WO2016002007A1 - 車両用表示装置及び車両用表示方法 - Google Patents
車両用表示装置及び車両用表示方法 Download PDFInfo
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- WO2016002007A1 WO2016002007A1 PCT/JP2014/067549 JP2014067549W WO2016002007A1 WO 2016002007 A1 WO2016002007 A1 WO 2016002007A1 JP 2014067549 W JP2014067549 W JP 2014067549W WO 2016002007 A1 WO2016002007 A1 WO 2016002007A1
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- vehicle
- display
- attention
- mark
- caution
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- 238000000034 method Methods 0.000 title claims description 17
- 238000001514 detection method Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 description 7
- 238000013459 approach Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000007423 decrease Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000002093 peripheral effect Effects 0.000 description 1
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Definitions
- the present invention relates to a vehicle display device that displays an image on a windshield of a vehicle and a method thereof.
- Patent Document 1 is disclosed as a vehicle display device that displays an image on a windshield of a host vehicle such as a head-up display.
- a target mark is displayed on the windshield with respect to a preceding vehicle to be alerted.
- the target mark is displayed adjacent to the preceding vehicle in a superimposed manner by displaying the target mark at a position away from the position on the windshield where the preceding vehicle can be seen.
- the target mark is displayed at a position away from the position at which the preceding vehicle can be seen on the windshield, regardless of the relative distance between the preceding vehicle and the host vehicle. It was. Therefore, when the distance between the host vehicle and the preceding vehicle changes, there is a problem that the target mark cannot be displayed at an appropriate position. For example, when the preceding vehicle approaches the host vehicle, the target mark is displayed so as to overlap the preceding vehicle, and the driver may not be able to directly see the preceding vehicle.
- An object of the present invention is to provide a vehicular display device and a method thereof.
- the vehicle display device and method detect an attention object that needs to be alerted to the driver of the host vehicle, and the attention object.
- the distance from the vehicle to the host vehicle is calculated.
- display control is performed to superimpose and display an attention mark for alerting the driver about the attention object on the windshield adjacent to the attention object as viewed from the driver.
- the base point is set at the position on the windshield of the target object
- the display position of the target mark is set at a position away from the base point by a predetermined distance
- the target object is automatically detected.
- the display position of the caution mark is changed by changing the predetermined distance according to the distance to the vehicle.
- FIG. 1 is a block diagram showing a configuration of a vehicle display device according to an embodiment of the present invention.
- FIG. 2 is a flowchart showing a processing procedure of image generation processing by the vehicle display device according to the embodiment of the present invention.
- FIG. 3 is a view for explaining a method of displaying a caution mark by the vehicle display device according to the embodiment of the present invention.
- FIG. 4 is a view for explaining a method of changing the display position of the caution mark by the vehicle display device according to the embodiment of the present invention.
- FIG. 5 is a view for explaining a method of changing the display position of the caution mark by the vehicle display device according to the embodiment of the present invention.
- FIG. 6 is a view for explaining a method of changing the display position of the caution mark by the vehicle display device according to the embodiment of the present invention.
- FIG. 1 is a block diagram showing a configuration of a vehicle display device according to the present embodiment.
- the vehicle display device 1 according to the present embodiment includes an attention object detection unit 3, a vehicle state detection unit 5, a display control unit 7, and an image generation unit 9.
- the display control unit 7 includes a coordinate conversion unit 21, a display position calculation unit 23, and a display size calculation unit 25.
- the vehicle display device 1 functions as a control unit of a head-up display (not shown) that displays an image on the windshield of the host vehicle.
- the head-up display controlled by the vehicle display device 1 includes a projection unit that projects an image, a screen that reflects the image, a Fresnel mirror, and the like.
- the vehicle display device 1 according to the present embodiment is connected to sensors mounted on the host vehicle, and in particular, the front camera 31, the inter-vehicle distance sensor 33, the steering angle sensor 35, and the vehicle speed sensor 37. It is connected to the.
- the vehicle display device 1 is connected to the HUD display unit 39 of the head-up display, and outputs an image generated by the image generation unit 9 to the HUD display unit 39 to display an image on the windshield of the host vehicle. To do.
- the attention object detection part 3 analyzes the image acquired from the front camera 31, and detects the attention object which needs to alert the driver of the own vehicle. Detected objects to be detected include pedestrians and bicycles, vehicles traveling in front, vehicles parked and stopped, and other obstacles. Further, when detecting a vehicle traveling in front, the cautionary object may be detected based on information from the inter-vehicle distance sensor 33.
- the attention object detection unit 3 detects the position, relative distance, relative speed, size, and the like of the attention object. In addition, when the own vehicle is equipped with a radar, such information may be detected by the radar.
- the vehicle state detection unit 5 acquires data indicating the traveling state of the host vehicle from sensors mounted on the host vehicle. For example, the inter-vehicle distance from the inter-vehicle distance sensor 33 is acquired, the steering angle of the host vehicle is acquired from the steering angle sensor 35, and the vehicle speed of the host vehicle is acquired from the vehicle speed sensor 37.
- the display control unit 7 performs control for superimposing and displaying the caution mark adjacent to the position on the windshield where the cautionary object is visually recognized by the driver.
- This caution mark is an image that is displayed to alert the driver of a cautionary object.
- the display control unit 7 first acquires 3D coordinates indicating the position of the attention object from the image captured by the front camera 31, and converts the 3D coordinates into 2D coordinates indicating the position on the windshield. And the display position on the windshield which displays a caution mark based on this 2D coordinate is calculated. Further, the display control unit 7 calculates the display size of the attention mark displayed on the windshield based on the size of the attention object on the image. And the display control part 7 is controlled to superimpose and display a caution mark on a windshield with the calculated display position and display size. Specific processing is executed by the coordinate conversion unit 21, the display position calculation unit 23, and the display size calculation unit 25 that constitute the display control unit 7.
- the coordinate conversion unit 21 performs processing to convert 3D coordinate data acquired by the front camera 31 into 2D coordinates on the windshield of the host vehicle.
- the display position calculation unit 23 calculates the display position on the windshield on which the attention mark is displayed based on the 2D coordinates on the windshield of the attention object.
- a base point is set at a position on the windshield of the attention object, and a display position of the attention mark is set at a position away from the base point by a predetermined distance. Then, the predetermined distance is changed according to the relative distance between the host vehicle and the attention object, and the display position of the attention mark is changed.
- the display size calculation unit 25 calculates the display size of the attention mark displayed on the windshield based on the size of the attention object on the image captured by the front camera 31.
- the image generation unit 9 generates a head-up display image to be displayed on the windshield of the host vehicle based on the processing results of the above-described units.
- the front camera 31 is an image pickup means for picking up an image in front of the host vehicle, and is constituted by a solid-state image pickup device such as a CCD or a CMOS.
- the inter-vehicle distance sensor 33 detects a preceding vehicle traveling in front of the host vehicle using a millimeter wave radar, a CCD image sensor, an infrared sensor, or the like, and measures the inter-vehicle distance between the host vehicle and the preceding vehicle.
- the steering angle sensor 35 detects the steering angle of the host vehicle from the rotation angle of the steering wheel.
- the vehicle speed sensor 37 detects the vehicle speed of the host vehicle from a pulse signal corresponding to the rotational speed of the axle.
- the HUD display unit 39 is a device for actually projecting the video generated by the image generation unit 9 toward the windshield, and is, for example, a projection unit constituting a head-up display.
- the vehicle display device 1 includes a general-purpose electronic circuit including a microcomputer, a microprocessor, and a CPU, and peripheral devices. And it operates as the above-mentioned attention object detection part 3, vehicle state detection part 5, display control part 7, and image generation part 9 by running a specific program.
- step S ⁇ b> 10 the attention object detection unit 3 analyzes an image acquired from the front camera 31, and selects an attention object that needs to be alerted to the driver of the host vehicle. To detect.
- step S20 the vehicle state detection unit 5 acquires data indicating the traveling state of the host vehicle from sensors mounted on the host vehicle.
- the vehicle state detection unit 5 acquires the inter-vehicle distance from the preceding vehicle traveling ahead from the inter-vehicle distance sensor 33, the steering angle of the own vehicle from the steering angle sensor 35, and the own vehicle from the vehicle speed sensor 37. Get the vehicle speed. Moreover, you may acquire the position of the own vehicle from GPS.
- step S30 the attention object detection unit 3 arranges the images of the front camera 31 in time series and calculates the relative speed of the attention object with respect to the host vehicle from the change in the position of the attention object.
- the relative speed may be detected by the radar.
- the relative speed may be calculated based on information from the inter-vehicle distance sensor 33.
- step S40 the attention object detection unit 3 calculates the relative distance from the host vehicle to the attention object by analyzing the image of the front camera 31. At this time, the direction of the attention object is obtained, and the relative position of the attention object with respect to the host vehicle is specified. Furthermore, the attention object detection unit 3 also calculates the size of the attention object from the size of the attention object on the image. These pieces of information may be detected by a radar when the host vehicle is equipped with a radar. Further, when the attention object is a vehicle traveling ahead, the relative distance may be calculated based on information from the inter-vehicle distance sensor 33. Further, the attention object detection unit 3 may correct the relative distance in real time according to the relative speed.
- step S50 the display control unit 7 calculates a display position for displaying a caution mark superimposed on the caution object.
- the coordinate conversion unit 21 converts 3D coordinate data acquired by the front camera 31 into 2D coordinate data on the windshield of the host vehicle. Thereby, the 3D coordinates indicating the position of the attention object are converted into 2D coordinates indicating the position on the windshield.
- the display position calculation part 23 calculates the display position on the windshield which displays a caution mark based on the 2D coordinate on the windshield of the attention object.
- the display position calculation unit 23 sets a rectangular frame 43 surrounding the attention object 41 on the image of the front camera 31.
- a base point 45 is set at the center of the frame 43.
- the display position calculation unit 23 calculates a position away from the base point 45 by a predetermined distance Z as the display position of the caution mark 47.
- the caution mark 47 has an elliptical shape, but may have a linear shape or other shapes such as a triangle, a star, or an arrow.
- a caution mark is displayed at a position that is a certain distance away from the target object regardless of the relative distance between the target object and the vehicle. Therefore, when the attention object comes close to the host vehicle and becomes larger, the attention mark is superimposed on the attention object and hides the actual attention object such as a pedestrian or vehicle. In some cases, the object was not directly visible. However, if the predetermined distance Z between the base point 45 and the caution mark 47 is changed so as to increase as the relative distance decreases as described above, the relative distance between the caution object and the host vehicle is increased. Even if the distance changes, the attention mark is not displayed overlapping the attention object. Therefore, even if the relative distance changes, the attention mark can be displayed at an appropriate position where the driver can always visually recognize the attention object.
- the display position calculation unit 23 may correct the display position of the caution mark when there is a time difference between the detection of the cautionary object and the display of the caution mark. For example, the display position of the caution mark is corrected so as to be close to the host vehicle according to the time difference. At this time, if the vehicle speed of the host vehicle is high, the display position of the caution mark is corrected to a position closer to the host vehicle.
- step S60 the display control unit 7 calculates the display size of the caution mark.
- the display size calculation unit 25 of the display control unit 7 calculates the display size of the attention mark displayed on the windshield based on the size of the attention object on the image.
- the display size of the attention mark 47 is set to be slightly larger than the horizontal width of the frame 43 indicating the size of the attention object 41, but may be set to be equal to the horizontal width of the frame 43. It may be set to be slightly smaller.
- step S80 the image generation unit 9 generates an image of a caution mark so as to be the display position and display size calculated in each of the above-described processes, and outputs the generated attention mark image to the HUD display unit 39.
- the image generation process according to the present embodiment is completed.
- the HUD display unit 39 projects an image of the caution mark on the windshield, and displays a virtual image of the caution mark so as to be superimposed adjacent to the target object.
- the base point is set at a position on the windshield of the target object, and the display position of the caution mark is located at a predetermined distance from the base point. Set. Then, the display position of the caution mark is changed by changing the predetermined distance according to the relative distance. Thereby, even if the relative distance between the attention object and the host vehicle changes, the attention mark can always be displayed at an appropriate position.
- the attention mark is displayed below the attention object. Therefore, even when a plurality of attention objects are present in front of the host vehicle, It is possible to reduce the possibility that the marks are overlapped and displayed.
- the attention mark is displayed in the lateral direction of the attention object. Therefore, even when there are a plurality of attention objects in the traveling direction of the own vehicle, It is possible to reduce the possibility that the caution marks are overlapped and displayed.
- the attention mark is displayed above the attention object. Therefore, even when a plurality of attention objects are present in front of the host vehicle, It is possible to reduce the possibility that the marks are overlapped and displayed.
- the display position of the caution mark is corrected according to the time difference from when the cautionary object is detected until the caution mark is displayed.
- the mark can be displayed at an appropriate position.
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Abstract
Description
図1は本実施形態に係る車両用表示装置の構成を示すブロック図である。図1に示すように、本実施形態に係る車両用表示装置1は、注意対象物検出部3と、車両状態検出部5と、表示制御部7と、画像生成部9とを備えている。また、表示制御部7は、座標変換部21と、表示位置算出部23と、表示サイズ算出部25とを備えている。
次に、本実施形態に係る車両用表示装置による画像生成処理の手順を図2のフローチャートを参照して説明する。
以上詳細に説明したように、本実施形態に係る車両用表示装置1では、注意対象物のフロントガラス上の位置に基点を設定し、この基点から所定距離だけ離れた位置に注意マークの表示位置を設定する。そして、相対距離に応じて所定距離を変化させて注意マークの表示位置を変更する。これにより、注意対象物と自車両との間の相対距離が変化しても、常に適切な位置に注意マークを表示することができる。
3 注意対象物検出部
5 車両状態検出部
7 表示制御部
9 画像生成部
21 座標変換部
23 表示位置算出部
25 表示サイズ算出部
31 前方カメラ
33 車間距離センサ
35 舵角センサ
37 車速センサ
39 HUD表示部
Claims (6)
- 自車両のフロントガラス上に画像を表示する車両用表示装置であって、
前記自車両の運転者に対して注意喚起を行う必要のある注意対象物を検出し、前記注意対象物から前記自車両までの距離を算出する注意対象物検出部と、
前記注意対象物検出部で検出された注意対象物について前記運転者に注意喚起を行う注意マークを、前記運転者から見て前記注意対象物に隣接させて前記フロントガラス上に重畳表示するための表示制御を実行する表示制御部とを備え、
前記表示制御部は、前記注意対象物の前記フロントガラス上の位置に基点を設定して前記基点から所定距離だけ離れた位置に前記注意マークの表示位置を設定し、前記注意対象物から前記自車両までの距離に応じて前記所定距離を変化させて前記注意マークの表示位置を変更することを特徴とする車両用表示装置。 - 前記表示制御部は、前記基点から前記注意対象物の下方に前記所定距離だけ離れた位置に前記注意マークの表示位置を設定することを特徴とする請求項1に記載の車両用表示装置。
- 前記表示制御部は、前記基点から前記注意対象物の横方向に前記所定距離だけ離れた位置に前記注意マークの表示位置を設定することを特徴とする請求項1に記載の車両用表示装置。
- 前記表示制御部は、前記基点から前記注意対象物の上方に前記所定距離だけ離れた位置に前記注意マークの表示位置を設定することを特徴とする請求項1に記載の車両用表示装置。
- 前記表示制御部は、前記注意対象物が検出されてから前記注意マークを表示するまでの時間差に応じて、前記注意マークの表示位置を補正することを特徴とする請求項1~4のいずれか1項に記載の車両用表示装置。
- 自車両のフロントガラス上に画像を表示する車両用表示装置の車両用表示方法であって、
前記車両用表示装置は、
前記自車両の運転者に対して注意喚起を行う必要のある注意対象物を検出して前記注意対象物から前記自車両までの距離を算出し、
前記注意対象物について前記運転者に注意喚起を行う注意マークを、前記運転者から見て前記注意対象物に隣接させて前記フロントガラス上に重畳表示するための表示制御を実行し、
前記注意マークの表示制御では、前記注意対象物の前記フロントガラス上の位置に基点を設定して前記基点から所定距離だけ離れた位置に前記注意マークの表示位置を設定し、前記注意対象物から前記自車両までの距離に応じて前記所定距離を変化させて前記注意マークの表示位置を変更する
ことを特徴とする車両用表示方法。
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US15/323,323 US11402628B2 (en) | 2014-07-01 | 2014-07-01 | Vehicular display apparatus and vehicular display method |
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