JP7322886B2 - Vehicle display, method and computer program - Google Patents

Description

TECHNICAL FIELD The present disclosure relates to a vehicle display device, a method, and a computer program that are used in a vehicle to superimpose an image on the foreground of the vehicle for viewing.

FIG. 5 of Patent Document 1 discloses a head-up display device (vehicle display device) that displays an image imitating a road guide sign (guidance information B2) fixed at a predetermined position.

Further, in Patent Document 2, an image is superimposed on a real object that exists in the scenery in front of the vehicle to generate an augmented reality (AR) that adds and emphasizes information to the real object. Disclosed is a vehicular display device capable of contributing to safe and comfortable vehicle operation by accurately providing desired information while minimizing movement of the line of sight of a user who drives a vehicle.

JP 2012-006469 A WO2013/088510

However, in the vehicle display device of Patent Literature 1, the image is fixed and displayed at substantially the same position, which may annoy the viewer.

In addition, in the vehicle display device of Patent Document 2, the position where the image is displayed follows the position of the real object. Since it moves at high speed, there was a problem that it was difficult to recognize the information indicated by the image.

A summary of certain embodiments disclosed herein follows. It should be understood that these aspects are presented only to provide the reader with an overview of these particular embodiments and are not intended to limit the scope of this disclosure. Indeed, the present disclosure may encompass various aspects not described below.

SUMMARY OF THE DISCLOSURE The present disclosure relates to effectively making information aware to the driver of a vehicle. More specifically, it contributes to safe operation of the vehicle by making it easier for the driver to recognize the image and making it difficult for the driver's visual attention to be excessively deprived.

Accordingly, the vehicular display device in the first aspect described herein includes:
an image display unit;
one or more peripheral interfaces;
one or more processors;
memory;
one or more computer programs stored in memory and configured to be executed by one or more processors;
One or more computer programs are
The image display unit displays an image in a predetermined display area overlapping the foreground of the vehicle,
Obtaining from one or more peripheral interfaces a foreground approach velocity to the vehicle as the vehicle progresses, or obtaining information from which a foreground approach velocity can be estimated;
comprising instructions for displaying the image to appear to approach the vehicle at a first velocity that is less than the foreground approach velocity;
The command to display the image so that it can be seen approaching the vehicle is
The image is
display to appear closer at a second speed that is faster than the first speed;
displaying so as to appear to approach at the first speed from the middle of the approach at the second speed;
including.

Further, in the vehicle display device according to the second aspect, an image display unit;
one or more peripheral interfaces;
one or more processors;
memory;
one or more computer programs stored in memory and configured to be executed by one or more processors;
One or more computer programs are
The image display unit displays an image in a predetermined display area overlapping the foreground of the vehicle,
Obtaining from one or more peripheral interfaces a foreground approach velocity to the vehicle as the vehicle progresses, or obtaining information from which a foreground approach velocity can be estimated;
comprising instructions for displaying the image to appear to approach the vehicle at a first velocity that is less than the foreground approach velocity;
The one or more computer programs further include instructions for repeating the instructions for displaying the image to appear closer to the vehicle two or more times with images of the same or similar display content.

Further, in the vehicle display device according to the third aspect, an image display unit;
one or more peripheral interfaces;
one or more processors;
memory;
one or more computer programs stored in memory and configured to be executed by one or more processors;
One or more computer programs are
The image display unit displays an image in a predetermined display area overlapping the foreground of the vehicle,
Obtaining from one or more peripheral interfaces a foreground approach velocity to the vehicle as the vehicle progresses, or obtaining information from which a foreground approach velocity can be estimated;
comprising instructions for displaying the image to appear to approach the vehicle at a first velocity that is less than the foreground approach velocity;
The command to display the image so that it can be seen approaching the vehicle is
determine if the foreground approach speed is less than a certain speed;
If the foreground approach speed is less than a certain speed, the image
display to appear close at a fourth speed slower than the first speed;
If the foreground approach speed is greater than or equal to a specified speed, the image is displayed to appear approaching at a first speed.

Further, in the vehicle display device according to the fourth aspect, an image display unit;
one or more peripheral interfaces;
one or more processors;
memory;
one or more computer programs stored in memory and configured to be executed by one or more processors;
One or more computer programs are
The image display unit displays an image in a predetermined display area overlapping the foreground of the vehicle,
Obtaining from one or more peripheral interfaces a foreground approach velocity to the vehicle as the vehicle progresses, or obtaining information from which a foreground approach velocity can be estimated;
comprising instructions for displaying the image to appear to approach the vehicle at a first velocity that is less than the foreground approach velocity;
The one or more computer programs further include instructions for detecting a preceding vehicle in front of the vehicle from the one or more peripheral interfaces;
The command to display the image so that it can be seen approaching the vehicle is
If there is a preceding vehicle, the image is displayed so that it appears to be approaching at a fifth speed lower than the first speed,
If there is no preceding vehicle, the image is displayed to appear closer at a first speed.

Further, in the method according to the fifth aspect, in a vehicle display device having an image display unit and one or more peripheral interfaces,
the image display unit displaying an image in a predetermined display area overlapping the foreground of the vehicle;
Obtaining from one or more peripheral interfaces a foreground approach velocity to the vehicle as the vehicle progresses, or obtaining information from which a foreground approach velocity can be estimated;
displaying the image so that it appears approaching the vehicle at a first speed that is lower than the foreground approach speed;
Displaying the image so that it looks close to the vehicle
The image is
display to appear closer at a second speed that is faster than the first speed;
Displaying to appear approaching at the first speed from the middle of approaching at the second speed.

Further, in the vehicle display device according to the sixth aspect, the vehicle display device having an image display unit and one or more peripheral interfaces,
the image display unit displaying an image in a predetermined display area overlapping the foreground of the vehicle;
Obtaining from one or more peripheral interfaces a foreground approach velocity to the vehicle as the vehicle progresses, or obtaining information from which a foreground approach velocity can be estimated;
displaying the image so that it appears approaching the vehicle at a first speed that is lower than the foreground approach speed;
Displaying the image so that it looks close to the vehicle
determine if the foreground approach speed is less than a certain speed;
If the foreground approach speed is less than a certain speed, the image
display to appear close at a fourth speed slower than the first speed;
displaying the image to appear to approach at a first speed if the foreground approach speed is greater than or equal to the specified speed.

Also, the computer program product of the seventh aspect comprises instructions for performing the method of the fifth or sixth aspect.

1 is an example of a vehicular display, according to some embodiments; FIG. 1 is a block diagram of a vehicle display, according to some embodiments; FIG. FIG. 4 is a diagram showing an example display of an image on a vehicle display device, according to some embodiments. FIG. 4 is a diagram showing an example display of an image on a vehicle display device, according to some embodiments. FIG. 4 is a diagram illustrating an approach path for images on a vehicle display device, according to some embodiments. FIG. 4 is a flow diagram illustrating a process for changing an image, according to some embodiments;

EMBODIMENT OF THE INVENTION Below, embodiment which concerns on this invention is described with reference to drawings. In addition, the present invention is not limited by the following embodiments (including the contents of the drawings). Of course, modifications (including deletion of constituent elements) can be added to the following embodiments. In addition, in the following description, descriptions of known technical matters are omitted as appropriate in order to facilitate understanding of the present invention.

Below, FIGS. 1 and 2 provide a description of an exemplary vehicular display. 3, 4 and 5 provide example displays. FIG. 6 is a flow diagram showing the process of moving an image.

Please refer to FIG. The image display unit 11 that displays the image 200 in the vehicle display device 10 of the first embodiment is a head-up display (HUD: Head-Up Display) device provided in the dashboard 5 of the vehicle 1 . The HUD device emits display light 11a toward the front windshield 2 (an example of a member to be projected), and displays an image 200 in a virtual display area 100. The image 200 is superimposed on the foreground 300 which is the real space to be viewed.

Further, the image display unit 12 that displays the image 200 in the vehicle display device 10 of the second embodiment is a head mounted display (HMD) device. The driver 4 wears the HMD device on the head and sits on the seat of the vehicle 1 to view the displayed image 200 superimposed on the foreground 300 through the front windshield 2 of the vehicle 1 . A display area 100 in which a predetermined image 200 is displayed by the vehicle display device 10 is fixed at a specific position based on the coordinate system of the vehicle 1, and when the driver 4 turns in that direction, the display area 100 is fixed at the specific position. The image 200 displayed in the displayed display area 100 can be visually recognized.

The image display units 11 and 12 display a road surface 310 present in a foreground 300 which is a real space viewed through the front windshield 2 of the vehicle 1, road signs (not shown), buildings, obstacles (pedestrians, bicycles, motorcycles, etc.). Visual augmented reality (AR) can also be formed by visually recognizing the image 200 in the vicinity of a real object such as a vehicle, other vehicle, etc., or in a position overlapping the real object.

FIG. 2 is a block diagram of a vehicle display device 10, according to some embodiments. The vehicle display device 10 includes an image display unit 11 ( 12 ), a peripheral interface 14 , one or more processors 16 , a storage unit 18 and an image processing circuit 20 . Various functional blocks depicted in FIG. 2 may be implemented in hardware, software, or a combination of both. FIG. 2 is only one example of an implementation and the components shown may be combined into fewer components or there may be additional components. For example, image processing circuitry 20 (eg, a graphics processing unit) may be included in one or more processors 16 .

As shown, processor 16 and image processing circuitry 20 are operatively coupled to storage 18 . More specifically, the processor 16 and the image processing circuit 20 execute a program stored in the storage unit 18 to operate the vehicular display device 10, for example, generate and/or transmit image data. It can be carried out. Processor 16 or/and image processing circuitry 20 may include at least one general purpose microprocessor (e.g., central processing unit (CPU)), at least one application specific integrated circuit (ASIC), at least one field programmable gate array (FPGA). , or any combination thereof. The storage unit 18 includes any type of magnetic media such as hard disks, any type of optical media such as CDs and DVDs, any type of semiconductor memory such as volatile memory, and non-volatile memory. Volatile memory may include DRAM and SRAM, and non-volatile memory may include ROM and NVROM.

As shown, processor 16 is operatively coupled to peripheral interface 14 . For example, the peripheral interface 14 connects the vehicle display device 10 to a personal area network (PAN) such as a Bluetooth (registered trademark) network, a local area network (LAN) such as an 802.11x Wi-Fi (registered trademark) network, a 4G Or it may include a wireless communication interface that connects to a wide area network (WAN) such as an LTE cellular network. Peripheral interface 14 may also include wired communication interfaces such as, for example, a USB port, serial port, parallel port, OBDII, and/or any other suitable wired communication port.

As illustrated, the processor 16 is interoperably connected to the peripheral interface 14 so that information can be exchanged with various other electronic devices connected to the vehicle display device 10 (peripheral interface 14). Become. The peripheral interface 14 is operably connected to, for example, a speed sensor 401 provided in the vehicle 1, a road information database 402, a vehicle position detection unit 403, a vehicle exterior sensor 404, an eye point detection unit 405, and the like. Image displays 11 and 12 are operatively coupled to processor 16 and image processing circuitry 20 . Accordingly, the images displayed by image displays 11 and 12 may be based on image data received from processor 16 and/or image processing circuitry 20 . The processor 16 and the image processing circuit 20 control images displayed by the image display units 11 and 12 based on information obtained from the peripheral interface 14 . Note that the peripheral interface 14 may have a function of processing (converting, calculating, and analyzing) information received from other electronic devices or the like connected to the vehicle display device 10 .

FIG. 3 is a diagram showing a foreground 300 that is visually recognized when the driver 4 faces forward, and an image 201 that is displayed on the vehicle display device 10 so as to be superimposed on the foreground 300 and visually recognized. be. An image 201 is an image that guides the position of features (rivers, mountains, bridges, railroads, buildings, etc.), and includes text indicating the name of the feature ("○△ station") and a symbol indicating the direction of the feature. (right arrow), which overlaps the road surface 310 and is a virtual reality image as drawn on the surface of the road surface 310 . The road surface 310 here refers to the left end 311 of the driving lane in which the vehicle 1 is running (for example, the left lane division line) and the right end 312 of the driving lane (for example, the right division line of the driving lane) in the foreground 300 . line). The image 201 is a moving image seen approaching the vehicle 1, but it can be replaced by continuously changing a still image. The image 201 appears within the display area 100 as if the vehicle 1 is moving gradually from FIG. 3(a) to FIG. 3(d), and is not displayed outside the display area 100. Specifically, the image 201 is displayed only above the lower end of the display area 100 with the lower end of the display area 100 as a boundary, and is not displayed below the lower end. That is, the image 201 displayed in FIG. 3A (an image arranged in the order of "○", "Δ", "station", and "→" from a distance) changes as the vehicle 1 approaches. 3(b), the text ("station") is hidden, and in FIG. 3(c), the text (" station”) is hidden, and in FIG. 3D, the text (“Δ”) is hidden, and finally all are hidden. The image 201 can give the viewer the impression that it is approaching by using the perspective method and changing the size according to the position. The processor 16 and the image processing circuit 20 generate image data, for example, based on an instruction signal received from an ECU (not shown) provided in the vehicle 1 via the peripheral interface 14 . , an external sensor 404, an internal sensor (not shown), a portable electronic device (not shown) brought into the vehicle 1, and an external server (not shown) through the peripheral interface 14. data may be generated.

FIG. 4 is a diagram showing a foreground 300 that is visually recognized when the driver 4 faces forward, and an image 202 that is displayed on the vehicle display device 10 so as to be superimposed on the foreground 300 and visually recognized. be. The image 202 shows the speed limit of the road on which the vehicle 1 travels, includes text ("80") imitating a road sign, and floats above the right edge 312 of the road surface 310 (in the positive direction of the Y axis). It may be a virtual reality image that looks like it exists.

FIG. 5 shows a foreground 300 that is visually recognized when the driver faces forward, and movement paths 321, 322, and 323 of images displayed on the vehicle display device 10 so as to be superimposed and visually recognized on the foreground 300. It is a figure which shows the example of. A plurality of moving routes of the image are provided, for example, between the left end 311 (for example, the white line on the left side of the driving lane) and the right end 312 (for example, the white line on the right side of the driving lane) of the lane in which the vehicle 1 travels. A first movement path 321 overlapping the road surface 310, a second movement path 322 above the left end 311 of the road surface 310 (positive direction of the Y axis), and a second movement route 322 above the right end 312 of the road surface 310 (positive direction of the Y axis). 3 movement paths 323 . It should be noted that the moving path of the image may be appropriately selected other than the one illustrated in FIG. In addition, the moving path of the image may be singular.

The vehicle 1 may include a speed sensor 401 (an example of a foreground speed-related information detector) that detects the speed of the vehicle 1 (an example of the foreground speed-related information). Processor 16 may obtain the speed of vehicle 1 and estimate the approach speed of foreground 300 based on this speed.

The vehicle 1 may include a road information database 402 (an example of a road shape acquisition unit) such as a navigation system, or may acquire road information from the road information database 402 provided outside. The road information database 402 stores road information (lanes, white lines, stop lines, pedestrian crossings, road width, number of lanes, intersections, curves, branch roads, etc.) based on the position of the vehicle 1 from the vehicle position detection unit 403, which will be described later. (including presence/absence, position, shape, etc.) can be read and sent to processor 16 . Processor 16 may obtain road information, estimate the direction of approach of foreground 300, and determine the path of travel of the image. Specifically, the processor 16 may determine moving routes 321, 322, and 323 of the images, respectively, based on the road information.

The vehicle 1 may include an own vehicle position detector 403 (an example of a foreground speed-related information detector) made up of GNSS (Global Navigation Satellite System) or the like. The own vehicle position detection unit 403 continuously or intermittently acquires the position information (an example of the foreground speed-related information) of the vehicle 1 and estimates the approach speed of the foreground 300 by analyzing the time change of the position information. , can be sent to the processor 16 . Note that the processor 16 may be provided with the function of analyzing the position information and estimating the approach speed of the foreground 300 .

The foreground speed-related information detection unit is composed of the vehicle position detection unit 403, and the approach speed of the foreground 300 may be estimated based only on the position information from the vehicle position detection unit 403. It may be configured with the vehicle position detection unit 403 . In this case, the foreground speed-related information detection unit detects changes in the position of the vehicle 1 along the road based on the continuously or intermittently acquired position information of the vehicle position detection unit 403 and the road information of the road information database 402. By detecting , the approach speed of the foreground 300 (in other words, the speed of the vehicle 1) may be estimated more accurately.

The vehicle 1 may include one or more external sensors 404 that detect real objects existing around the vehicle 1 (especially in front in this embodiment). The vehicle exterior sensor 404 detects, for example, white lines (division lines) 311 and 312 in front of the vehicle 1 . Real objects detected by the vehicle exterior sensor 404 may include pedestrians, bicycles, motorcycles, other vehicles (preceding vehicles, etc.), roadside objects, buildings, etc., in addition to white lines. Examples of external sensors include radar sensors such as millimeter wave radar, ultrasonic radar, and laser radar, and camera sensors composed of a camera and an image processing device. Either one may be used. A conventional well-known technique is applied to object detection by these radar sensors and camera sensors. Object detection by these sensors detects the presence or absence of a real object in a three-dimensional space, and if the real object exists, the position of the real object (relative distance from the vehicle, direction (lateral position), etc.), The size (horizontal direction, height direction, etc.), type, etc. may be detected. One or more external sensors 404 detect real objects (at least the white lines 311 and 312) in front of the vehicle 1, acquire various information, and output external world information signals (real object information such as the presence/absence of real objects, and the position, size, type, etc. of each real object if real objects exist) can be sent to the processor 16 . Note that these external world information signals may be transmitted to the processor 16 via other devices (for example, the ECU of the vehicle 1). Also, when using a camera as a sensor, an infrared camera or a near-infrared camera is desirable so that a real object can be detected even when the surroundings are dark, such as at night. Moreover, when using a camera as a sensor, a stereo camera that can acquire distance and the like by parallax is desirable.

The vehicle exterior sensor 404 is composed of a detection unit such as a camera or a sensor and an image analysis unit. A moving speed (approaching speed) and a moving vector indicating a direction for each region of the foreground 300 can be calculated, and the processing result can be sent to the processor 16 . By analyzing the optical flow, it is possible to recognize the road shape such as the width and curve of the road surface 310 in the foreground 300 of the vehicle 1, and may function as the road shape acquisition unit. The sensor 404 outside the vehicle detects a first optical flow on the road surface 310 in the straight-ahead direction of the vehicle, a second optical flow above the left edge 311 of the road surface 310 (left division line of the road surface 310) by a predetermined height, and a right edge 312 of the road surface 310. It is possible to calculate the third optical flow above (the right lane marking of the road surface 310) by a predetermined height. The processor 16 sets the first optical flow calculated by the sensor 404 outside the vehicle to the first movement route 321, sets the second optical flow to the second movement route 322, and sets the third optical flow to the second movement route 321. 3 is set to the moving route 323 . In FIG. 5, arrows indicate only the movement direction in the optical flow, and the size of the arrow does not reflect the speed in the optical flow.

The vehicle 1 may include an eyepoint detection unit 405 such as an infrared camera that detects the positions of the eyes of the driver 4 . The processor 16 can identify the positions of the eyes of the driver 4 by acquiring the image captured by the infrared camera and analyzing the captured image. Note that the processor 16 may acquire, from the peripheral interface 14, information on the positions of the eyes of the driver 4 specified from the image captured by the infrared camera. In addition, the method of acquiring the position of the eyes of the driver 4 of the vehicle 1 or the information that can estimate the position of the eyes of the driver 4 is not limited to these, and a known eye point detection (estimation) technique can be used. may be obtained using The processor 16 may at least adjust the position of the image 200 based on the eye position of the driver 4 so that the image 200 superimposed on the desired position of the foreground 300 is visible.

Software components stored in storage unit 18 include an approaching speed detection module 502 , an approaching speed estimation module 504 , a preceding vehicle detection module 506 , an eyepoint detection module 508 , and a graphics module 510 .

The approach speed detection module 502 detects the approach speed of the foreground 300 toward the vehicle 1 as the vehicle 1 moves forward. The approach speed detection module 502 is configured to perform various operations related to determining which speed region of the multiple speed regions the approach speed of the foreground 300 belongs to, and detecting the approach speed of the foreground 300 . software components. The approach speed detection module 502 receives the optical flow of the foreground 300 from, for example, off-vehicle sensors 404 and determines the approach speed of the foreground 300 near the path of travel of the image 200 .

The approach velocity detection module 502 uses one or more velocity thresholds to determine if the foreground 300 approach velocity is less than a specified velocity. In some embodiments, the speed threshold may be adjusted according to the state of the vehicle 1, the driving scene of the vehicle 1, and the state of the driver 4.

The approaching speed estimation module 504 acquires foreground speed-related information (information that enables estimation of the approaching speed of the foreground 300 ) and estimates the approaching speed of the foreground 300 . The approach speed detection module 502 detects the speed of the vehicle 1 (foreground speed related information) from the speed sensor 401, estimates the approach speed of the foreground 300 calculated from the speed of the vehicle 1, and detects the position information of the vehicle 1 (foreground speed related information). ) and estimating the approach speed of the foreground 300 by analyzing changes in position information of the vehicle 1 over time. The approach speed estimation module 504 receives, for example, the speed of the vehicle 1 (foreground speed related information) from the speed sensor 401 and the position information of the vehicle 1 (foreground speed related information) from the own vehicle position detection unit 403 . , estimate the approach velocity of a region of the foreground 300 that overlaps or is adjacent to the moving path of the image 200 .

The preceding vehicle detection module 506 detects the position of the preceding vehicle (reference numeral 330 in FIG. 8) traveling in front of the vehicle 1 . The preceding vehicle detection module 506 detects the position of the preceding vehicle 330, the vehicle 1
, including various software components for performing various operations related to determining whether there is a preceding vehicle 330 approaching within a predetermined distance of. The preceding vehicle detection module 506 , for example, acquires the position of the real object from the vehicle exterior sensor 404 and determines whether or not there is a preceding vehicle 330 traveling in front of the vehicle 1 .

The eyepoint detection module 508 detects the eye position of the driver 4 of the vehicle 1 . The eye point detection module 508 determines where the eye height of the driver 4 is in the height region provided in multiple stages, detects the eye height of the driver 4 (position in the Y-axis direction), Detection of eye height (position in the Y-axis direction) and position in the depth direction (position in the Z-axis direction) of the driver 4, detection of eye position (position in the X-, Y-, and Z-axis directions) of the driver 4 includes various software components for performing various operations related to . The eye point detection module 508, for example, acquires the eye position of the driver 4 from the eye point detection unit 405, or obtains the eye position including the eye height of the driver (4) from the eye point detection unit 405. Receiving estimable information and estimating eye position, including eye level, of driver 4 .

The graphics module 510 controls the visual effects (e.g., brightness, transparency, saturation, contrast, or other visual characteristics), size, display position, display distance (from the driver 4 to the image 200) of the displayed image 200. distance). The graphic module 510 changes at least the size and the display position at a speed (first speed Iv1) slower than the approach speed of the foreground 300 so that the image 200 appears to be approaching the vehicle 1 . For example, when the image 200 is moved along the first movement path 321 that overlaps the road surface 310 shown in FIG. do. Also, when the image 200 is moved along the second movement path 322 that overlaps the road surface 310 shown in FIG. . Note that when the height of the second movement path 322 from the road surface 310 is set at a position lower than the eye level of the driver 4, the display position of the image 200 gradually moves downward in the vertical direction. do.

In some embodiments, graphics module 510 stores data representing the image elements used. Each image element is optionally assigned a corresponding code. Graphics module 510 receives from one or more processors 16 one or more codes specifying image elements to be displayed, along with coordinate data and other property data (size, azimuth, elevation), and Screen image data to be output to the display units 11 and 12 is generated. The graphic module 510 continuously changes the coordinate data and other property data (size) to make the image 200 appear to be approaching the vehicle 1 .

Each of the modules described above correspond to executable instructions and methods (eg, computer-executed programs) described in the present application that perform one or more of the functions described above.

Some or all of the above modules transmit various information to the speed sensor 401, the road information database 402, the vehicle position detection unit 403, the vehicle exterior sensor 404, and the eye point detection unit 405 via the peripheral interface 14 at predetermined intervals. send a request to send a In response to this, peripheral interface 14 acquires various information from speed sensor 401 , road information database 402 , vehicle position detector 403 , vehicle exterior sensor 404 , and eyepoint detector 405 and sends the information to processor 16 . In other embodiments, some or all of the above modules may request information to be sent only when there is an important event (for example, detecting that the vehicle 1 has started running).

FIG. 5 is a flow diagram illustrating a process for displaying an image that is viewed as having a slower approach speed than the foreground.

The vehicle display device 10 includes an external sensor 404 provided in the vehicle 1, an ECU (not shown), an internal sensor (not shown), a portable electronic device (not shown) brought into the vehicle 1, and an external server ( (not shown) or the like (step S1), the shape of the road on which the vehicle 1 travels is obtained (step S2), and the display content of the image 200 is determined based on the instruction signal (step S3). Further, when there are a plurality of moving routes of the image, the moving route may be determined according to the type of the acquired instruction signal (step S3). Also, the travel route may be determined along the road shape acquired in step S110 (step S3).

Next, the vehicular display device 10 acquires the approach speed Hv of the foreground 300 to the vehicle 1 as the vehicle 1 advances (step S4), and determines whether it is faster than the speed threshold value Hvth stored in the storage unit 18 (step S4). step S5). This speed threshold Hvth may be variable depending on the situation of the vehicle 1, the external situation of the vehicle 1, the internal situation of the vehicle 1, or a combination thereof. As another example, in step S4, information (foreground speed-related information) that enables estimation of the approach speed Hv of the foreground 300 may be acquired and compared with a predetermined threshold value stored in the storage unit 18 (step S5). ). The foreground speed-related information may include information with which the approach speed Hv of the foreground 300 can be estimated, the speed of the vehicle 1, or information with which the speed of the vehicle 1 can be estimated.

When it is determined that the foreground 300 approaching speed Hv (the speed of the vehicle 1) is relatively high (YES in step S5), the vehicle display device 10 displays the image 200 at a third speed Iv3 (a first speed described later). (faster than the speed Iv1), the object is displayed so that it can be seen as if the object is passing by as it gradually approaches from a distance (step S6). For example, the vehicular display device 10 can express the approach of the image 200 by gradually enlarging the image 200 while moving the image 200 from the upper side toward the lower end of the display area 100, and the lower end of the display area 100 ( When the image 200 moves to a predetermined position), the passage of the image 200 can be expressed by not displaying the image 200 below the lower end (predetermined position) of the display area 100 . For example, the third speed Iv3 may be the same as the foreground 300 approach speed Hv. That is, image 200 may be displayed to appear as close as the foreground 300 at the same speed.

Next, the vehicular display device 10 displays the image 200 at a position (upper side of the display area 100) that the driver 4 recognizes as being far away, and displays the image 200 at a second speed Iv2 (a first speed Iv1 described later). (faster), the image 200 is displayed so that it can be seen gradually approaching from a distance (step S7). , the image 200 is displayed so as to appear to pass by gradually approaching at a first speed Iv1 lower than the approach speed Hv of the foreground 300 (step S8). In other words, the image 200 is displayed so as to appear to approach from a distance at the second speed Iv2 and to approach from the middle at the first speed Iv1 slower than the second speed Iv2. For example, the second velocity Iv2 may be the same as the third velocity Iv3 and may be the same as the foreground 300 approach velocity Hv. Also, the first velocity Iv1 may be half the approach velocity Hv of the foreground 300 . When the image is viewed as if it is displayed at a distant position, the image itself is displayed in a small size, making it difficult to recognize the content of the image. Since the image is viewed as if it were displayed at a distant position, it takes time to recognize the small image whose content is difficult to recognize even if the moving speed is slowed down. Therefore, in a distant position, the image approaches relatively quickly, and in a position closer than a specific position, by slowing down the moving speed of the image, in a distant position that is difficult to recognize, the approach of the image is recognized, and the image approaches quickly. Only the extra time can be used to slow down the image.

On the other hand, when it is determined that the approach speed Hv of the foreground 300 (the speed of the vehicle 1) is relatively slow (NO in step S5), the vehicle display device 10 displays the image 200 at a fourth speed higher than the first speed Iv1. (step S
9).

It is understood that the specific order described for the processes in FIGS. 5 and 6 is exemplary and is not intended to represent the only order in which the processes may be performed. want to be Those skilled in the art will be able to make various changes that reorder, add, and/or remove some of the operations described herein.

The operations of the information processing processes described above may be implemented by executing one or more functional modules of an information processing device such as a general purpose processor or an application specific chip. All of these modules, combinations of these modules, and/or combinations with common hardware that can replace their functions fall within the scope of protection of the present invention.

The functional blocks of vehicle display 10 are optionally implemented in hardware, software, or a combination of hardware and software to carry out the principles of the various described embodiments. It is noted that the functional blocks illustrated in FIG. 2 may optionally be combined or separated into two or more sub-blocks to implement the principles of the described embodiments. will be understood by those skilled in the art. Accordingly, the description herein optionally supports any possible combination or division of the functional blocks described herein.

As described above, in this embodiment, the image display unit 11 (12) displays the image 200 in the predetermined display area 100 that overlaps the foreground 300 of the vehicle 1, and displays the image 200 from one or more peripheral interfaces 14. , to obtain the approach speed Hv of the foreground 300 to the vehicle 1 as the vehicle 1 advances, or to obtain information that can estimate the approach speed Hv of the foreground 300, and to obtain the information that the image 200 is slower than the approach speed Hv of the foreground 300. It is displayed so that it can be seen approaching the vehicle 1 at the first speed Iv1.

Also, in some embodiments, the first velocity Iv1 may vary with the foreground 300 approach velocity Hv. The speed of image 200 may be a constant speed from when it is displayed in the distance until it is viewed in close proximity. In this case, the speed of the image 200 may be determined based on the approach speed Hv of the foreground 300 or information from which the approach speed Hv can be estimated before or immediately before the image 200 is displayed. Also, the speed of the image 200 may be changed in real time according to the approach speed Hv of the foreground 300 .

Further, in some embodiments, it is displayed so that it appears to be approaching at a second speed Iv2 faster than the first speed Iv1, and from the middle of the approach at the second speed Iv2, the approaching at the first speed Iv1 The image 200 may be displayed such that it appears to be

Further, in some embodiments, the timing at which the second speed Iv2 and the first speed Iv1 are switched is changed based on the approach speed Hv of the foreground 300 or information capable of estimating the approach speed Hv of the foreground 300. may For example, as the approach speed Hv of the foreground 300 increases, the switching timing between the second speed Iv2 and the first speed Iv1 may be advanced. In other words, as the approach speed Hv of the foreground 300 increases, the period during which the image 200 appears to move at the second speed Iv2 is shortened and the period during which the image 200 appears to move at the first speed Iv1 is lengthened. Typically, the higher the vehicle speed, the lower the dynamic visual acuity. It is possible to make the image easy to recognize even when the image is lowered.

Also, in some embodiments, the process of approaching and passing from a distance may be repeated two or more times with the same displayed content image 200 . Specifically, the image 200 may be displayed so that it can be seen passing through from a distance, and then the image 200 can be displayed again so that it can be seen passing through from a distance. In addition, after the image 200 with predetermined display content is displayed so that it can be seen by approaching from a distance, the image 200 with display content similar to (or related to) the image 200 that has passed is approached again from a distance. may be displayed so that it can be seen through Similar display contents (or related display contents) include information that at least partially overlaps with the other, one is text information and the other is a symbol or image showing the same meaning as the text information, One may include information that complements the other, or one may indicate the situation before and after the other in chronological order, and of course, information that is generally recognized to be similar or related may be included.

Further, in some embodiments, when the process of approaching and passing from a distance is repeated two or more times with the image 200 having the same display content, the movement path may be changed. Specifically, after the image 200 is approached from a distance along the first movement path 321 and displayed so as to pass through, the image 200 is then approached from a distance along the second movement path 322 . may be displayed so that it can be seen through

Further, in some embodiments, when the processing that appears to pass through from a distance is repeated two or more times with the image 200 having the same display content, the preceding image 200 approaches from a distance and moves along different paths. A subsequent image 200 may begin to be displayed before it is hidden by the user. Specifically, the image 200 is displayed along the first movement path 321 so that it can be seen approaching from a distance. It may be displayed so that it can be viewed from a distance as it approaches and passes along the second movement path 322 .

Further, in some embodiments, in displaying the approach of the image 200 multiple times, the image 200 is displayed so that it appears to approach at the third speed Iv3 at the n (natural number)-th time, and at the next n+1-th time , may be displayed at a slower speed than this (for example, the first speed Iv1) so as to appear closer. Typically, when an image whose content is not comprehended approaches at a slow speed from a distance, the viewer's visual attention is occupied by the image for a longer period of time as they attempt to comprehend the content. Therefore, by approaching and passing at the third speed (high speed) at least once, the content of the image can be roughly grasped in a short time, and even if the image approaches the second time and after , Since the general contents can be grasped, it becomes difficult for visual attention to be directed to the image for a long time when the image is displayed in the distance.

Also, in some embodiments, if there is an obstacle (for example, the preceding vehicle 330) in front of the vehicle 1, the image 200 is displayed so that it appears to be approaching at a fifth speed lower than the first speed Iv1. , and if there are no obstacles, the image 200 may be displayed to appear closer at a first velocity Iv1. Obstacles reduce visual attention to the image, but in such a case, the image can be made easier to recognize by further slowing down the image.
[Modification]

In FIG. 1, the display area 100 is provided perpendicularly to the traveling direction (Z-axis direction) of the vehicle 1, but is not limited to this. The display area 100 may be provided, for example, so as to rotate around the vehicle width direction (X-axis direction) of the vehicle 1 and not perpendicular to the travel direction (Z-axis direction) of the vehicle 1 . Moreover, the display area 100 may be provided at two or more positions separated from each other in the traveling direction (Z-axis direction) of the vehicle 1 instead of one. Also, the display area 100 may be a three-dimensional volume area instead of an area area. That is, the image 200 may be movable in the three-dimensional space in the depth direction. In other words, image 200 may be variable in viewing distance.

In the above embodiment, the graphic module 510 continuously changes the coordinate data and other property data (size) to make the image 200 appear to be approaching the vehicle 1. (Angle of depression/angle of elevation) may be changed gradually. Furthermore, the property data (azimuth angle) may be gradually changed.

In the above-described embodiment, when the position L of the image 200 reaches the predetermined position Lth in the vertical direction (Y-axis direction) in the display area 100, the image 200 is moved from there to the first approach speed Hv slower than the approach speed Hv of the foreground 300. Although the image 200 was displayed so as to appear to pass by gradually approaching at the speed Iv1 (step S8), the switching of the speed of the image 200 is not based on the coordinates of the image 200 in the display area 100, but after the image 200 is displayed. may be the elapsed time of For example, the image 200 may be displayed so that it appears to approach from a distance at a second speed Iv2, and after a predetermined period of time has elapsed, the image 200 appears to approach halfway at a first speed Iv1 that is slower than the second speed Iv2. . Also, the speed of the image 200 may be switched according to the distance from the driver 4 to the foreground 300 on which the image 200 overlaps. For example, the vehicle approaches at the second speed Iv2 up to a position where it overlaps with the road surface (foreground 300) 80 [m] ahead of the driver 4, and overlaps with the road surface (less than 80 [m] road surface) in front of it. The position may be displayed so as to appear closer at a slow first speed Iv1.

In the above embodiment, the second speed Iv2 and the third speed Iv3 are the same as the approach speed Hv of the foreground 300, but they may be set faster than the approach speed Hv. This enables the driver 4 to quickly recognize at least that the image 200 is displayed or that the image 200 is approaching, and in addition, it is possible to quickly recognize the information indicated by the image 200. There is also sex.

DESCRIPTION OF SYMBOLS 1... Vehicle, 2... Front windshield, 4... Driver, 5... Dashboard, 10... Vehicle display device, 11... Image display part, 11a... Display light, 12... Image display part, 14... Peripheral interface, 16 Processor 18 Storage unit 20 Image processing circuit 100 Display area 200 Image 300 Foreground 310 Road surface 321 First movement route 322 Second movement route 323 Second 3 moving route 330... preceding vehicle 401... speed sensor 402... road information database 403... own vehicle position detection unit 404... outside vehicle sensor 405... eye point detection unit 502... approach speed detection module 504... Approach speed estimation module 506 Leading vehicle detection module 508 Eye point detection module 510 Graphic module B2 Guidance information Hv Approach speed Hvth Speed threshold

Claims (10)

In the vehicle display device (10),
an image display unit (11, 12);
one or more peripheral interfaces (14);
one or more processors (20);
a memory (22);
one or more computer programs stored in said memory (22) and configured to be executed by said one or more processors (20);
The one or more computer programs are
The image display unit (11, 12) displays an image (200) in a predetermined display area (100) overlapping the foreground (300) of the vehicle (1),
obtaining from the one or more peripheral interfaces (14) the approach speed of the foreground (300) to the vehicle (1) as the vehicle (1) travels; or the approach of the foreground (300). Get information that can estimate the speed,
comprising instructions for displaying said image (200) to appear to approach said vehicle (1) at a first velocity that is lower than said foreground (300) approach velocity;
The instructions for displaying said image (200) to appear closer to said vehicle (1) include:
The image (200) is
display to appear closer at a second speed that is faster than the first speed;
displaying so as to appear to approach at the first speed from the middle of the approach at the second speed;
A display device for a vehicle. the first velocity varies with the approach velocity of the foreground (300);
The vehicle display device according to claim 1 . 2. The timing of switching between the second speed and the first speed is changed based on the approach speed of the foreground (300) or information capable of estimating the approach speed of the foreground (300). vehicle display device. In the vehicle display device (10),
an image display unit (11, 12);
one or more peripheral interfaces (14);
one or more processors (20);
a memory (22);
one or more computer programs stored in said memory (22) and configured to be executed by said one or more processors (20);
The one or more computer programs are
The image display unit (11, 12) displays an image (200) in a predetermined display area (100) overlapping the foreground (300) of the vehicle (1),
obtaining from the one or more peripheral interfaces (14) the approach speed of the foreground (300) to the vehicle (1) as the vehicle (1) travels; or the approach of the foreground (300). Get information that can estimate the speed,
comprising instructions for displaying said image (200) to appear to approach said vehicle (1) at a first velocity that is lower than said foreground (300) approach velocity;
The one or more computer programs instruct to display the image (200) so as to appear closer to the vehicle (1) twice with the same or similar display content of the image (200). further comprising an instruction to repeat the above
Vehicle display. In the n (natural number)-th command to display the image (200) so as to appear closer to the vehicle (1),
displaying the image (200) to appear closer at a third speed that is higher than the first speed;
In the n+1th command to display the image (200) to appear closer to the vehicle (1),
displaying the image (200) to appear closer at the first speed;
The vehicle display device according to claim 4 . In the vehicle display device (10),
an image display unit (11, 12);
one or more peripheral interfaces (14);
one or more processors (20);
a memory (22);
one or more computer programs stored in said memory (22) and configured to be executed by said one or more processors (20);
The one or more computer programs are
The image display unit (11, 12) displays an image (200) in a predetermined display area (100) overlapping the foreground (300) of the vehicle (1),
obtaining from the one or more peripheral interfaces (14) the approach speed of the foreground (300) to the vehicle (1) as the vehicle (1) travels; or the approach of the foreground (300). Get information that can estimate the speed,
comprising instructions for displaying said image (200) to appear to approach said vehicle (1) at a first velocity that is lower than said foreground (300) approach velocity;
The instructions for displaying said image (200) to appear closer to said vehicle (1) include:
determining if the foreground (300) approach speed is less than a specified speed;
If the foreground (300) approach speed is less than a certain speed, then the image (200) is foreground.
display to appear close at a fourth speed slower than the first speed;
If the approach speed of the foreground (300) is equal to or higher than a specific speed, displaying the image (200) so that it appears to approach at the first speed.
Vehicle display. In the vehicle display device (10),
an image display unit (11, 12);
one or more peripheral interfaces (14);
one or more processors (20);
a memory (22);
one or more computer programs stored in said memory (22) and configured to be executed by said one or more processors (20);
The one or more computer programs are
The image display unit (11, 12) displays an image (200) in a predetermined display area (100) overlapping the foreground (300) of the vehicle (1),
obtaining from the one or more peripheral interfaces (14) the approach speed of the foreground (300) to the vehicle (1) as the vehicle (1) travels; or the approach of the foreground (300). Get information that can estimate the speed,
comprising instructions for displaying said image (200) to appear to approach said vehicle (1) at a first velocity that is lower than said foreground (300) approach velocity;
said one or more computer programs further comprising instructions for detecting a preceding vehicle in front of said vehicle (1) from said one or more peripheral interfaces (14);
The instructions for displaying said image (200) to appear closer to said vehicle (1) include:
If there is the preceding vehicle, displaying the image (200) so that it appears to be approaching at a fifth speed lower than the first speed;
without the preceding vehicle, displaying the image (200) to appear closer at the first speed;
Vehicle display. In a vehicle display device (10) having image display units (11, 12) and one or more peripheral interfaces (14),
the image display units (11, 12) displaying an image (200) in a predetermined display area (100) overlapping a foreground (300) of the vehicle (1);
obtaining from the one or more peripheral interfaces (14) the approach speed of the foreground (300) to the vehicle (1) as the vehicle (1) travels; or the approach of the foreground (300). obtaining information from which speed can be estimated;
displaying the image (200) to appear to approach the vehicle (1) at a first speed that is lower than the foreground (300) approach speed ;
Displaying the image (200) to appear close to the vehicle (1) includes:
The image (200) is
display to appear closer at a second speed that is faster than the first speed;
displaying so as to appear to approach at the first speed from the middle of the approach at the second speed;
A method, including In a vehicle display device (10) having image display units (11, 12) and one or more peripheral interfaces (14),
the image display units (11, 12) displaying an image (200) in a predetermined display area (100) overlapping a foreground (300) of the vehicle (1);
obtaining from the one or more peripheral interfaces (14) the approach speed of the foreground (300) to the vehicle (1) as the vehicle (1) travels; or the approach of the foreground (300). obtaining information from which speed can be estimated;
displaying the image (200) to appear to approach the vehicle (1) at a first speed that is lower than the foreground (300) approach speed;
Displaying the image (200) to appear close to the vehicle (1) includes:
determining if the foreground (300) approach speed is less than a specified speed;
if the approach speed of the foreground (300) is less than a particular speed, displaying the image (200) to appear to approach at a fourth speed slower than the first speed;
displaying the image (200) so as to appear to approach at the first speed if the foreground (300) approaches at a specific speed or more;
A method, including A computer program product comprising instructions for performing the method of claim 8 or 9.

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