KR101428414B1 - Apparatus and method for displaying road guide information on the windshield - Google Patents

Abstract

[0001] The present invention relates to a windshield display device and method for guiding road information, and it relates to a windshield display device and a method for guiding navigation information by mapping the navigation guidance information on an actual road on the windshield of a vehicle based on a driver's eye position, Which is capable of accurately recognizing a road that is a route guidance information, and a method thereof.
To this end, according to the present invention, there is provided a windshield display device of road guiding information, comprising: navigation interlocking means for obtaining road guiding information to a destination set by a driver; Forward image recognition means for recognizing a forward road image; Eye position detecting means for detecting an eye position in the face image of the driver; Control means for controlling the windshield display means to map and display the actual road and the guidance information on the windshield on the basis of the eye position of the driver detected by the eye position detection means; And the windshield display means for mapping and displaying the route guidance information on an actual road under the control of the control means.

Description

TECHNICAL FIELD [0001] The present invention relates to a windshield display apparatus, and more particularly,

[0001] The present invention relates to a windshield display apparatus and method for guiding road information, and more particularly, to a windshield display apparatus and method for guiding windshield information by mapping a navigation guidance information to an actual road based on a driver's eye position, The present invention relates to a windshield display apparatus and a method thereof.

2. Description of the Related Art Generally, a telematics terminal is installed in a vehicle and provides a user with a phone function, map information, traffic information, multimedia information, and GPS (Global Positioning System) navigation function through a wireless communication network .

A vehicle navigation system installed in such a telematics terminal provides a user with a plurality of map pages representing the location of the vehicle based on the GPS signal and the map information.

The conventional vehicle navigation system displays a route guidance map on the display unit of the telematics terminal so that the driver has to compare the route guidance map displayed on the display unit of the telematics terminal with the actual roads alternately.

For example, the driver must compare the actual roads (e.g., complex intersections) viewed through the windshield of the vehicle with the roads displayed on the road map displayed on the display of the telematics terminal, There was a problem that it was difficult to accurately recognize.

According to an aspect of the present invention, there is provided a navigation system for a vehicle, comprising: a display unit for displaying the navigation information of a navigation device on an actual road based on a driver's eye position; And to provide a windshield display device and method therefor of the guidance information.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention which are not mentioned can be understood by the following description, and will be more clearly understood by the embodiments of the present invention. It will also be readily apparent that the objects and advantages of the invention may be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims.

According to an aspect of the present invention, there is provided a windshield display apparatus for road guidance information, comprising: navigation interlocking means for obtaining road guidance information to a destination set by a driver; Forward image recognition means for recognizing a forward road image; Eye position detecting means for detecting an eye position in the face image of the driver; Control means for controlling the windshield display means to map and display the actual road and the guidance information on the windshield on the basis of the eye position of the driver detected by the eye position detection means; And the windshield display means for mapping and displaying the route guidance information on an actual road under the control of the control means.

According to another aspect of the present invention, there is provided a windshield display method of guiding information, comprising: acquiring navigation information to a destination set by a driver in cooperation with a navigation system of a vehicle; A recognition step of recognizing a forward road image; Detecting an eye position in the face image of the driver; And mapping the actual road and the guidance information on the windshield based on the detected driver's eye position.

According to the present invention as described above, the navigation guidance information of the navigation device is mapped to an actual road based on the driver's eye position and displayed on the windshield of the vehicle, thereby enabling the driver to accurately recognize the road connected with the destination .

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of an embodiment of a windshield display apparatus for road guidance information according to the present invention.
FIG. 2 is an explanatory diagram of a curved line recognition process according to an embodiment of the present invention,
3 is a diagram illustrating an eye position detection process of the driver according to an embodiment of the present invention.
4 is a diagram illustrating a process of mapping route guidance information on an actual road according to an embodiment of the present invention.
FIG. 5 is an exemplary view showing a state in which the route guidance information is mapped on an actual road according to the present invention;
FIG. 6 is a flowchart of an embodiment of a windshield display method of road guiding information according to the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, It can be easily carried out. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of an embodiment of a windshield display apparatus for road guidance information according to the present invention. FIG.

1, the windshield display apparatus of the guidance information according to the present invention includes a navigation interlocking unit 10, a front image recognizing unit 20, an eye position detecting unit 30, a control unit 40, And a windshield display portion (50).

The navigation interlocking unit 10 interlocks with the navigation system provided in the vehicle and acquires the route guidance information to the destination set by the driver.

The forward image recognizing unit 20 recognizes the driving lane and the end position of the road in the forward image of the road during driving, which is photographed through the camera mounted on the front portion of the vehicle.

The forward image recognition unit 20 may recognize a driving lane in conjunction with a lane departure prevention system (Lane Keeping Assistance System) or a lane departure warning system mounted on the vehicle.

Accurate guidance information can be provided by recognizing the driving lane of the vehicle. For example, if the lane recognition is not possible, only the linear direction guidance from the first lane to the third lane will be possible, but if the lane recognition is possible, the first lane, the second lane, The lane change can be induced at the appropriate location to change to the three lanes.

The eye position detecting unit 30 detects the eye position in the face image of the driver photographed through the camera mounted inside the vehicle.

The control unit 40 maps the road guidance information acquired by the navigation interlocking unit 10 to an actual road based on the eye position of the driver detected by the eye position detecting unit 30 and displays it on the windshield display unit 50. At this time, the function of the control unit 40 may be performed by ECU (Electronic Control Units) of the vehicle.

Therefore, the present invention can map the actual road and route guidance information to the driver at all times regardless of the driver's eyes position, and the driver can be guided to the destination while viewing the route guidance information displayed on the actual road And can safely travel to the destination without being disturbed by unnecessary actions.

The windshield display unit 50 maps the guidance information on the actual road according to the control of the control unit 40 and displays it. At this time, the windshield display unit 50 may include a head up display (HUD) device, a projection projection device, a windshield transparent display device, and a windshield dot display device.

In the present invention, an eye position information obtaining unit 30 is provided in place of the eye position detecting unit 30 so that the driver's position information can be obtained by interlocking with a driver monitoring system or an eye tracking system, The eye position information of the eyes can be obtained.

Hereinafter, the process of recognizing a curve in the forward image recognizing unit 20 will be described with reference to FIG. At this time, the recognition of the straight lane is a well-known technique, so a detailed description will be omitted.

The forward image recognition unit 20 includes a camera, an image processor, a preprocessor, and a curvature calculator.

A camera is a CCD (Charge-Coupled Device) camera that can shoot digital images in real time. It shoots road images.

The image processor divides the road image taken by the camera into two regions. For example, the upper and lower regions are divided into two regions. The separated image processing regions are referred to as region 1 and region 2, respectively, as shown in FIG.

Thereafter, the preprocessor performs lane modeling on the two regions with a one-dimensional straight line. In this case, the lane modeling means a process of detecting the edge component (a) of the road image in the area 1 and the area 2, respectively, and calculating a straight line (b) for forgetting each point of the detected edge component.

The preprocessor selects a triangle formed by each of the modeled straight lines. At this time, the preprocessor selects the center points (B, C) and the vanishing point (A) of the intersections between the straight lines (b) modeled in the area 1 and the area 2 as vertices as shown in FIG.

Then, the preprocessor calculates the radius of the circumscribed circle of the selected triangle. At this time, the radius of the circumscribed circle (R) of the triangle is uniquely determined, and the calculation can be expressed as the following equation (1).

Where AB, BC and AC are the line segments, Len (x) is the length of the segment x, and S is the width of the triangle ABC.

The curvature calculator calculates the curvature of the road using the radius of the circumscribed circle calculated by the preprocessor. The reciprocal of the radius of the circumscribed circle becomes the curvature.

Through this process, the forward image recognition unit 20 can recognize the curved line.

Hereinafter, the eye position detection process in the eye position detection unit 30 will be described in more detail with reference to FIG.

The eye position detection unit 30 detects the position of the face of the driver in the face image captured by the camera (for example, a CCD camera), that is, the first symmetric point region a that is the eyebrow region and the second symmetric point region b) and the third symmetric point region (c), which is the nostril portion, and determines the symmetry point as a criterion considering the shape, size, distance, and lightness.

In this case, the third symmetry point (c), which is a symmetric point that is a criterion for determining the most suitable part of the nostrils of the facial image, is set as a reference point, And that they are located at the lowest position and form a short interval of symmetry.

Next, the third symmetric point region c having the nostrils in the face image is set as a symmetric point serving as a determination reference, and then the upper portion of the third symmetric point region c is set as the eye position candidate region d, that is, Is a region (a, b)).

As described above, the position of the eye is intensively inspected in the eye position candidate region d using the filter (using the Sobel filter) after the eye position candidate region d is set in the face image. This is because when the filter (Sobel filter) is used This is because it takes a lot of load and can express the contour lines intensively.

Next, the eye position determination area e is selected through the filter image for the eye position candidate region d. This is because the eye region that is not normally wound is an elliptical image, The eye contour line of the eye has an elliptical shape. That is, the eye position is detected.

Hereinafter, the mapping process in the control unit 40 will be described in more detail with reference to FIG.

FIG. 4 is a diagram illustrating a process of mapping route guidance information on an actual road according to an embodiment of the present invention.

) 후 운전자의 눈에서 윈드쉴드까지의 벡터를 각각 의미한다.As shown in Fig. 4, P is a traveling lane, L1 is a left lane of a driving lane, L2 is a right lane of a driving lane, A is a driver's eye position, x1 is a vector from the current driver's eye to the windshield, , x2 is a predetermined time (

), Respectively, from the eyes of the driver to the windshield.

First, it learns lane information (n lanes) where the vehicle is located through L1, L2, and P. At this time, the forward image recognition unit 20 can recognize the lane change through the lane information of the road.

Next, the x value is calculated using the A and P values. Since the windshield is fixed, you can project the vector onto the windshield plane to determine where it should appear on the windshield.

In addition, the equation of the windshield plane depends on the calculation result of the direction vector that the vehicle is looking through the vehicle's gyro sensor or yaw rate sensor. That is, even if the direction of the vehicle is the same and the direction in which the vehicle is looking at is different, mapping without discomfort is possible in the same direction as the driver actually wants to see.

Using this logic, it is possible to perform the same mapping operation not only with a windshield but also with a hologram image that can be mounted on a vehicle hood.

후

,

,

를 계산한다. 이때, GPS 정보를 통해 분기점까지의 거리를 알고 있으므로, L1, L2까지의 거리와 비교하여 오차보정이 가능하다.Next, through the GPS information acquired through the navigation interlocking unit 10

after

,

,

. At this time, since the distance to the branch point is known through the GPS information, it is possible to correct the error by comparing with the distances to L1 and L2.

,

,

를 이용하여 x2값을 계산한다.to the next,

,

,

To calculate the x2 value.

As a result, if the above process is repeated a predetermined number of times, actual road and route guidance information can be mapped and displayed on the windshield as shown in FIG.

FIG. 6 is a flowchart of an embodiment of a windshield display method of road guiding information according to the present invention.

First, the navigation interlocking unit 10 acquires the route guidance information to the destination set by the driver in cooperation with the navigation system of the vehicle (601).

Then, the forward image recognition unit 20 recognizes the driving lane in the road image (602). In addition, the forward image recognition unit 20 performs a detailed guidance function and an error correction function.

Then, the eye position detection unit 30 detects the eye position of the driver in the face image of the driver photographed through the camera (603).

Then, the control unit 40 maps the actual road and the guidance information on the windshield based on the eye position of the driver detected by the eye position detection unit 30 and displays the actual road and the guidance information through the windshield display unit 50 (604) .

Through this process, the driver can accurately recognize the road associated with the destination.

Meanwhile, the method of the present invention as described above can be written in a computer program. And the code and code segments constituting the program can be easily deduced by a computer programmer in the field. In addition, the created program is stored in a computer-readable recording medium (information storage medium), and is read and executed by a computer to implement the method of the present invention. And the recording medium includes all types of recording media readable by a computer.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. The present invention is not limited to the drawings.

10: Navigation interlocking unit 20: Front image recognition unit
30: eye position detecting unit 40:
50: Windshield display

Claims (10)

Navigation interlocking means for obtaining route guidance information to a destination set by the driver;
Forward image recognition means for recognizing a driving lane in a forward road image;
Eye position detecting means for detecting an eye position in the face image of the driver;
Wherein the vehicle position detecting means detects the position of the actual road on the basis of the vector from the eye position to the windshield calculated using the eye position of the driver detected by the eye position detecting means and the position of the traveling lane detected by the forward image recognizing means, A control unit for controlling the windshield display means so as to display the map on the windshield; And
And the windshield display means for mapping and displaying the route guidance information on an actual road under the control of the control means,
Wherein the control means calculates a vector from the current driver's eye position to the windshield on the basis of the driver's eye position and the current driving lane information and outputs the vector to the windshield from the current driver's eye position using the GPS information acquired from the navigation interlocking means And calculating a position from the driver's eye position after the predetermined time to the windshield by calculating the position of the left and right lanes of the driving lane,
The forward image recognizing means divides the road image photographed by the camera into two regions, performs lane modeling on the two divided regions with a one-dimensional straight line, and then calculates the distance from the circumscribed circle radius of the triangle formed by each modeled straight line And the curved road is recognized by calculating the curvature of the curved road.
The method according to claim 1,
Wherein the eye position detecting means comprises:
Selecting an area for a symmetric part of the face from the face image of the driver and selecting the upper part of the nostril part as a snow position candidate area in which the eyes are positioned with the nostril part of the symmetric point appearing in the face image as a criterion And the eye position is detected by filtering the selected eye position candidate region in the face image using a filter.
3. The method of claim 2,
The area for the symmetric part of the face may be,
Eyebrows, eyes, and nostrils of the windshield.
The method of claim 3,
The nostril portion
Wherein the light source is selected as a symmetry point judgment reference by using the fact that there is no light and dark change and that the light source is located at the lowest position and forms a symmetric portion with a short interval.
3. The method of claim 2,
The filter includes:
Wherein the filter is a Sobel filter.
6. The method according to any one of claims 1 to 5,
The windshield display means includes:
A head-up display (HUD) device, a projection-projection device, a windshield transparent display device, and a windshield dot display device.
delete Obtaining route guidance information to a destination set by a driver in cooperation with a navigation system of the vehicle;
A recognition step of recognizing a road image ahead;
An eye position detecting step of detecting an eye position in the face image of the driver; And
On the basis of a vector from the eye position to the windshield calculated using the detected eye position of the driver and each position of the traveling lane recognized from the road image in front of the actual road and the guidance information on the windshield Mapping and displaying,
Wherein the displaying step includes a step of calculating a vector from the current driver's eye position to the windshield from the driver's eye position and the current driving lane information and driving the vehicle after a predetermined period of time through GPS information acquired from the navigation interlocking means Calculates the position from the driver's eye position after the predetermined time to the windshield by calculating the positions of the lane and the left and right lanes of the driving lane,
The recognition step may include a step of dividing the road image into two regions, performing lane modeling with a one-dimensional straight line on the two divided regions, calculating the curvature of the road from the circumscribed circle radius of the triangle formed by each modeled straight line, Of the windshield guiding information.
9. The method of claim 8,
The eye position detecting step may include:
A symmetry point determination step of selecting an area for a symmetric part of the face in the face image of the driver;
Selecting an eye position candidate region in which an eye is positioned above the nostril portion based on a nostril portion of a symmetric point appearing in a face image in the step of determining the symmetry point;
Determining an eye position candidate region in the face image after the eye position determination step as an eye position determination region for grasping an outline line of the eye;
And displaying the windshield information.
delete

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