JPH09128686A - Display device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To display the correspondence, specially, among a scene, a lane, and driver's own vehicle so that the driver can judge it more easily and distinctively by displaying a forward road state, a driver's own vehicle mark, lane information, a median strip mark, etc., on the display screen of a display device. SOLUTION: The vehicle display device which displays guide information on an on-vehicle display device according to the forward road state on a travel road has a road information receiving means and a control unit, and the forward road state 21 is displayed at the upper part of the display screen of the display device and the position of an accident site is displayed at the lower part of the screen. In the center of the screen, a travel lane 23 as vehicle lane information is displayed, and the driver's own vehicle mark 22 displays the current travel in the center lane and travel enabled/disabled state marks 24 indicate that the vehicle can travel in neither the left lane nor center lane. Further, tree planting marks 26 are displayed in the periphery of the left screen. Thus, the median strip mark 26 is displayed in the right periphery of the screen, so it becomes easy to grasp the whole travel road.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle guide device, and more particularly to a guide display device for displaying the road condition of each lane by utilizing communication road information from the road.

[0002]

2. Description of the Related Art Conventionally, a radar, a CCD camera, and a combination thereof have been developed to recognize a driving situation while detecting an obstacle and to automatically drive the vehicle. However, it is still necessary to correctly drive on all roads. No technology has been found to judge the situation.

On the other hand, a system for supporting driving instead of automatic driving has been considered.

In particular, it is known to receive traffic jam information and accident information and display them for each lane.

[0005]

SUMMARY OF THE INVENTION An object of the present invention is to provide a display so that the driver can easily judge in the above situations, and particularly, the correspondence between the scene, the lane and the own vehicle. The purpose is to display so that the judgment can be made more clearly.

[0006]

The present invention has a road information receiving means and a control unit, and a display screen of a display device shows a road condition ahead, a vehicle mark, lane information,
It is characterized in that a traveling permission / prohibition mark for each lane, a guide mark to a recommended lane, and a median mark are displayed.

According to the present invention, the judgment can be made easier by displaying the central separator around the screen.

Therefore, according to the present invention, since the median strip is displayed around the right side of the screen, each lane condition of the traveling road can easily correspond to the actual scene, and the information obtained by communication can be easily displayed. It becomes possible to do.

In the present invention, preferably, the median strip mark is a plant mark.

Further, the central divider mark is always displayed at a constant peripheral portion of the screen even if the number of lanes changes.

The display device is a head-up display device.

Further, the control unit has a recommended lane calculating means, and displays a guide mark to the recommended lane on the display screen.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described with reference to the drawings.

In this embodiment, the preceding vehicle is automatically driven on the road for automatic traveling in which the magnetic information source is embedded at 1 m intervals along the road in the center of the traveling route, and the following vehicle is driven by the following vehicle. It measures the distance to the vehicle and runs while maintaining a safe inter-vehicle distance.

FIG. 1 shows a system diagram.

In the present embodiment, the communication signal processing device 1
The control plan processing device 2, the vehicle lateral direction (steering direction) control device 3, and the vehicle speed control device 4 are provided as modules each equipped with a signal processing device (CPU).

The communication signal processing device 1 performs inter-vehicle communication, transmission / reception with a leaky cable, and calculation of a vehicle position on a route map.

The route data is composed of magnetic information source (running line) data on a map, which may be stored in advance in a storage device or may be externally received for each predetermined running area by communication. .

The control plan processing device 2 is connected to an automatic traveling start switch 12 and creates information for automatic traveling.

Specifically, based on a speed command from a leaky coaxial cable, which will be described later, a vehicle speed plan is created along the magnetic information source array (travel line), and the current position deviation (error) from the magnetic information source directly below the vehicle is created. , Directional deviation (error), T seconds later, calculate the positional deviation (error) and direction deviation (error) of the predicted arrival point with respect to the magnetic information source of the target arrival point.

The calculation result is used for steering angle control and correction of acceleration / deceleration. In this embodiment, T is set to 1.5 seconds, but it is preferable to set T to 1 second to 2 seconds.

The following vehicle side also calculates the inter-vehicle distance and the inter-vehicle speed difference between the expected arrival point of the own vehicle after T seconds and the expected arrival point of the preceding vehicle after T seconds.

The calculation result is used to correct the acceleration / deceleration. In the case of a following vehicle, the control plan processing device 2 also displays data such as the speed of the own vehicle and the speed of the preceding vehicle, the distance to the preceding vehicle, the shape of the road ahead and the shape of the lane.
8 and the audio output device 17.

In the case of a vehicle in front, the display device 18 displays the speed and the speed of the following vehicle, the distance to the following vehicle, the shape of the road ahead and the shape of the lane, and the accident situation and traffic jam situation for each lane.
And output to the audio output device 17.

The lateral controller 3 is the control plan processor 2
The steering angle instruction signal is calculated based on the output result of the
Control.

The steering is automatically controlled by the actuator 14, and the vehicle travels along the magnetic information source array (traveling line).

The vehicle speed control device 4 calculates an acceleration instruction signal based on the vehicle speed plan and the correction data of the control plan processing device 2 and a sensor signal described later, and the actuator 15 provided on the throttle and the actuator 16 provided on the brake. To control.

With each of the actuators 15 and 16,
The throttle and brake are activated, and the vehicle is accelerated / decelerated.

A brake pedal switch 13 is connected to the vehicle speed control device 4, and when it is detected that the brake pedal is depressed, the vehicle speed control is released.

The sensors are the yaw rate sensor 5 and
It has a magnetic sensor 6 for detecting a magnetic source embedded in the road surface, a wheel pulse sensor 8, a longitudinal acceleration sensor 9, and a laser radar 10.

The yaw rate sensor 5 detects the lateral angular velocity of the vehicle and outputs this detection signal to the communication signal processing device 1, the control plan processing device 2, and the lateral direction control device 3.

The magnetic sensor 6 is provided on the lower part of the front bumper and the lower part of the rear bumper of the vehicle, and the sensor position (vehicle position) with respect to the magnetic source provided at 1 m intervals in the lane of the road is the center of the magnetic source. Is measured in the range of about 45 cm to the left and right.

The output from the magnetic sensor 6 is counted during traveling and used for traveling distance calculation.

In this embodiment, bit information is provided every 500 m of the magnetic information source array by reversing the polarity of the magnetic information source, and the position is corrected by this bit information.

The wheel pulse sensor 8 is used for calculating the traveling distance of the vehicle.

It is assumed that the magnetic sensor 6 alone cannot detect the magnetic force because the distance is greatly deviated from the planned lane.

The wheel pulse sensor 8 is used for calculating the distance in such a case.

The longitudinal acceleration sensor 9 detects the current acceleration of the vehicle and is used for vehicle speed control.

Although the vehicle acceleration can be obtained from the sensing signal of the magnetic sensor 6, it is used for calculating the acceleration when the magnetic detection cannot be performed due to a large deviation from the planned lane, as described above.

The laser radar 10 detects the preceding vehicle and obstacles in front, calculates the distances to these objects, and outputs them to the vehicle speed control device 4.

Based on this output, the vehicle speed control device 4 controls the brake amount according to the situation.

The position of the vehicle in front is obtained from the vehicle-to-vehicle information, but by mounting this laser radar, the vehicle in front can be detected more reliably and the inter-vehicle distance can be calculated.

The lateral position control is performed by measuring the displacement amount of the vehicle position from the magnetic information source on the current position and the displacement angle of the vehicle traveling direction with respect to the tangent of the planned traveling line according to the curvature signal of the current position reception from the leaky coaxial cable. , The control using the position error between the target point and the predicted arrival point at a predetermined distance calculated by the forward road shape (road curvature) data of the above-mentioned route data, and the vehicle traveling direction displacement angle from the planned traveling line The amount is calculated.

Further, the communication means 7 for transmitting and receiving with the leaky coaxial cable and the inter-vehicle communication means 11 are mounted.

Command speed information, road curvature information, traffic jam information, accident information, an emergency message, etc. are received from the above-mentioned leaky coaxial cable, and the ID number of the vehicle is transmitted from the vehicle side.

From this ID number, the traveling position of each vehicle can be known on the leaky coaxial cable side.

In the vehicle-to-vehicle communication, traveling distance, vehicle speed, longitudinal acceleration data (vehicle speed planning data) are transmitted and received.

In the case of a follow-up vehicle, the position and traveling condition (speed and acceleration) of the preceding vehicle are detected by this inter-vehicle communication and used for preparing correction data for follow-up control.

A system configuration diagram of the communication means is shown in FIG.

The information from the leaky coaxial cable received by the antenna 7 is the LCX transceiver 1 of the communication signal processing device 1.
01 is input.

From this received information, necessary information (congestion information,
The accident information and the emergency message) are selected by the control unit 104, and the navigation unit 10
It is output to the HUD control unit 181 (HUD: head-up display) of the display device 18 through the interface unit 201 of the control plan processing device 2 together with the distance information and the like given from 3.

The HUD control unit 181 successively outputs necessary information to the liquid crystal display section.

The display image from this display unit is projected onto the windshield.

An example of the display image is shown in FIG. (1)
The road condition 21 (being an accident) 21 ahead is displayed at the top of the screen, and the position of the accident site is displayed at the bottom of the screen.

At the center of the screen, the driving lane (3
(Lane) 23 is displayed, the own vehicle mark 22 is traveling in the central lane, and the traveling propriety mark 24 indicates that the left lane and the central lane cannot pass.

Furthermore, afforestation mark (median mark) 26
Is displayed around the right screen.

The central lane mark 26 makes it possible to easily determine the entire lane of the traveling lane. In (2), the lane change guide mark 25 is further displayed, and the lane change instruction is displayed at the bottom of the screen. In (3), the falling object information is displayed on the upper part of the screen, and the position of the falling object is displayed on the lower part of the screen.

The driving lanes (three lanes) are displayed in the center of the screen, and it is displayed that the own vehicle is traveling in the central lane and the right lane cannot be passed due to an accident.

In this example as well, afforestation mark (median mark) 26 is displayed around the right screen. (4) shows that the road currently running is two lanes and there is a stop in the right lane 2.5 km away. (5) shows that the road currently being driven has two lanes and the left lane 1.5 km ahead is congested.

In each of the examples, since the median strip mark 26 is displayed around the right side of the screen, it becomes easy to grasp the entire traveling road.

The lane information can be effectively displayed on the screen because the median strip is always displayed around the right side of the screen regardless of the number of lanes.

In this embodiment, the navigation unit 1
Although the distance information is input from 03, this is not always necessary.

Further, the data is output to the HUD control unit 181 via the interface unit 201, but this interface unit 201 is for eliminating the difference in the bus specifications between the communication signal processing device 1 and the HUD control unit 181. Not required when unifying.

As described above, the present embodiment has been shown, but the present invention is not limited to this embodiment. For example, the central separator mark may be a mark obtained by deforming the actual central separator of each traveling area. .

Further, the tracking system is not limited to a vehicle, but can be mounted on a vehicle having only a communication function without an automatic driving function.

The display device may be a normal liquid crystal display device instead of the head-up display.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram showing a tracking system according to an embodiment of the present invention.

FIG. 2 is a configuration diagram showing a head-up display system that is an embodiment of the present invention.

FIG. 3 is a screen diagram showing a display state according to an embodiment of the present invention.

[Explanation of symbols]

 7 Antenna 18 Display Means 50 Deviation Calculating Means 21 Road Condition Mark 22 Own Vehicle Mark 23 Lane Information 24 Driving Allowance Mark 25 Guidance Mark 26 Median Strip Mark

Claims (5)

[Claims] 1. A vehicle display device for displaying guidance information on an in-vehicle display device according to road conditions ahead of a traveling road,
It has a road information receiving means and a control unit, and on the display screen of the display device, the road condition ahead, the own vehicle mark,
A vehicle display device that displays lane information, a travel enable / disable mark for each lane, and a median mark. 2. The display device for a vehicle according to claim 1, wherein the median strip mark is a plant mark. 3. The vehicle display device according to claim 1, wherein the central divider mark is always displayed at a constant peripheral portion of the screen even if the number of lanes changes. 4. The vehicle display device according to claim 1, wherein the display device is a head-up display device. 5. The control unit according to claim 1, wherein the control unit has a recommended lane calculating means and displays a guide mark to the recommended lane on the display screen. The vehicle display device described.