width, and the lane width information can be acquired from the navigation device 27. The display control unit 31 refers to the acquired information and specifies the pair of left and right line-of-sight guidance coordinates PL and PR at intervals equal to or larger than the vehicle width. When the road width or the lane width is smaller than the vehicle width, the pair of line-of-sight guidance coordinates PL and PR are specified by shifting from the right edge and the left edge of the lane so that the distance becomes equal to or more than the vehicle width.

Next, the display control unit 31 identifies the spatial position of the viewpoint of the occupant M (the starting point of the line of sight) based on the image captured inside the vehicle by the in-vehicle camera 23 (step ST36).
In the case of the present embodiment, the captured image inside the vehicle includes the face of the occupant M. In this case, by specifying the position of the head or the eyeball in the image, the direction of the head or the eyeball with respect to the in-vehicle camera 23 can be specified. The occupant M is seated on the seat 6 and is restrained by the seat belt 9. Therefore, the distance from the in-vehicle camera 23 to the head or the eyeball can be estimated from the information on the front and rear positions of the sliding seat 6. Based on these pieces of information, the display control unit 31 specifies the spatial position of the head or the eyeball of the occupant M who is on board.
In addition to this, for example, in a state in which a reference mark that overlaps with a predetermined object outside the vehicle is displayed, an occupant M moves his / her head left and right, and an image in a state in which the reference mark appears to overlap with the predetermined object outside the vehicle is used as a reference. An image is captured and held. After that, the spatial position of the head or the eyeball of the occupant M who is in the vehicle is determined by the difference between the imaging position of the head or the eyeball in the reference image and the imaging position of the head or the eyeball in the in-vehicle image at the time of processing. May be specified. Even in this case, the display control unit 31 can specify the approximate spatial position of the head or the eyeball of the occupant M who is on board.

Next, the display control unit 31 calculates the perspective coordinates P (x, y) on the windshield 8 through which the line of sight passes when the occupant M sees the line-of-sight guidance position through the windshield 8 (step ST37).
FIG. 6 is an explanatory diagram of an example of a calculation process for obtaining perspective coordinates P (x, y) on the windshield 8. FIG. 6 is a schematic sectional view in which the vehicle body 2 and the road are cut along a vertical plane. FIG. 6 shows the road surface, the front camera 21 fixedly installed on the vehicle body 2, the windshield 8, the head and eyes of the occupant M. Further, a car window image IM imaged by the front camera 21 is schematically illustrated. In this case, the car window image IM can be treated as a virtual image that is erected in front of the vehicle body 2 at the intersection of the lower edge of the imaging range of the front camera 21 and the road surface.
Under such a spatial positional relationship, by extending the line segment connecting the front camera 21 and the line-of-sight guidance coordinates PL, PR in the car window image IM, the point of the braking distance, that is, the line-of-sight guidance point P1 on the road. The spatial position is obtained. Then, a line segment connecting the spatial position of the line-of-sight guidance point P1 on this road and the spatial position of the head or the eyeball of the occupant M intersects with the windshield 8. By calculating based on such a positional relationship, when the occupant M looks at the line-of-sight guidance point P1 through the windshield 8, the display control unit 31 transmits perspective coordinates P (x on the windshield 8 through which the line of sight passes. , Y) can be calculated.

After calculating the perspective coordinates P (x, y) on the windshield 8, the display control unit 31 starts the process of displaying the pair of lane lines 61 side by side at the perspective coordinates P (x, y) (step). ST38).
The display control unit 31 causes the right lane line 61 extending along the right edge of the lane to be displayed upward from the right perspective coordinate P (x, y). Further, the right lane line 61 extending along the left edge of the lane is displayed upward from the left perspective coordinate P (x, y).
FIG. 13 is an explanatory diagram of an example of a car window view seen by the occupant M through the windshield 8. In FIG. 13, a pair of lane lines 61 are arranged side by side, overlapping upward with the right edge and the left edge of the lane in which the vehicle is traveling, from the point of the right edge and the left edge at the braking distance where the user wants to guide the line of sight. It is displayed. Specifically, the right lane line 61 extends upward from the braking distance point so as to overlap the right edge of the lane. The left lane line 61 extends upward from the braking distance point so as to overlap the left edge of the lane.
The line of sight of the occupant M can be guided to the lane by the pair of lane lines 61.

As described above, in the present embodiment, the display control unit 31 acquires the landscape information on the landscape visually recognized by the occupant M from the inside of the vehicle, and based on the landscape information, the passage of the vehicle (body 2) is expected. The perspective coordinates P (x, y) on the windshield 8 through which the line of sight passes when the occupant M visually recognizes the expected course or the perspective coordinates P (x, y) at which the right and left edges of the expected course of the vehicle are seen through. y) is specified. Then, based on the perspective coordinates P (x, y), the projector 30 causes the windshield 8 to have a pair of lane lines along the right edge and the left edge at intervals equal to or larger than the vehicle width of the vehicle. Display 61 side by side. As a result, the occupant M can see the pair of lane lines 61 displayed on the windshield 8 so as to overlap the right edge and the left edge of the predicted course of the vehicle. The line of sight of the occupant M can be guided to the predicted course of the vehicle highlighted by the pair of lane lines 61. The occupant M can confirm the expected course that needs to be confirmed during driving. The distance between the pair of lanes 61 can be checked to see whether or not the vehicle can drive safely. In addition, due to the display of the pair of lane lines 61, the line of sight of the occupant M is stabilized in the expected course, and as a result, the automobile 1 can travel stably. In addition, even after the occupant M has moved his or her line of sight in another direction, the line of sight can be easily and promptly returned to the desired direction of the predicted course. There is no need to search for a predicted course when returning the line of sight.
In particular, since the pair of lane lines 61 that overlap the right edge and the left edge of the predicted course are displayed, it is difficult for the occupant's eyes to concentrate on one point, and it is easy to observe the direction of the predicted course as a whole. Become. It is easy to check not only on the predicted course but also on the left and right of the predicted course. On the other hand, if, for example, one traveling reference line is displayed on the predicted course, the eyes of the occupant are likely to concentrate on that point. As a result, even if the line of sight of the occupant M can be guided by the traveling reference line at one point, the consciousness concentrates at only that one point, and it becomes difficult to observe the expected course direction as a whole. In particular, it becomes difficult to confirm the safety on the left and right of the predicted course, which is a surrounding area slightly deviated from one travel reference line. In the present embodiment, such misleading is unlikely to occur.
Further, in the present embodiment, the display control unit 31 obtains the own vehicle traveling information about the traveling itself of the automobile 1, and the projector 30 sets the pair of lane lines 61 at the position corresponding to the own vehicle traveling information. Display as. A person's line of sight or consciousness about a linear object tends to be biased toward the end portion rather than the central portion of the linear object. Therefore, the occupant M can obtain the own vehicle traveling information about the traveling of the own vehicle based on the positions of the ends of the pair of lane lines 61 without moving the line of sight guided by the pair of lane lines 61.

  In the present embodiment, when the display control unit 31 acquires the speed of the automobile 1 as the vehicle traveling information in the present embodiment, the projector 30 moves upward from the perspective coordinates P (x, y) of the stop point at the expected braking distance at the speed. To display a pair of lane lines 61. Therefore, the occupant M can obtain the information on the expected braking distance of the own vehicle from the positions of the lower ends of the pair of lane lines 61 without moving the line of sight guided by the pair of lane lines 61.

[Fifth Embodiment]
In the fifth embodiment, an example in which the display position of the lane 61 is changed will be described.
FIG. 14 is a flowchart of a process of changing a pair of lane lines according to the fifth embodiment of the present invention. The display control unit 31 executes the process of FIG. 14 instead of the process of FIG.

In FIG. 14, the display control unit 31 calculates a perspective coordinate P (x, y) on the windshield 8 in step ST37, and then displays a pair of lane lines 61 side by side at the perspective coordinate P (x, y). The processing to start is started (step ST41).
The display control unit 31 displays the right lane line 61 extending along the right edge of the lane downward from the right perspective coordinate P (x, y). Further, the right lane line 61 extending along the left edge of the lane is displayed downward from the left perspective coordinate P (x, y).
The line of sight of the occupant M can be guided to the lane by the pair of lane lines 61.

  As described above, in the present embodiment, in the projector 30, when the display control unit 31 acquires the speed of the automobile 1 as the vehicle traveling information, the perspective coordinates P (x of the stop point at the expected braking distance at the speed are obtained. , Y) downward, a pair of lane lines 61 is displayed along the left and right ends of the expected course. Therefore, the occupant M can obtain the information on the expected braking distance of the own vehicle from the position of the upper ends of the pair of lane lines 61 without moving the line of sight guided by the pair of lane lines 61. In particular, since the left and right of the range up to the expected braking distance are separated by the pair of lane lines 61, the range requiring special attention can be satisfactorily identified.

[Sixth Embodiment]
In the sixth embodiment, an example in which a pair of lane lines for guiding the line of sight of the occupant M is displayed on the windshield 8 will be described.
The configurations of the automobile 1 and the line-of-sight guidance system 20 in the sixth embodiment are the same as those in the first embodiment, and the same reference numerals are used and the description thereof is omitted. In the following description, differences will be mainly described.

Next, an example of processing for guiding the line of sight by the line-of-sight guidance system 20 in the sixth embodiment will be described. The line-of-sight guidance system 20 guides the line of sight of the occupant M by displaying the scenery that the occupant M wants to see, for example, the lane line in the course.
FIG. 15 is a flowchart of a display process periodically executed by the display control unit 31 of the sixth embodiment. The display control unit 31 repeatedly executes the processing of FIG. 15 every 100 milliseconds, for example, to update the display on the windshield 8.

In order to guide the line of sight of the occupant M, the display control unit 31 periodically executes the display process of FIG. The display control unit 31 first determines whether or not a display for guiding the line of sight of the occupant M is necessary (step ST1).
The display control unit 31 measures, for example, the unstable behavior of the vehicle body 2 or the degree of tension of the occupant M and digitizes it, and when the value exceeds a certain level, it determines that the gaze guidance display is necessary.
Further, the display control unit 31 determines that the gaze guidance display is necessary when there is a change in the traveling environment such as a sharp curve or the vehicle body 2 popping out.
In addition, the display control unit 31 may determine the latest movement of the line of sight of the occupant M in the past, and may determine that the line-of-sight guidance display is necessary when there is a moving body that has not been noticed.
In other cases, the display control unit 31 determines that the line-of-sight guidance display is unnecessary and ends the display process of FIG.
The display control unit 31 may determine whether or not the gaze guidance display is necessary immediately before the display process described below.

When determining that the gaze guidance display is necessary, the display control unit 31 continues the display process of FIG. 15 and acquires information for the gaze guidance (step ST2).
The information acquired by this processing includes, for example, a captured image of the front of the vehicle body 2 by the front camera 21 that can be used as the front vehicle window image IM, and an in-vehicle camera 23 that can be used to determine the line of sight of the occupant M. There is a captured image inside the vehicle.

After acquiring the information for guiding the line of sight, the display control unit 31 looks at the point of the line of sight to which the line of sight of the occupant M is to be guided, and the perspective coordinates P (x, on the windshield 8 through which the line of sight of the occupant M passes. y) is estimated (step ST51).
By displaying the lane line 71 for guiding the line of sight of the occupant M at the perspective coordinates P (x, y), the line of sight of the occupant M can be directed to the direction or point. Here, a case where the line of sight of the occupant M is guided along the predicted course will be described as an example. In the car window image IM of FIG. 4, the road extends straight ahead in front of the vehicle body 2. In this case, as indicated by a dotted frame in FIG. 4, the occupant M needs to visually check the condition of the road surface of the road on which the automobile 1 is traveling.

In the process of estimating the perspective coordinates P (x, y) of the line of sight to the guide point, the display control unit 31 first specifies the coordinate range that is the predicted course (own lane) in the vehicle window image IM (step ST52).
The display control unit 31 uses, for example, guide route data, link data of road data, and the like to specify the image capturing coordinate range in which the road that is the expected course in the vehicle window image IM is captured. For example, in the case of the car window image IM of FIG. 4, the imaging range of the straight road hatched in FIG. 5 is the imaging coordinate range of the road that is the expected course.
If the road is determined to be a two-lane road facing each other based on the road data, or if it is determined to be a two-lane road on one side, the image capturing range of the lane in which the vehicle is traveling is set as the image capturing coordinate that is the expected course. It should be a range.
Further, when the white line line and the yellow line line that divides the road into lanes can be recognized by the processing on the vehicle window image IM, the imaging range of the lane in which the vehicle is traveling may be specified based on this information.

After specifying the imaging coordinate range that is the predicted course (own lane), the display control unit 31 specifies the visual field center coordinates PC in the vehicle window image IM that can overlook the road surface of the predicted course (( Step ST53).
The display control unit 31 specifies, for example, the center position of a predetermined distance on the expected route as the visual field center coordinate PC. In the case of the car window image IM in FIG. 4, as shown in FIG. 5, for example, the center of the dotted frame in FIG. 4 is specified as the visual field center coordinate PC.

After specifying the view center coordinates PC for the vehicle window image IM, the display control unit 31 specifies a pair of left and right line-of-sight guidance coordinates PL, PR that are separated from the view center coordinates PC by a lane width or a distance corresponding to the vehicle width. Yes (step ST54). Specifically, in the case of the vehicle window image IM in FIG. 4, the display control unit 31 images the right edge and the left edge of the lane located in the left-right direction (horizontal direction) from the coordinate PC at the predetermined distance point in FIG. A pair of line-of-sight guidance coordinates PL and PR are specified.
The vehicle width information, the road width, and the lane width information can be acquired from the navigation device 27. The display control unit 31 refers to the acquired information and specifies the pair of left and right line-of-sight guidance coordinates PL and PR at intervals equal to or larger than the vehicle width. When the road width or the lane width is smaller than the vehicle width, the pair of line-of-sight guidance coordinates PL and PR are specified by shifting from the right edge and the left edge of the lane so that the distance becomes equal to or more than the vehicle width.

Next, the display control unit 31 specifies the spatial position of the viewpoint of the occupant M (the starting point of the line of sight) based on the image captured inside the vehicle by the in-vehicle camera 23 (step ST55).
In the case of the present embodiment, the captured image inside the vehicle includes the face of the occupant M. In this case, by specifying the position of the head or the eyeball in the image, the direction of the head or the eyeball with respect to the in-vehicle camera 23 can be specified. The occupant M is seated on the seat 6 and is restrained by the seat belt 9. Therefore, the distance from the in-vehicle camera 23 to the head or the eyeball can be estimated from the information on the front and rear positions of the sliding seat 6. Based on these pieces of information, the display control unit 31 specifies the spatial position of the head or the eyeball of the occupant M who is on board.
In addition to this, for example, in a state in which a reference mark that overlaps with a predetermined object outside the vehicle is displayed, an occupant M moves his / her head left and right, and an image in a state in which the reference mark appears to overlap with the predetermined object outside the vehicle is used as a reference. An image is captured and held. After that, the spatial position of the head or the eyeball of the occupant M who is in the vehicle is determined by the difference between the imaging position of the head or the eyeball in the reference image and the imaging position of the head or the eyeball in the in-vehicle image at the time of processing. May be specified. Even in this case, the display control unit 31 can specify the approximate spatial position of the head or the eyeball of the occupant M who is on board.

Next, when the occupant M looks at the line-of-sight guidance position through the windshield 8, the display control unit 31 calculates the perspective coordinates P (x, y) on the windshield 8 through which the line of sight passes (step ST56).
FIG. 6 is an explanatory diagram of an example of a calculation process for obtaining perspective coordinates P (x, y) on the windshield 8. FIG. 6 is a schematic sectional view in which the vehicle body 2 and the road are cut along a vertical plane. FIG. 6 shows the road surface, the front camera 21 fixedly installed on the vehicle body 2, the windshield 8, the head and eyes of the occupant M. Further, a car window image IM imaged by the front camera 21 is schematically illustrated. In this case, the car window image IM can be treated as a virtual image that is erected in front of the vehicle body 2 at the intersection of the lower edge of the imaging range of the front camera 21 and the road surface.
Under such a spatial positional relationship, the line segment connecting the front camera 21 and the line-of-sight guidance coordinates PL and PR in the car window image IM is extended, so that the point of the visual field center coordinate PC, that is, the line-of-sight guidance point on the road. The spatial position of P1 is obtained. Then, a line segment connecting the spatial position of the line-of-sight guidance point P1 on this road and the spatial position of the head or the eyeball of the occupant M intersects with the windshield 8. By calculating based on such a positional relationship, when the occupant M looks at the line-of-sight guidance point P1 through the windshield 8, the display control unit 31 transmits perspective coordinates P (x on the windshield 8 through which the line of sight passes. , Y) can be calculated.

After calculating the perspective coordinates P (x, y) on the windshield 8, the display control unit 31 starts a process of displaying the pair of lane lines 71 side by side at the perspective coordinates P (x, y).
The display control unit 31 displays the right lane line 71 on the right perspective coordinates P (x, y). Further, the left lane line 71 is displayed on the left perspective coordinates P (x, y) (step ST57).

FIG. 16 is an explanatory diagram of an example of a car window view seen by the occupant M through the windshield 8. In FIG. 16, the display control unit 31 causes the display updating process to cause the lane line 71 to grow and disappear toward the perspective coordinates P (x, y).
In the initial display of FIG. 16 (A), the pair of lane lines 71 are displayed side by side below the windshield 8 so as to overlap the right and left edges of the lane in which the vehicle is traveling.
After that, the pair of lane lines 71 grow upward along the right edge and the left edge of the lane as shown in FIG. 16 (B), and the upper ends reach the left and right perspective coordinates P (x, y). To do.
Thereafter, as shown in FIG. 16C, the lower ends of the pair of lane lines 71 move upward along the right edge and the left edge of the lane.
After that, the pair of lane lines 71 disappear at the left and right perspective coordinates P (x, y) as shown in FIG. 16 (D).
The line of sight of the occupant M can be guided to the left and right perspective coordinates P (x, y) by the pair of lane lines 71 growing and disappearing toward the left and right perspective coordinates P (x, y). Further, the occupant M can visually recognize the space position on the right edge and the space position on the left edge of the lane by the pair of lanes 71. Further, since the pair of lane lines 71 appear to overlap the right edge and the left edge of the lane, the occupant M can recognize that the lane width is greater than or equal to the vehicle width of the vehicle body 2.

As described above, in the present embodiment, the display control unit 31 acquires the landscape information on the landscape visually recognized by the occupant M from the inside of the vehicle, and based on the landscape information, the passage of the vehicle (body 2) is expected. The perspective coordinates P (x, y) on the windshield 8 through which the line of sight passes when the occupant M visually recognizes the expected course or the perspective coordinates P (x, y) at which the right and left edges of the expected course of the vehicle are seen through. y) is specified. Then, based on the perspective coordinates P (x, y), the projector 30 causes the windshield 8 to have a pair of lane lines along the right edge and the left edge at intervals equal to or larger than the vehicle width of the vehicle. 71 is displayed side by side. As a result, the occupant M can see the pair of lane lines 71 displayed on the windshield 8 so as to overlap the right edge and the left edge of the predicted course of the vehicle. The line of sight of the occupant M can be guided to the predicted course of the vehicle highlighted by the pair of lane lines 71. The occupant M can confirm the expected course that needs to be confirmed during driving. By checking the space between the pair of lanes 71, it can be checked whether or not the vehicle can travel safely. In addition, due to the display of the pair of lane lines 71, the line of sight of the occupant M is stabilized in the expected course, and as a result, the automobile 1 can travel stably. In addition, even after the occupant M has moved his or her line of sight in another direction, the line of sight can be easily and promptly returned to the desired direction of the predicted course. There is no need to search for a predicted course when returning the line of sight.
In particular, since the pair of lane lines 71 that overlap the right edge and the left edge of the predicted course are displayed, it is difficult for the occupant's eyes to concentrate on one point, and it is easy to observe the direction of the predicted course as a whole. Become. It is easy to check not only on the predicted course but also on the left and right of the predicted course.
On the other hand, if one lane line is displayed on the expected course, the line of sight of the occupant M is likely to concentrate on that point. As a result, even if the line of sight of the occupant can be guided by one lane line, the consciousness concentrates only on that one line, and it becomes difficult to observe the expected course direction as a whole. In particular, it becomes difficult to confirm the safety on the left and right of the predicted course, which is a subtle distance from one lane line. In the present embodiment, such misleading is unlikely to occur.
Further, in the present embodiment, the projector 30 changes the display of the windshield 8 including the pair of lane lines 71 according to the elapsed time after the display. Therefore, without moving the line of sight of the occupant M guided by the pair of lane lines 71, the pair of lane lines 71 in front of the line of sight changes according to the passage of time, thereby further improving the line of sight or consciousness of the occupant M. Can be guided in detail.

  In the present embodiment, the projector 30 causes the pair of lane lines 71 to grow and disappear toward the visual field center coordinates P (x, y) according to the elapsed time. Therefore, the line of sight of the occupant M is guided to the direction in which the pair of lane lines 71 grows and disappears, or the coordinates in which the pair of lane lines grows and disappears. The effect of guiding the line of sight to the visual field center coordinates P (x, y) can be enhanced.

[Seventh Embodiment]
In the seventh embodiment, an example will be described in which a pair of lane lines 71 and a movement mark that moves on the pair of lane lines 71 are displayed on the windshield 8.
The configurations of the automobile 1 and the line-of-sight guidance system 20 in the seventh embodiment are similar to those in the sixth embodiment, and the same reference numerals are used and the description thereof is omitted. In the following description, differences will be mainly described.

FIG. 17 is a flowchart of a display process periodically executed by the display control unit of the seventh embodiment of the present invention.
FIG. 18 is an explanatory diagram of an example of a car window view seen by the occupant through the windshield in which the movement mark moves along the lane line. A pair of lane lines 71 is displayed in FIG. 18B to 18E, a plurality of movement marks 72 move on the pair of lane lines 71 toward the left and right perspective coordinates P (x, y).

As shown in FIG. 17, after calculating the perspective coordinates P (x, y) on the windshield 8 through which the line of sight passes in step ST56, the display control unit 31 starts the display process.
In the display process, the display control unit 31 first displays a pair of lane lines 71 side by side on the calculated perspective coordinates P (x, y) as shown in FIG. 18A (step ST61).
The pair of lane lines 71 are displayed so as to overlap with the right edge and the left edge of the predicted course and extend along the right edge and the left edge of the predicted course. Thereby, the line of sight is guided to and around the road surface of the expected course.

After displaying the pair of lane lines 71, the display control unit 31 further displays the movement mark 72 that moves along the pair of lane lines 71 (step ST62).
18B to 18E, the plurality of movement marks 72 are displayed at the ends of the pair of lane lines 71, and then on the pair of lane lines 71, the left and right line-of-sight guidance coordinates PL, PR. Moving towards. After that, the movement mark 72 disappears at the left and right line-of-sight guidance coordinates PL and PR. After that, a new movement mark 72 is displayed again at the ends of the pair of lanes 71 and moves. The movement mark 72 repeatedly moves on the pair of lane lines 71.

  As described above, in the present embodiment, the projector 30 includes the lane line 71 that is visually recognized to extend along one side of the right edge and the left edge of the expected course of the vehicle, and the lane line depending on the elapsed time. A moving mark 72 that moves on 71 is displayed. Therefore, the line of sight of the occupant M is guided in the direction in which the movement mark 72 moves on the lane line 71. The line of sight can be guided along the moving direction of the moving mark 72. It is possible to guide the line of sight to a target position such as left and right line-of-sight guidance coordinates PL and PR.

FIG. 19 is an explanatory diagram of a modified example of the scenery of the car window seen by the occupant through the windshield in which the movement mark 72 moves in a direction separating from the lane line 71.
In the case of the modified examples of FIGS. 19A to 19C, the movement mark 72 is displayed on the left and right line-of-sight guidance coordinates PL and PR, and then moves toward the center inside the pair of lane lines 71. . Then, it disappears in the center inside the pair of lanes 71.
Even in the case of this modification, the projector 30 has a pair of lane lines 71 extending along one side of the right edge and the left edge of the expected course of the vehicle and visually recognized, and the lane line 71 depending on the elapsed time. A moving mark 72 that moves toward and away from is displayed. Therefore, the line of sight of the occupant M is guided in a direction in which the movement mark 72 approaches and separates from the lane line 71. The line of sight can be guided in the moving direction of the moving mark 72. You can guide to the target line of sight.

  The above embodiment is an example of a preferred embodiment of the present invention, but the present invention is not limited to this, and various modifications or changes can be made without departing from the gist of the invention.

  For example, in the above embodiment, the projector 30 projects an image on the windshield 8. In addition to this, for example, the projector 30 may be installed between the windshield 8 and the occupant M, and may display an image on a screen through which the occupant M who has boarded the vehicle body 2 can see the outside of the vehicle. . Further, the image may be displayed on the screen of the glasses of the glasses worn by the occupant M.

  In the above embodiment, the display control unit 31 uses the captured car window scenery as scenery information. In addition to this, for example, the landscape information may be obtained from the information of the navigation device 27 and the acquired information of the wireless communication unit 28.

  In the above embodiment, the guide route is the predicted route. Besides this, for example, the road shown in the car window image IM itself may be set as the predicted course. Further, the predicted course may be predicted based on the information acquired by the wireless communication unit 28.

  In the above-described embodiment, the pair of travel reference marks 41 or the pair of lane lines 61, 71 are displayed at intervals corresponding to the lane width, and are displayed at intervals corresponding to the vehicle width as necessary. . In addition to this, for example, the pair of travel reference marks 41 or the pair of lane lines 61, 71 may be always displayed at intervals corresponding to the vehicle width.

  In the above-described embodiment, the alert line 42 is displayed with the position and the timing displayed between the pair of travel reference marks 41 shifted. In addition to this, for example, the attention line 42 may be displayed with a position shifted or with a timing shifted between the pair of travel reference marks 41. In particular, by making these colors different, the occupant M can distinguish the attention line 42 and the pair of travel reference marks 41.

  In the above-mentioned embodiment, one alert line 42 is displayed. In addition to this, for example, a plurality of alert lines 42 may be displayed.

  The above embodiment is an example in which the present invention is applied to the automobile 1. Other vehicles include motorcycles and trains running on tracks. The present invention can be applied to these vehicles.

DESCRIPTION OF SYMBOLS 1 ... Car (vehicle), 8 ... Windshield, 20 ... Line-of-sight guidance system (line-of-sight guidance device), 21 ... Front camera, 22 ... Rear camera, 23 ... In-vehicle camera, 24 ... Driving support device, 25 ... ECU, 26 ... GPS receiver, 27 ... Navigation device, 28 ... Wireless communication unit, 29 ... Microcomputer, 30 ... Projector (display member), 31 ... Display control unit (landscape information acquisition unit, perspective position specification unit, related information acquisition unit, self) Vehicle traveling information acquisition unit), 41 ... Running reference mark, 42 ... Alert line, 51 ... Bicycle, 61 ... Lane line, 71 ... Lane line, 72 ... Movement mark, M ... Occupant, IM ... Vehicle window image (landscape information) , L1 ... Running reference line, L2 ... Line of sight reference line, PC ... View center coordinates, PL, PR ... Line of sight guidance coordinates, P1 ... Line of sight guidance point, P (x, y) ... Perspective coordinates

Claims (10)

A display member for displaying an image on a windshield or a screen through which a passenger in the vehicle can see the outside of the vehicle.
A landscape information acquisition unit that acquires landscape information about the landscape visually recognized by the occupant from within the vehicle;
On the basis of the scenery information, the perspective position on the windshield or the screen through which the line of sight passes when the occupant visually recognizes the expected course of passage of the vehicle, or the right edge and the left of the expected course of the vehicle. A perspective position specifying unit that specifies a perspective position where the edge is seen through,
A related information acquisition unit that acquires related information about the risk around the vehicle or the traveling itself of the vehicle,
Have
The display member is
Based on the perspective position, a pair of the windshield or the screen is formed on the windshield or the screen at an interval equal to or greater than the vehicle width of the vehicle so that the vehicle can be seen overlapping with the right edge and the left edge of the expected course of the vehicle. Display the driving reference marks of side by side,
A warning line indicating a caution in driving the vehicle is displayed on the windshield or the screen at a position not overlapping the pair of running reference marks,
When displaying the pair of running reference marks and the attention line, the pair of running reference marks and the attention line are switched and displayed so that the display timings do not overlap ,
Changing the display of the pair of traveling reference marks according to the related information,
Vehicle gaze guidance device. The perspective position specifying unit specifies a perspective position of an edge of a road or a lane on which the vehicle is traveling in the landscape information,
The display member displays the traveling reference mark at a perspective position of an edge of the road or the lane,
The visual line guiding device for a vehicle according to claim 1. A display member for displaying an image on a windshield or a screen through which a passenger in the vehicle can see the outside of the vehicle.
A landscape information acquisition unit that acquires landscape information about the landscape visually recognized by the occupant from within the vehicle;
On the basis of the scenery information, the perspective position on the windshield or the screen through which the line of sight passes when the occupant visually recognizes the expected course of passage of the vehicle, or the right edge and the left of the expected course of the vehicle. A perspective position specifying unit that specifies a perspective position where the edge is seen through,
Have
The display member is
Based on the perspective position, the windshield or the screen may have a width equal to or greater than the vehicle width of the vehicle as a pair of traveling reference marks so that the vehicle can be seen overlapping with the right edge and the left edge of the expected course of the vehicle. While displaying a pair of running reference lines along the right edge and the left edge side by side at intervals corresponding to, displaying a pair of line-of-sight reference lines extending outward from the pair of running reference lines,
A warning line indicating a caution in driving the vehicle is displayed on the windshield or the screen at a position not overlapping the pair of running reference marks,
When the pair of travel reference marks and the attention line are displayed, the pair of travel reference marks and the attention line are switched and displayed so that the display timings do not overlap.
Vehicle gaze guidance device. The length of the line-of-sight reference line extending outward from the pair of running reference lines is longer than the running reference line,
The visual line guiding device for a vehicle according to claim 3 . The display member is
The pair of line-of-sight reference lines are displayed at a height at which the line of sight of the occupant is desired to be guided,
The visual line guiding device for a vehicle according to claim 3 or 4 . A display member for displaying an image on a windshield or a screen through which a passenger in the vehicle can see the outside of the vehicle.
A landscape information acquisition unit that acquires landscape information about the landscape visually recognized by the occupant from within the vehicle;
On the basis of the scenery information, the perspective position on the windshield or the screen through which the line of sight passes when the occupant visually recognizes the expected course of passage of the vehicle, or the right edge and the left of the expected course of the vehicle. A perspective position specifying unit that specifies a perspective position where the edge is seen through,
Have
The display member is
Based on the perspective position, on the windshield or the screen, as a pair of travel reference marks, as described above, so that it can be seen extending along the right edge and the left edge of the expected course of the vehicle. A pair of lane lines along the right edge and the left edge are displayed side by side at intervals corresponding to the vehicle width or more of the vehicle,
A warning line indicating a caution in driving the vehicle is displayed on the windshield or the screen at a position not overlapping the pair of running reference marks,
When displaying the pair of running reference marks and the attention line, the pair of running reference marks and the attention line are switched and displayed so that the display timings do not overlap,
Display the pair of lane lines as one end at a position according to the vehicle running information,
When the own vehicle travel information acquisition unit acquires the speed of the vehicle as the own vehicle travel information, the pair of lane lines is displayed above the perspective position of the stop position at the expected braking distance at the speed,
Vehicle gaze guidance device. A display member for displaying an image on a windshield or a screen through which a passenger in the vehicle can see the outside of the vehicle.
A landscape information acquisition unit that acquires landscape information about the landscape visually recognized by the occupant from within the vehicle;
On the basis of the scenery information, the perspective position on the windshield or the screen through which the line of sight passes when the occupant visually recognizes the expected course of passage of the vehicle, or the right edge and the left of the expected course of the vehicle. A perspective position specifying unit that specifies a perspective position where the edge is seen through,
Have
The display member is
Based on the perspective position, on the windshield or the screen, as a pair of travel reference marks, as described above, so that it can be seen extending along the right edge and the left edge of the expected course of the vehicle. A pair of lane lines along the right edge and the left edge are displayed side by side at intervals corresponding to the vehicle width or more of the vehicle,
A warning line indicating a caution in driving the vehicle is displayed on the windshield or the screen at a position not overlapping the pair of running reference marks,
When displaying the pair of running reference marks and the attention line, the pair of running reference marks and the attention line are switched and displayed so that the display timings do not overlap,
Display the pair of lane lines as one end at a position according to the vehicle running information,
When the own vehicle travel information acquisition unit acquires the speed of the vehicle as the own vehicle travel information, the pair of lane lines is displayed below the stop position at the expected braking distance at the speed,
Vehicle gaze guidance device. A display member for displaying an image on a windshield or a screen through which a passenger in the vehicle can see the outside of the vehicle.
A landscape information acquisition unit that acquires landscape information about the landscape visually recognized by the occupant from within the vehicle;
On the basis of the scenery information, the perspective position on the windshield or the screen through which the line of sight passes when the occupant visually recognizes the expected course of passage of the vehicle, or the right edge and the left of the expected course of the vehicle. A perspective position specifying unit that specifies a perspective position where the edge is seen through,
Have
The display member is
Based on the perspective position, on the windshield or the screen, as a pair of travel reference marks, as described above, so that it can be seen extending along the right edge and the left edge of the expected course of the vehicle. A pair of lane lines along the right edge and the left edge are displayed side by side at intervals corresponding to the vehicle width or more of the vehicle,
A warning line indicating a caution in driving the vehicle is displayed on the windshield or the screen at a position not overlapping the pair of running reference marks,
When displaying the pair of running reference marks and the attention line, the pair of running reference marks and the attention line are switched and displayed so that the display timings do not overlap,
Depending on the elapsed time after display, changing the display of the windshield or the screen including the pair of lane lines,
Vehicle gaze guidance device. Wherein the display member,
The pair of lane lines disappears or grows toward the center of the visual field according to the elapsed time,
The vehicle gaze guidance device according to claim 8 . The display member is
With the lane line that extends along one side of the right edge and the left edge of the expected course of the vehicle and is visually recognized, the vehicle moves on the lane line or moves toward or away from the lane line according to the elapsed time. Display a moving mark that moves in the direction
The vehicle gaze guidance device according to claim 8 .

Images