JP7378892B2 - Stop line display device - Google Patents

Description

The present invention relates to a stop line display device.

BACKGROUND ART Conventionally, from the viewpoint of safe driving and automatic driving, it has been required to detect a stop line that exists on a vehicle travel path and notify the driver of the stop line.

Methods for notifying the driver of the existence of a stop line include, for example, a means for measuring the current position, a means for detecting the direction of travel, an image capturing means mounted on the vehicle, and a method based on the weather and weather information from the captured data. External safety degree determination means for determining the degree of safety related to visibility, a sign information database, a road information database, and an image such as a virtual scenery is drawn from the sign information database and the road information database based on the current position and the direction of travel. a virtual image control means; a viewing distance corrected virtual image generating means that corrects overlapping of a nearby real image and a virtual image by changing transparency so that the two images are seamlessly connected according to the viewing distance; A display system for a vehicle includes a display device that displays an image generated by a visibility distance corrected virtual image generation means on a windshield of the vehicle when the safety level is determined to be low based on the result of the external safety degree determination means. , has been proposed (for example, see Patent Document 1).

In such a vehicle display system, information obtained from a sign information database and a road information database (such as a stop line) is superimposed as a virtual image on an image of the outside world of the vehicle, so that the presence of a stop line can be detected by driving. The person can be notified.

JP2007-257286A

On the other hand, if the stop line is simply superimposed and displayed as a virtual image on the image of the outside world of the vehicle, if there is an object (such as a preceding vehicle) in front of the vehicle, the pause line will be The virtual image of the line overlaps. This may cause confusion in the sense of distance between the vehicle and the stop line, making it impossible to ensure sufficient driving safety.

The present invention is a stop line display device that improves the accuracy of the sense of distance between a vehicle and a stop line and improves driving safety.

The present invention [1] includes a photographing means mounted on a vehicle for photographing the front of the vehicle, a detection means for detecting a stop line in front of the vehicle, and an emphasis line for emphasizing the stop line. generating means for generating the highlighted line; display means for superimposing and displaying the highlighted line on an external scene in front of the vehicle; object confirmation means for confirming an object in front of the vehicle; control means for adjusting the display of the vehicle, and the control means is configured to detect an object in front of the vehicle by the object confirmation means, and to display a display of the object in front of the vehicle. The stop line display device includes a stop line display device that corrects the highlighted lines so that they do not overlap when they overlap, and displays the highlighted lines on the display means.

According to the stop line display device of the present invention, the emphasized line of the stop line in front of the vehicle is displayed on the display means of the vehicle so as not to overlap with an object in front of the vehicle.

According to such a stop line display device, it is possible to suppress confusion in the sense of distance due to overlap between the emphasized line of the stop line and an object in front of the vehicle, and it is possible to improve driving stability.

FIG. 1 is a schematic diagram showing an embodiment of a stop line display device of the present invention. FIG. 2 is a schematic diagram illustrating a display form of a highlighted line of a stop line by the stop line display device shown in FIG. FIG. 2B shows a display form when the pause line is omitted, and FIG. 2B shows a display form when the emphasis line of the pause line does not overlap with the object in front. FIG. 3 is a schematic diagram showing another display form of the highlighted line of the stop line by the stop line display device shown in FIG. FIG. 3B shows a display format in which the emphasis line of the pause line is displayed overlapping the stop line, and the emphasis line of the pause line is omitted in the part where it overlaps with the object in front. This shows the display format for the case. FIG. 4 is a schematic diagram showing another display form of the highlighted line of the stop line by the stop line display device shown in FIG. FIG. 4B shows a display format in which the highlighted line of the pause line is displayed overlapping the pause line, and the highlighted line of the pause line does not overlap with the object in front. show.

1. Overall Configuration of Stop Line Display Device In FIG. 1, an automobile 10 is a vehicle that travels on a road. The automobile 10 is required to temporarily stop at a stop line L1 placed on the road surface (road surface) in accordance with general traffic regulations.

However, objects 11 such as preceding vehicles (cars, motorcycles, bicycles, etc.), humans, animals, etc. may exist in front of the automobile 10, and this may block the stop line L1 from the driver of the automobile 10. There may be cases where

Therefore, the automobile 10 is equipped with a stop line display device 1 in order to improve driving safety for the driver.

The stop line display device 1 includes a photographing device 2 as a photographing means mounted on a car 10, a detection device 3 as a detecting means for detecting a stop line L1 in front of the car 10, and a detection device 3 as a detecting means for detecting a stop line L1 in front of the car 10. A generating device 4 as a generating means for generating an emphasis line L2 (described later) for emphasis, a display device 5 as a display means for superimposing and displaying the emphasis line L2 on the external scene in front of the automobile 10, It includes an object confirmation device 6 as an object confirmation means for confirming an object 11 (such as a preceding vehicle), and a control device 7 that adjusts the display of an emphasis line L2 (described later) according to the object 11.

The photographing device 2 is an imaging device for photographing an external scene in front of the automobile 10 (including the road surface) as an image (a still image or a moving image). Examples of the photographing device 2 include a still image camera and a video camera, and preferably a video camera.

Further, the photographing device 2 is arranged on the front side of the interior of the automobile 10 (for example, on the dashboard, etc.) facing the direction of travel.

Thereby, the photographing device 2 is capable of photographing the external scene ahead in the direction of the course of the automobile 10, and is also capable of acquiring the photographed image as data (hereinafter referred to as photographed data).

The detection device 3 is an information processing device for detecting a stop line L1 in front of the automobile 10.

The method of detecting the stop line L1 by the detection device 3 is not particularly limited, but for example, a method of extracting the stop line L1 from a road sign included in the imaging data obtained by the photographing device 2, for example, a method of extracting the stop line L1 from the automobile 10. For example, a method of detecting the stop line L1 by comparing the position information of the stop line L1 with map information can be cited. Preferably, a method of extracting the stop line L1 from a road sign included in the imaging data obtained by the imaging device 2 is used.

In such a case, the detection device 3 has a detection program P1 for detecting the temporary stop line L1 from the imaging data.

Furthermore, the detection device 3 is electrically connected to the imaging device 2 (see the broken line in FIG. 1). Thereby, the imaging data obtained by the imaging device 2 can be input to the detection program P1.

Then, the detection program P1 recognizes road signs (roadside signs, road signs, etc.) in front of the vehicle 10 from the imaging data obtained by the imaging device 2 based on a known machine learning algorithm, and detects the stop line. It is configured to be able to detect L1.

Note that details regarding the detection of the temporary stop line L1 by the detection program P1 will be described later.

The detection program P1 allows the temporary stop line L1 to be acquired as data (hereinafter referred to as stop line data). Note that the stop line data includes, for example, the position and size of the temporary stop line L1.

The generation device 4 is an information processing device that generates an emphasis line L2 for emphasizing the temporary stop line L1.

The emphasis line L2 is a virtual image for notifying the driver of the automobile 10 of the position of the stop line L1 and calling attention to it, and is displayed so as to overlap with the stop line L1 on the display device 5, which will be described later. (see phantom line in Figure 1).

The generation device 4 has a generation program P2 for generating the emphasis line L2.

Moreover, the generation device 4 is electrically connected to the detection device 3 (see the broken line in FIG. 1). Thereby, the stop line data obtained by the detection device 3 can be input to the generation program P2.

The generation program P2 is configured to be able to generate an emphasis line L2 that can overlap the pause line L1 from the stop line data regarding the pause line L1, based on a known object generation algorithm or the like.

The generation program P2 allows the generation device 4 to acquire the emphasis line L2 as data (hereinafter referred to as emphasis line data). Note that the emphasis line data includes, for example, the color, size, thickness, transparency, etc. of the emphasis line L2.

The display device 5 is a display device that displays the emphasis line L2 generated by the generation device 4 in a superimposed manner on the external scene in front of the automobile 10 (including the road surface).

More specifically, the display device 5 includes, for example, a head-up display, an organic EL display, a semi-transparent liquid crystal display, etc., and transmits the front external scenery in the visual field of the driver of the automobile 10 (for example, the windshield). Possibly located.

Furthermore, the display device 5 is electrically connected to the generation device 4 via a control device 7 (described later) (see the broken line in FIG. 1).

Thereby, the display device 5 can display the emphasis line L2 generated by the generation device 4 as a virtual image. More specifically, the display device 5 is capable of transmitting the front outside view of the automobile 10 and displaying the emphasis line L2 so as to overlap with the front outside view.

That is, the display device 5 can display the actual front external scene and the emphasis line L2, which is a virtual image, in an overlapping manner using augmented reality (AR) technology.

The object confirmation device 6 is an information processing device for confirming the presence of an object 11 (such as a preceding vehicle) in front of the automobile 10.

The object confirmation device 6 is not particularly limited as long as it can confirm the object 11 in front of the automobile 10. An object 11 in front of 10 can be detected. The object confirmation device 6 preferably includes an imaging device. Further, the photographing device can also be used as the photographing device 2. In FIG. 1, the photographing device of the object confirmation device 6 and the photographing device 2 described above are also used.

Further, the object confirmation device 6 has an object confirmation program P3.

Further, in FIG. 1, the object confirmation device 6 is electrically connected to a photographing device (photographing device 2) (see the broken line in FIG. 1). Thereby, the detection device 3 can input the imaging data obtained by the imaging device 2 to the object confirmation program P3.

The object confirmation program P3 is configured to be able to confirm the presence of the object 11 in front of the vehicle 10 from image data or the like based on a known machine learning algorithm or the like. Further, the object confirmation program P3 is configured to be able to detect the position and size of the object 11 when the object 11 is present in front of the automobile 10.

The object confirmation program P3 allows the object 11 in front of the automobile 10 to be acquired as data (hereinafter referred to as object data). Note that the object data includes, for example, the position and size of the object 11.

The control device 7 is an information processing device that adjusts (corrects) an emphasis line L2 for emphasizing the temporary stop line L1 according to the object 11 in front of the automobile 10 and displays it on the display device 5.

The control device 7 is arranged so as to be electrically interposed between the generation device 4 and the display device 5 (see the broken line in FIG. 1). Thereby, the control device 7 can arbitrarily adjust (correct) the emphasis line L2 generated by the generation device 4 before displaying it on the display device 5.

More specifically, the control device 7 has an adjustment program P4.

Further, the control device 7 is electrically connected to the detection device 3 (see broken line in FIG. 1). Thereby, the control device 7 can input the stop line data obtained by the detection device 3 into the adjustment program P4.

Furthermore, the control device 7 is electrically connected to the display device 5 (see dashed line in FIG. 1). Thereby, the control device 7 can output the emphasis line L2 (virtual image data) adjusted by the adjustment program P4 to the display device 5.

The adjustment program P4 is configured to be able to adjust (correct) the display form according to the object 11 in front of the automobile 10 when displaying the emphasis line L2 generated by the generation device 4 on the display device 5. There is.

More specifically, when the object 11 is confirmed by the object confirmation device 6 and the emphasized line L2 overlaps with the object 11, the adjustment program P4 corrects the emphasized line L2 so that they do not overlap. , can be displayed on the display device 5.

Note that details of the adjustment of the emphasis line L2 by the adjustment program P4 will be described later.

In the above-described temporary stop line display device 1, the photographing device 2, the detection device 3, the generation device 4, the display device 5, the object confirmation device 6, and the control device 7 may be independent from each other, or a plurality of devices may be used. It may be configured integrally.

2. Display of Emphasis Line In the following, a method for displaying the emphasis line L2 of the pause line L1 using the stop line display device 1 will be described in detail with reference to FIGS. 1 and 2.

More specifically, in this stop line display device 1, first, as shown by arrows A1 and A2 in FIG. 3 to the detection program P1. Then, the detection program P1 performs arithmetic processing on the image data according to a predetermined algorithm.

That is, in the detection program P1, first, the sign 15, which is a sign of the stop line L1, is detected as indicated by the arrow A1.

The predictive sign 15 is a sign that notifies the driver of the existence of the stop line L1 in advance, and is, for example, a roadside sign placed on the roadside before the stop line L1, for example, a roadside sign placed on the road before the stop line L1. Examples include road signs written on the road.

A car 10 traveling on a road usually encounters a stop line L1 after encountering a warning sign 15.

Therefore, in the detection program P1, first, the sign 15 of the stop line L1 is detected from the imaging data obtained by the imaging device 2. The method for detecting the sign 15 is not particularly limited, and includes, for example, a method of comparing a database of sign signs with imaging data.

When the sign 15 is detected from the imaging data, the detection program P1 predicts that the stop line L1 exists beyond the sign 15, and then detects the stop line L1 beyond the sign 15. Detect. The method of detecting the temporary stop line L1 is not particularly limited, and a known calculation method may be employed.

For example, when an object 11 (such as a preceding vehicle) exists in front of the automobile 10, a part of the stop line L1 is blocked by the object 11, as shown by arrow A2, and is not photographed by the photographing device 2. As a result, the entire image of the temporary stop line L1 may not be detected from the imaging data.

In such a case, after predicting that the pause line L1 exists, the detection program P1 detects the remainder of the pause line L1 (the remainder of the part blocked by the object 11) from the imaging data obtained by the imaging device 2. Detect. Then, the entire position and size of the temporary stop line L1 is predicted (detected) from the remaining portion of the temporary stop line L1 (the remaining portion of the part blocked by the object 11).

Thereby, the detection device 3 detects the temporary stop line L1 as data (stop line data). Note that the stop line data includes the position, size, etc. of the temporary stop line L1.

Next, in this method, the stop line data obtained above is input to the generation program P2 of the generation device 4, and processed in the generation program P2 according to a predetermined algorithm.

As a result, the generation device 4 generates the emphasis line L2 to be displayed superimposed on the temporary stop line L1 as data (emphasis line data). Note that the method of generating the emphasized line data is not particularly limited, and a known calculation method may be employed.

On the other hand, in this method, the object 11 in front of the automobile 10 is confirmed by the object confirmation program P3.

More specifically, in this method, the object 11 in front of the automobile 10 is confirmed by inputting the imaging data obtained by the photographing device 2 into the object confirmation program P3 of the object confirmation device 6. Note that the method for confirming the object 11 is not particularly limited, and a known calculation method may be employed.

Thereby, the object confirmation device 6 detects the position and size of the object 11 in front of the automobile 10 as data (object data).

Thereafter, in this method, the data of the emphasized line L2 (highlighted line data) generated by the generation device 4 and the data of the object 11 detected by the object confirmation device 6 (object data) are transferred to the adjustment program P4 of the control device 7. Enter.

Then, the adjustment program P4 processes the object data and emphasis line data according to a predetermined algorithm, and adjusts (corrects) the display form of the emphasis line L2.

More specifically, the adjustment of the display form of the emphasis line L2 differs depending on the presence or absence of object data.

That is, in the adjustment program P4, when object data is input (that is, when the object 11 is confirmed by the object confirmation device 6), the emphasis line L2 and the object 11 overlap, as shown in FIG. 2A. The portion is detected and the emphasis line L2 is corrected so that it does not overlap with the object 11. In other words, out of the entire emphasis line L2, the part that overlaps with the object 11 is omitted, and only the other part (the part that does not overlap with the object 11) of the emphasis line L2 is set so that the display device overlaps the pause line L1. Display on 5.

In addition, in such a case, for example, when the object 11 moves (such as the preceding vehicle moving forward) and the overlap between the temporary stop line L1 and the object 11 is eliminated, the adjustment program P4 is as shown in FIG. 2B. An emphasis line L2 is displayed in a portion where the overlap between the temporary stop line L1 and the object 11 is eliminated so that the overlap between the temporary stop line L1 and the object 11 is eliminated. That is, the entire emphasis line L2 is displayed on the display device 5 so as to overlap with the temporary stop line L1.

On the other hand, when the object data is not input to the adjustment program P4 (that is, when the object 11 is not confirmed by the object confirmation device 6), the adjustment program P4 adjusts the emphasis line L2 as shown in FIG. 2B. The whole is displayed on the display device 5 so as to overlap with the temporary stop line L1.

Thereby, at least a portion of the emphasis line L2 can be displayed superimposed on the temporary stop line L1, and the presence of the temporary stop line L1 can be alerted to the driver of the automobile 10, thereby improving driving safety.

Further, it is possible to suppress confusion in the sense of distance due to overlap between the emphasized line L2 of the temporary stop line L1 and the object 11 in front of the automobile 10, and it is possible to improve driving stability.

Further, although not shown in detail, the stop line display device 1 may further include an indoor camera (eye tracking camera) for observing the position where the driver of the automobile 10 concentrates his or her line of sight. Under the control of the control device 7, the display position of the emphasis line L2 can also be adjusted to the position where the driver's line of sight is concentrated. Thereby, it is possible to further improve driving safety.

3. Effects and Effects According to the above-described temporary stop line display device 1, driving stability can be improved. That is, in the above-mentioned stop line display device 1, the emphasis line L2 of the stop line L1 can be displayed so as to be superimposed on the external view of the automobile 10, so that the presence of the stop line L1 can be displayed to the driver. This information can be used to improve driving safety.

On the other hand, if the external view in front of the vehicle 10 (the temporary stop line L1 on the road surface) and the emphasis line L2 are simply superimposed and displayed, if an object 11 (such as a preceding vehicle) exists in front of the vehicle 10, the object 11 (preceding vehicle, etc.) and the emphasis line L2 overlap, causing confusion in the sense of distance, and driving safety may not be sufficiently ensured.

In this regard, according to the above-mentioned stop line display device 1, the emphasis line L2 is displayed on the display device 5 of the automobile 10 so as not to overlap with the object 11 in front of the automobile 10 (such as a preceding vehicle).

Therefore, according to the above-mentioned stop line display device 1, it is possible to suppress confusion in the sense of distance due to the overlap between the emphasized line L2 of the stop line L1 and the object 11 in front of the automobile 10, and improve driving stability. be able to.

4. Modification example 1
As described above, the stop line display device 1 may display the emphasis line L2 after detecting the warning sign 15 and the stop line L1 (the rest of the above); however, for example, after detecting the warning sign 15, , it is also possible to display the emphasis line L2 before detecting the temporary stop line L1 (the remaining part).

That is, depending on the positional relationship between the automobile 10, the object 11 (such as a preceding vehicle), and the stop line L1, the entire stop line L1 may be blocked by the object 11 in the detection device 3, and the stop line L1 (the above-mentioned remaining portion) may not be detected. Further, for example, the position of the stop line L1 is far away from the car 10, and the detection device 3 of the car 10 may not be able to detect the stop line L1 (the above-mentioned remaining part).

In this way, when the pause line L1 is not detected, the pause line display device 1 displays the highlighted line L2 before detecting the pause line L1 (the above-mentioned remaining part), and also displays the highlighted line L2. After detecting L1 (the remaining portion), the emphasis line L2 can be made to overlap the pause line L1 (the remaining portion).

Further, the display form of the emphasis line L2 is not limited to the above, but for example, after the emphasis line L2 is first displayed in front of the temporary stop line L1 (on the car 10 side) under the control of the adjustment program P4, It is also possible to gradually overlap the emphasis line L2 with the pause line L1.

More specifically, in this embodiment, the adjustment program P4 has a function of correcting the emphasis line L2 so that the emphasis line L2 and the object 11 do not overlap when they overlap. It has a function of displaying L2 behind the object 11 and then sliding the emphasis line L2 forward so that it overlaps with the temporary stop line L1.

In this embodiment, when the detection program P1 detects the predictive sign 15 (see arrow A1 in FIG. 1), before detecting the stop line L1 (see arrow A2 in FIG. 1), the generation program P2 Generate line L2. Further, the object confirmation program P3 confirms the object 11, and the adjustment program P4 causes the display device 5 to display the emphasis line L2 generated by the generation device 4.

At this time, since the temporary stop line L1 has not been detected, the highlighted line L2 is not displayed so as to overlap with the temporary stop line L1, and as shown in FIG. (for example, the road surface between the automobile 10 and the object 11 (such as a preceding vehicle)).

That is, in this embodiment, when the automobile 10 approaches the stop line L1, the emphasis line L2 can first be displayed on the rear side (on the automobile 10 side) of the actual position of the stop line L1. .

Thereby, the driver of the automobile 10 can be notified of the existence of the temporary stop line L1 earlier and can be alerted.

Thereafter, as shown in FIG. 3B, when the automobile 10 approaches the temporary stop line L1 and the temporary stop line L1 is detected in front of the object 11 (such as a preceding vehicle) in front of the automobile 10, the adjustment program P4 slides the emphasis line L2 forward (towards the object 11) and displays the emphasis line L2 in a superimposed manner on the temporary stop line L1 (see arrow A3).

Further, at this time, the control device 7 detects a portion where the emphasis line L2 and the object 11 overlap, and corrects the emphasis line L2 so that it does not overlap with the object 11. In other words, out of the entire emphasis line L2, the part that overlaps with the object 11 is omitted, and only the other part (the part that does not overlap with the object 11) of the emphasis line L2 is set so that the display device overlaps the pause line L1. Display on 5.

Even in such an embodiment, at least a portion of the emphasis line L2 can be displayed superimposed on the stop line L1 to alert the driver of the vehicle 10 to the existence of the stop line L1, thereby improving driving safety. be able to.

Further, it is possible to suppress confusion in the sense of distance due to overlap between the emphasized line L2 of the temporary stop line L1 and the object 11 in front of the automobile 10, and it is possible to improve driving stability.

5. Modification example 2
In the above embodiment, a portion where the emphasis line L2 and the object 11 overlap is detected and the emphasis line L2 is corrected so as not to overlap with the object 11. However, when the emphasis line L2 and the object 11 do not overlap, does not need to be corrected as described above.

More specifically, in this embodiment, for example, when the detection program P1 detects the predictive sign 15 (see arrow A1 in FIG. 1), before detecting the stop line L1 (see arrow A2 in FIG. 1), First, the emphasis line L2 can be displayed on the rear side (on the vehicle 10 side) of the actual position of the stop line L1.

At this time, since the temporary stop line L1 has not been detected, the highlighted line L2 is not displayed so as to overlap with the temporary stop line L1, and as shown in FIG. (for example, the road surface between the automobile 10 and the object 11 (such as a preceding vehicle)).

Further, in the display device 5, the pause line L1 and the object 11 overlap, but the emphasis line L2 and the object 11 do not overlap, so the emphasis line L2 is not corrected and the entire object 11 is displayed.

Thereafter, as shown in FIG. 4B, when the car 10 approaches the stop line L1 and the stop line L1 is detected ahead of the object 11 (such as a preceding vehicle) in front of the car 10, the adjustment program P4 slides the emphasis line L2 forward (towards the object 11) and displays the emphasis line L2 in a superimposed manner on the temporary stop line L1 (see arrow A4).

At this time, if the overlap between the stop line L1 and the object 11 is eliminated, such as when the object 11 of the car 10 (such as the vehicle in front) moves forward (towards the back) of the stop line L1, it will slide forward. The highlighted line L2 and the object 11 do not overlap.

Therefore, in this embodiment, the entire emphasis line L2 can be displayed so as to overlap with the temporary stop line L1 without correcting the emphasis line L2 that has slid forward.

Even in such an embodiment, at least a portion of the emphasis line L2 can be displayed superimposed on the stop line L1 to alert the driver of the vehicle 10 to the existence of the stop line L1, thereby improving driving safety. be able to.

Further, it is possible to suppress confusion in the sense of distance due to overlap between the emphasized line L2 of the temporary stop line L1 and the object 11 in front of the automobile 10, and it is possible to improve driving stability.

1 Stop line display device 2 Photographing device 3 Detection device 4 Generation device 5 Display device 6 Object confirmation device 7 Control device 10 Car 11 Object 15 Predictive sign L1 Stop line L2 Emphasis line

Claims (1)

a photographing means mounted on a vehicle and photographing the front of the vehicle;
a detection means for detecting a stop line in front of the vehicle and a sign indicating the stop line ;
Generating means for generating an emphasis line for emphasizing the pause line;
Display means for superimposing and displaying the emphasis line on an external scene in front of the vehicle;
object confirmation means for confirming an object in front of the vehicle;
control means for adjusting the display of the emphasis line according to an object in front of the vehicle,
When the detection means detects the warning sign, the control means causes the display means to display the emphasis line in front of the stop line;
When the detection means detects the pause line, the control means causes the display means to slide the emphasis line so as to display the emphasis line so as to overlap the pause line,
The control means includes:
When an object is confirmed in front of the vehicle by the object confirmation means and the emphasized line of the temporary stop line and the object in front of the vehicle overlap, the emphasized line is corrected so that they do not overlap. A stop line display device, characterized in that the stop line is displayed on the display means.

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