KR101826626B1 - Apparatus for displaying lane of head up display and method thereof - Google Patents

Apparatus for displaying lane of head up display and method thereof Download PDF

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KR101826626B1
KR101826626B1 KR1020150155334A KR20150155334A KR101826626B1 KR 101826626 B1 KR101826626 B1 KR 101826626B1 KR 1020150155334 A KR1020150155334 A KR 1020150155334A KR 20150155334 A KR20150155334 A KR 20150155334A KR 101826626 B1 KR101826626 B1 KR 101826626B1
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South Korea
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lane
information
vehicle
marker
display
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KR1020150155334A
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Korean (ko)
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KR20170053215A (en
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금병직
오형석
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현대오트론 주식회사
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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • G02B2027/014—Head-up displays characterised by optical features comprising information/image processing systems
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • G02B2027/0141—Head-up displays characterised by optical features characterised by the informative content of the display

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to a head-up display unit, A lane information collecting unit that collects lane information, a lane recognizing unit that recognizes lanes by using the lane information collected by the lane information collecting unit, and a head up display unit to control the lane recognizing unit to recognize at least one marker And a control unit for displaying the control signal.

Figure R1020150155334

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a lane-

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a lane marking apparatus and method for a head-up display, and more particularly, to a head-up display lane marking apparatus and method for recognizing a lane in front of a vehicle and displaying the recognized lane markers.

There is a disadvantage in that the information providing apparatus for the user mounted on the vehicle is distracted by the driver's attention and there is a risk of accident occurrence. A head up display (HUD) is an information providing device for solving such a problem. The head-up display can display various information provided to the driver on the top of the windshield. Accordingly, there is an advantage in that the risk of an accident can be prevented because the driver does not have to turn his or her gaze to check the information, but the position of the provided information does not coincide with the position of the actual image at the front, There is a problem in that the driver's safety and convenience may be deteriorated due to a cognitive load to recognize the displayed information.

In order to solve such a problem, an augmented reality type head-up display which coincides the positions of the images of actual objects located in the front and the information displayed in the head-up display based on the driver's view is emerging. The augmented reality type head-up display can generate a virtual graphic and display it in combination with the actual image in front of the driver, so that the information required by the driver can be recognized by the driver as if it is displayed together with the actual object in front of the driver.

Such a conventional head-up display displays the lane as a solid line. In this case, the driver feels that the guide line is floating on the windshield rather than feeling that the guide line is on the actual road surface. That is, the driver has a problem that the actual road surface and the solid line are separated from each other, and the driver feels heterogeneity therebetween.

Background Art [0002] The background art of the present invention is disclosed in Korean Patent Laid-Open Publication No. 10-2015-0019083 (2015.02.25) entitled " Virtual Lane Creation System and Method ".

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a lane marking apparatus and a lane marking method, And to provide a lane marking display apparatus and method for a head-up display in which the shape of a marker, a blinking cycle, a color, a position, an interval, and the like are changed according to travel information of a head-up display.

A lane marking display apparatus of a head-up display according to an aspect of the present invention includes a head-up display unit; A lane information collecting unit for collecting lane information; A lane recognition unit for recognizing a lane using the lane information collected by the lane information collecting unit; And a control unit for controlling the head-up display unit to display at least one marker on the lane recognized by the lane recognition unit.

The present invention further includes a travel information collecting unit for collecting travel information of the vehicle, wherein the control unit is configured to receive at least one of the type of the marker, the blinking cycle, the color, the position, and the interval based on the travel information collected by the travel information collecting unit And at least one of them is changed.

The running information of the present invention is characterized by including at least one of a vehicle speed, a running direction and a steering angle of the vehicle.

The control unit calculates the displacement of the vehicle using the vehicle speed and the steering angle information of the vehicle, and moves the position of the marker according to the calculated displacement.

The present invention further includes a position information collecting unit for collecting position information of the vehicle, wherein the controller corrects the displacement based on the position information collected through the position information collecting unit.

A method of displaying lanes of a head-up display according to an aspect of the present invention includes: collecting lane information of a lane information collector; The lane recognition unit recognizing the lane using the lane information collected by the lane information collecting unit; And a control unit controlling the head-up display unit to display at least one marker on the lane recognized by the lane recognition unit.

In the step of displaying the marker of the present invention, the controller may change at least one of a blinking cycle, a color, a position, and an interval of the marker according to driving information of the vehicle.

The running information of the present invention is characterized by including at least one of a vehicle speed, a running direction and a steering angle of the vehicle.

In the step of displaying the markers of the present invention, the controller calculates the displacement of the vehicle using the vehicle speed and the steering angle information of the vehicle, and moves the position of the marker according to the calculated displacement.

In the step of displaying the marker of the present invention, the control unit corrects the displacement using the position information of the vehicle.

An apparatus and method for displaying a lane of a head-up display according to an aspect of the present invention recognize a lane and display a marker on the recognized lane so that the lane is guided to a driver through a marker. In addition, By changing the blinking cycle, color, position, and spacing, the distinction between the road surface and the marker is minimized.

1 is a block diagram of a lane marking apparatus of a head-up display according to an embodiment of the present invention.
FIG. 2 is a view showing a lane display example of a head-up display according to an embodiment of the present invention.
3 is a flowchart of a lane marking method of a head-up display according to an embodiment of the present invention.

Hereinafter, an apparatus and method for displaying a lane of a head-up display according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. Further, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the user, the intention or custom of the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

FIG. 1 is a block diagram of a lane marking apparatus of a head-up display according to an embodiment of the present invention, and FIG. 2 is a view illustrating a lane marking display of a head-up display according to an embodiment of the present invention.

1, a lane marking display apparatus of a head-up display according to an embodiment of the present invention includes a lane information collecting unit 10, a lane recognizing unit 20, a travel information collecting unit 30, 40, a position information collecting unit 50, and a control unit 60. [

The lane information collecting unit 10 collects lane information necessary for recognizing the lane 70 of the lane on which the vehicle travels.

For reference, in this embodiment, the lane 70 is a line drawn at regular intervals along the running direction on the motorway, and is displayed at the boundary point for distinguishing the lane and the lane.

A lane means a portion of a roadway divided by a lane 70 so that the vehicle passes through a predetermined portion of the road in one line. Practically, the lane 70 and the lane are not clearly distinguished from each other but are used in combination. For convenience, in the present embodiment, the position where the vehicle is located is described as a lane, and the line dividing each lane is described as a lane 70. [

As the lane information collecting unit 10, a camera, a light detection and ranging (LIDAR) sensor, an ultrasonic distance sensor, and an infrared distance sensor may be employed.

The camera captures an image of the front of the vehicle, that is, the direction of sight of the driver or the direction of travel of the vehicle, thereby obtaining a plurality of images.

As the camera, a digital image sensor, a Far Infra Red (FIR) camera, a CMOS (Complementary Metal-Oxide Semiconductor) camera, a CCD (Charge Coupled Device) For reference, the CMOS camera or the CCD camera senses light in the visible light region and projects the image, thereby acquiring an image similar to that of a human eye. And the FIR camera acquires the image by projecting light of infrared band which is not seen by human.

The laser sensor measures the position of the reflector by measuring the time that the laser pulse is reflected from the object after the laser pulse is emitted. The ultrasonic distance sensor senses the distance to the front object using ultrasonic waves, and the infrared distance sensor senses the distance to the front object using infrared rays. The Lidar sensor, the ultrasonic distance sensor, and the infrared distance sensor can be used not only for detecting the lane 70 but also for sensing an object ahead.

In this embodiment, the lane information collecting unit 10 has been described as an example of a camera, a Lada sensor, an ultrasonic distance sensor, and an infrared distance sensor. However, the technical scope of the present invention is not limited to the above- Various devices for acquiring lane information can all be included.

The lane recognition unit 20 analyzes the lane information collected by the lane information collecting unit 10 to recognize the lane 70. [ For example, the lane recognition unit 20 may analyze the image photographed by the camera and recognize the lane 70 based on the luminance or the pattern, or may calculate the sensor value at a predetermined distance in front of the vehicle, for example, And the lane 70 can be recognized by using the lightness and the thickness of the lane 70. For example,

In addition, the lane recognition unit 20 can recognize the lane 70 by combining any one or more of the lane information inputted from the camera, the Lada sensor, the ultrasonic distance sensor, and the infrared distance sensor.

The head-up display unit 40 provides the driver with various convenience information, and displays the marker 80 on the windshield of the vehicle in response to the control signal of the control unit 60. [ That is, the head-up display unit 40 displays the markers 80 on the actual lane 70 in front of the driver, so that the driver recognizes the markers 80 as if they were displayed on the lane 70 in front of the driver.

The travel information collecting unit (30) collects travel information of the vehicle. The running information of the vehicle may include a vehicle speed, a running direction, a steering angle, and the like of the vehicle. Here, the vehicle speed, running direction, steering angle, etc. of the vehicle can be collected from various sensors provided in the vehicle. For example, the vehicle speed may be collected from a speed sensor that senses the vehicle speed using the wheel speed of the vehicle, and the travel direction may be collected from a gear sensor that senses the position of the gear stage, and the steering angle senses the steering angle of the steering wheel And the steering angle sensor.

The position information collecting unit 50 collects the position information of the vehicle. The position information collecting unit 50 collects the position information of the vehicle, for example, the current position and the acceleration of the vehicle, from a Global Positioning System (GPS) module, a navigation system, and an acceleration sensor.

Here, the GPS module receives the GPS signal from the GPS satellite and acquires the current position of the vehicle using the received GPS signal, and the acceleration sensor senses the acceleration in the vehicle traveling direction when the vehicle is traveling.

The control unit 60 controls the head up display unit 40 to display at least one marker 80 on the lane 70 recognized by the lane recognition unit 20. [

The control unit 60 recognizes the lane 70 through the lane recognition unit 20 when the driver can not visually recognize the lane 70 such as at night or in bad weather, The markers 80 can be displayed. However, it is also possible to display the marker 80 irrespective of whether the control unit 60 is in a situation where it is difficult for the user to recognize the lane 70 visually.

The control unit 60 displays the marker 80 on the lane 70 when the lane recognition unit 20 recognizes the lane 70. [ At this time, the control unit 60 periodically calculates the vehicle displacement using the vehicle speed and the steering angle, and moves the position of the marker 80 according to the calculated displacement. For example, when the vehicle moves to the right, the control unit 60 accurately displays the marker 80 on the lane 70 by moving the marker 80 to the left or opposite direction by the distance traveled by the vehicle.

In this case, as shown in FIG. 2, the control unit 60 changes at least one of the blink cycle, hue, position and interval of the marker 80 according to the running information of the vehicle by the running information collecting unit 30 , The effect of moving the marker 80 in the direction opposite to the running direction as shown in Fig. 2 is produced, thereby minimizing the sense of unevenness between the road surface and the lane 70.

For example, the control unit 60 displays the marker 80 in a curvature according to the driving direction and the steering angle of the vehicle, and increases or decreases the blinking period of the marker 80 as the vehicle speed increases, The size and color of the marker 80 can be changed according to the distance between the vehicle 70 and the vehicle. That is, the controller 60 changes the at least one of the blink period, hue, position, and interval of the marker 80 so that the driver can recognize the vehicle speed, the running direction, the steering feeling, 70) is minimized.

The control unit 60 may use any one or more of the current position and the acceleration of the vehicle collected through the position information collecting unit 50 in the course of displaying the marker 80 on the lane 70, Is corrected. Accordingly, since the displacement of the vehicle can be measured more accurately, the control unit 60 can move the position of the marker 80 more accurately.

Hereinafter, a lane marking method of a head-up display according to an embodiment of the present invention will be described in detail with reference to FIG.

3 is a flowchart of a lane marking method of a head-up display according to an embodiment of the present invention.

Referring to FIG. 3, the lane information collecting unit 10 collects lane information for recognizing a lane 70 of a lane on which the vehicle travels (S10). In this case, the camera captures the direction of the driver's gaze or the direction of travel of the vehicle, and the Lidar sensor measures the position of the reflector by measuring the return time of the laser pulse reflected from the object after emitting the laser pulse, The sensor senses the distance to the front object using ultrasonic waves, and the infrared distance sensor can collect the lane information by detecting the distance to the front object using infrared rays.

On the other hand, the travel information collecting unit 30 collects travel information such as the vehicle speed, the traveling direction, and the steering angle of the vehicle (S20). Here, the vehicle speed, running direction, steering angle, etc. of the vehicle can be collected from various sensors provided in the vehicle.

In addition, the position information collecting unit 50 collects the position information of the vehicle (S30). That is, the position information collecting unit 50 collects position information such as the current position and acceleration of the vehicle from a GPS module, a navigation system, an acceleration sensor, and the like.

Further, as the lane information is collected by the lane information collecting unit 10, the lane recognizing unit 20 analyzes the lane information and recognizes the lane 70 (S40). For example, the lane recognition unit 20 analyzes the image captured by the camera and recognizes the lane 70 based on the brightness or the pattern, receives sensor values of a certain distance ahead of the vehicle from the Lada sensor, The lane 70 can be recognized using the contrast or thickness of the lane 70.

The control unit 60 controls the head up display unit 40 to display at least one marker 80 on the lane 70 recognized by the lane recognition unit 20 at step S50.

In this case, the control unit 60 changes at least one of the blink period, hue, position, and interval of the marker 80 according to the running information of the vehicle by the running information collecting unit 30, Thereby minimizing the sense of heterogeneity.

The control unit 60 calculates the vehicle displacement using the vehicle speed and the steering angle collected by the travel information collecting unit 30, and moves the position of the marker 80 according to the calculated displacement. At this time, The position of the marker 80 can be moved more accurately by correcting the displacement of the vehicle by using at least one of the current position and the acceleration of the vehicle collected through the unit 50. [

3, the lane information is collected (S10), the driving information is collected (S20), the lane information is collected (S40), and the marker is displayed on the recognized lane (S50) , The above steps are shown for convenience of explanation, and it is to be understood that each of the above steps S10 to S50 may be performed simultaneously or continuously regardless of the order shown.

A lane marking display method and a method of a head-up display according to an aspect of the present invention recognize a lane 70 and mark a marker 80 on the recognized lane 70, Flicker cycle, color, position, and interval of the marker 80 according to the running information of the vehicle, thereby minimizing the degree of heterogeneity between the road surface and the marker 80. [

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, I will understand. Accordingly, the true scope of the present invention should be determined by the following claims.

10: lane information collecting unit
20: lane recognition section
30: travel information collecting unit
40: Head-up display section
50: Position information collecting unit
60:
70: Lane
80: Marker

Claims (10)

A head up display;
A lane information collecting unit for collecting lane information;
A lane recognition unit for recognizing a lane using the lane information collected by the lane information collecting unit;
A traveling information collecting unit for collecting traveling information of the vehicle; And
A control unit for controlling the head up display unit to display at least one marker on the lane recognized by the lane recognition unit and changing the marker along the lane on the basis of the travel information of the vehicle collected by the travel information collecting unit ≪ / RTI &
The control unit calculates the displacement of the vehicle using the vehicle speed and the steering angle information of the vehicle, and moves the position of the marker according to the calculated displacement,
And a position information collecting unit for collecting position information of the vehicle, wherein the controller corrects the displacement based on the position information collected through the position information collecting unit,
The control unit changes at least one of the type, blink cycle, hue, position, and interval of the marker according to the travel information collected by the travel information collecting unit, wherein the marker moves in a direction opposite to the travel direction Wherein the lane marking means displays the same effect as the lane marking of the head-up display.
delete The lane marking display of claim 1, wherein the running information includes at least one of a vehicle speed, a running direction, and a steering angle of the vehicle.
delete delete Collecting lane information of the lane information collector;
The lane recognition unit recognizing the lane using the lane information collected by the lane information collecting unit; And
And the control unit controls the head-up display unit to display at least one marker on the lane recognized by the lane recognition unit,
In the step of displaying the marker, the control unit changes the marker along the lane on the basis of the running information of the vehicle,
In the step of displaying the marker, the control unit calculates the displacement of the vehicle using the vehicle speed and the steering angle information of the vehicle, and moves the position of the marker according to the calculated displacement,
In the step of displaying the marker, the controller corrects the displacement using the position information of the vehicle,
In the step of displaying the marker, the controller changes at least one of a blinking cycle, a color, a position, and an interval of the marker in accordance with the running information, such that the marker moves in a direction opposite to the running direction Of the lane mark of the head-up display.
delete The method as claimed in claim 6, wherein the running information includes at least one of a vehicle speed, a running direction, and a steering angle of the vehicle.
delete delete
KR1020150155334A 2015-11-05 2015-11-05 Apparatus for displaying lane of head up display and method thereof KR101826626B1 (en)

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EP3650271A1 (en) * 2018-11-09 2020-05-13 Valeo Vision Lane recognition for automotive vehicles

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014174575A1 (en) * 2013-04-22 2014-10-30 トヨタ自動車株式会社 Vehicular head-up display device
JP2014213763A (en) * 2013-04-26 2014-11-17 日本精機株式会社 Vehicle information projection system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014174575A1 (en) * 2013-04-22 2014-10-30 トヨタ自動車株式会社 Vehicular head-up display device
JP2014213763A (en) * 2013-04-26 2014-11-17 日本精機株式会社 Vehicle information projection system

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