WO2016194039A1 - 情報提示システム - Google Patents
情報提示システム Download PDFInfo
- Publication number
- WO2016194039A1 WO2016194039A1 PCT/JP2015/065532 JP2015065532W WO2016194039A1 WO 2016194039 A1 WO2016194039 A1 WO 2016194039A1 JP 2015065532 W JP2015065532 W JP 2015065532W WO 2016194039 A1 WO2016194039 A1 WO 2016194039A1
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- WIPO (PCT)
- Prior art keywords
- vehicle
- distance
- guide line
- wireless communication
- image
- Prior art date
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Images
Classifications
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Definitions
- the present invention relates to an information presentation system for presenting information related to images around a vehicle.
- Patent Document 1 a driving support device that displays an image behind the vehicle when the shift lever of the vehicle is operated to the reverse position.
- the problem to be solved by the present invention is to appropriately present image information indicating a real-time state of the vehicle to the terminal device even when there is a delay in wireless communication between the in-vehicle device and the terminal device. is there.
- the distance sign indicating the distance from the vehicle is superimposed on the reference position where the distance from the vehicle is the distance indicated by the distance sign on the image, and the wireless communication is delayed.
- the above-described problem is solved by superimposing a distance sign on a position closer to the traveling direction of the vehicle than the reference position or a position closer to the vehicle than the reference position.
- a vehicle when wireless communication is delayed, a vehicle is mounted on the vehicle by superimposing a distance sign on a position closer to the vehicle traveling direction than the reference position or a position closer to the vehicle than the reference position. Even when the wireless communication between the device and the terminal device is delayed, the driver can recognize the real-time state around the vehicle.
- 2nd Embodiment it is a figure for demonstrating the superimposition method of a guide line when a mobile body does not exist around the own vehicle, or when a mobile body exists in the range of a guide line.
- 2nd Embodiment it is a figure for demonstrating the superimposition method of a guide wire
- 3rd Embodiment it is a figure for demonstrating the display mode of a guide line in case radio
- 3rd Embodiment it is a figure for demonstrating the display mode of a guide line when radio
- FIG. 1 is a block configuration diagram of an information presentation system 1000 according to the present embodiment.
- the information presentation system 1000 includes an in-vehicle device 200 and a terminal device 100.
- the in-vehicle device 200 of the present invention includes one or more cameras 1a to 1d, a communication device 2, a vehicle controller 3, and various devices 4 (also collectively referred to as various devices 4) mounted on the vehicle.
- Cameras 1a to 1d are configured using an image sensor such as a CCD (Charge-Coupled Device).
- the camera 1 is provided at a predetermined position in a rear (rear) portion of the vehicle such as a rear finisher portion or a roof spoiler portion.
- the camera 1 captures an image of an object or road surface (rear view image) existing in a space behind the vehicle.
- the “rear of the vehicle” in the present embodiment includes not only the rear but also the left and right sides of the rear.
- the in-vehicle device 200 of the present embodiment includes a plurality of cameras 1a to 1d installed at different positions outside the vehicle V.
- the in-vehicle device 200 of the present embodiment is located at a predetermined position in front of the vehicle such as the front grill part, a predetermined position on the left side of the vehicle such as the left side mirror part, or a predetermined position on the right side of the vehicle such as the right side mirror part.
- Cameras 1a to 1d are provided. Each camera 1 captures images in different directions around the vehicle. In the present embodiment, a wide-angle camera 1 having a wide imaging range is used.
- the in-vehicle device 200 sends an image captured by the camera 1 to the terminal device 100 described later.
- the camera 1 may be provided with a wireless communication function to send an image to the outside.
- the terminal device 100 acquires an image captured by the camera 1 via a wireless communication network.
- An image taken by each camera 1 is given an identifier corresponding to the arrangement (address) of each camera 1, and the terminal device 100 can identify each image based on each identifier. Further, the image taken by the camera 1 is given an image capture time, and the terminal device 100 can grasp the image capture time when each image is captured.
- the vehicle controller 3 acquires information from each configuration of the vehicle and centrally manages the operation of the vehicle.
- the vehicle controller 3 of this embodiment acquires state information indicating the state of the vehicle.
- the vehicle controller 3 acquires steering information from the steering control device 41 of the vehicle as state information, acquires acceleration information or speed information from the acceleration sensor 42 as state information, and uses shift position information of the transmission 44 of the vehicle as state information. get.
- the vehicle controller 3 sends the acquired steering information and acceleration information (speed information) to the terminal device 100.
- the control device 10 of the terminal device 100 acquires the traveling direction (traveling angle) of the vehicle from the steering information. Similarly, the control device 10 acquires the traveling direction of whether the vehicle is moving backward or forward from the shift position information. Similarly, the control device 10 acquires the movement amount of the vehicle from the acceleration information (speed information) and the movement time.
- the control device 10 can determine the position of the vehicle after a predetermined time has elapsed from the moving direction and the moving amount of the vehicle.
- the camera 1, the communication device 2, the vehicle controller 3, and the various devices 4 included in the in-vehicle device 200 are connected by a CAN (Controller Area ⁇ ⁇ ⁇ Network) or other in-vehicle LAN, and can exchange information with each other.
- CAN Controller Area ⁇ ⁇ ⁇ Network
- the terminal device 100 of this embodiment is a portable portable terminal device provided with communication functions, such as a smart phone and a tablet terminal.
- the terminal device 100 according to the present embodiment includes a control device 10, a communication device 20, and a display 30.
- the communication device 20 of this embodiment exchanges information with the communication device 2 of the external in-vehicle device 200.
- the communication device 20 acquires a captured image, a vehicle state, and other information from the in-vehicle device 200.
- FIG. 2 is a diagram illustrating an example of an image displayed on the display 30 of the terminal device 100.
- the example shown in FIG. 2 shows an image (rear view image) in which an object or a road surface existing in a space behind the vehicle is captured by the camera 1 installed at a predetermined position in the rear (rear) portion of the vehicle ( The same applies to FIGS. 5, 7, 9, and 11 to 13 described later).
- a guide line along a track predicted to move the vehicle is superimposed on the image displayed on the display 30.
- the guide line superimposed on the image has a vehicle width guide line Q1 and a distance guide line Q2.
- the distance guide line Q2 is a guide line indicating the distance from the host vehicle (camera 1).
- each distance guide line Q2 is superimposed on the position of 0.5 m, 1.0 m, 2.0 m, and 3.0 m from the own vehicle.
- the distance indicated by the distance guide line Q2 is not limited to 0.5 m, 1.0 m, 2.0 m, and 3.0 m, and can be set as appropriate.
- the terminal device 100 can be installed in a holder attached near the instrument panel or the steering of the vehicle so that the driver of the vehicle can easily see.
- the control device 10 included in the terminal device 100 of the present embodiment includes a ROM (Read Only Memory) 12 in which a program for superimposing a guide line on an image captured by the camera 1 and displaying the image on the display 30 is stored.
- ROM Read Only Memory
- a CPU Central Processing Unit
- RAM Random Access Memory
- the control device 10 of the terminal device 100 includes an image acquisition function that acquires an image captured by the camera 1, and a delay state determination function that determines a delay state of wireless communication between the terminal device 100 and the in-vehicle device 200. And a guide line superimposing function for superimposing a guide line on an image captured by the camera 1, and an information presentation function for displaying an image on which the guide line is superimposed on a display.
- the control device 10 is a computer that executes the above functions in cooperation with software for realizing each function and the hardware described above. Hereinafter, each function realized by the control device 10 will be described.
- the image acquisition function of the control device 10 acquires an image around the vehicle imaged by the vehicle-mounted camera 1 from the vehicle-mounted device 200 via the communication device 20.
- the image acquisition function acquires an image on the rear side of the vehicle, but is not limited to this, and may acquire images on the front and side.
- the image acquisition function may acquire a monitoring image around the host vehicle generated by the in-vehicle device 200 and looking down from the sky virtual viewpoint.
- the monitoring image is a bird's-eye view image generated by projecting a plurality of images captured by the cameras 1 arranged at different positions of the host vehicle onto a projection plane looking down from a virtual viewpoint above the vehicle.
- the control device 10 uses the acquired captured image or monitoring image as information to be presented on the display 30 in situations such as when the host vehicle is parked or retreated.
- the delay state determination function of the control device 10 determines the delay state of wireless communication between the in-vehicle device 200 and the terminal device 100.
- the wireless communication delay state includes a wireless communication delay time.
- the delay state determination function can obtain the difference between the imaging time of the image attached to the image acquired from the in-vehicle device 200 and the acquisition time when the image is acquired as the delay time. Further, the delay state determination function can determine that the wireless communication delay state is a communication disruption state when wireless communication between the terminal device 100 and the in-vehicle device 200 cannot be established.
- the delay state determination function can also obtain the delay time from the difference between the reference communication time in a predetermined good communication environment and the actually measured communication time in the communication environment in which transmission / reception is actually performed.
- the delay state determination function refers to the clock 45 of the in-vehicle device 200 and the clock 112 of the terminal device 100 and synchronizes the information, and then performs information communication via wireless communication between the in-vehicle device 200 and the terminal device 100.
- the delay time can be calculated by measuring the actual communication time required for the exchange. Specifically, information with a transmission timing is transmitted from the in-vehicle device 200 to the terminal device 100. When the terminal device 100 acquires the information, the terminal device 100 transmits reception confirmation information to the in-vehicle device 200.
- the in-vehicle device 200 calculates half of the time from the transmission timing at which information is transmitted to the terminal device 100 to the reception timing at which the reception confirmation information transmitted by the terminal device 100 is received as the communication time required for wireless communication.
- the communication time of wireless communication can be calculated by a similar method in a communication environment without a predetermined load.
- the actually measured communication time changes every moment depending on the number of terminal devices that access the wireless communication network and the amount of information to be communicated.
- the delay state determination function calculates the communication time at a predetermined cycle and continuously calculates the delay time that is the difference from the reference communication time. In this example, since the delay time is calculated after the in-vehicle device 200 and the terminal device 100 are synchronized in advance, an accurate delay time can be calculated.
- the delay time includes a fixed time determined in advance according to the capability of the communication facility and a variable time caused by the communication amount.
- the fixed time can be stored in the in-vehicle device 200 or the terminal device 100 in advance. From the viewpoint of reducing the processing load, the stored fixed delay time may be read to determine the delay state.
- the cause of the delay state in which the presentation of the image of the camera 1 is delayed is not only the delay time of the wireless communication described above.
- the first time referred to here is the time from t0 to t1 until the vehicle-mounted device 200 captures the image of the vehicle periphery and compresses the image.
- the second time is the time required for wireless communication from t1 to t2.
- the third time is the time required to decompress the compressed image from t2 to t3 and the time required to present the decompressed image on the display 30.
- the delay state of the wireless communication is based on the time from imaging to image transmission performed on the in-vehicle device 200 side, the communication time between the in-vehicle device 200 and the terminal device 100, and the image reception performed on the terminal device 100 side. Occurs when the time until presentation is delayed.
- the time required from the imaging process to the completion of the image presentation process is about 100 to 500 msec. Even in such a short time, it is not preferable that past image information is presented as if it were currently imaged information. Even more so, when communication delays cause the time from imaging time to presentation time to be longer.
- a communication network such as CAN
- the time from the imaging time to the presentation time is almost constant, and thus can be managed.
- an image obtained on the in-vehicle device 200 side is sent to the terminal device 100 via public wireless communication and presented on the display 30 of the terminal device 100, it is necessary to consider communication delay. .
- the above-described third time greatly depends on the processing capability of the terminal device 100, and it is difficult to uniformly define the delay time for the terminal devices 100 with different performances and states owned by individuals.
- the delay state determination function measures the delay time of wireless communication between the terminal device 100 and the in-vehicle device 200 by the above method.
- the delay state determination function acquires the terminal device side processing time required for the terminal device 100 to acquire the image and present the image, and sets the terminal device side processing time as a delay of wireless communication.
- the delay time for information presentation is calculated by adding to the time, and the delay state is determined.
- the processing time on the terminal device side is experimentally calculated in advance and stored in the terminal device 100 so as to be readable.
- the delay state can be accurately determined by calculating the delay time by adding not only the delay of the wireless communication but also the time required for the processing on the terminal device 100 side.
- the delay state determination function may add the time required from acquisition (imaging) of an image performed on the in-vehicle device 200 side to transmission to the delay time.
- the delay time By calculating the delay time by adding not only the wireless communication delay but also the time required for the processing on the in-vehicle device 200 side, the delay state can be determined more accurately.
- the delay state determination function can determine whether or not the wireless communication of the communication device 2 has been interrupted, and if the wireless communication is interrupted, the display 30 can indicate that the wireless communication has been interrupted.
- the wireless communication of the communication device 2 is interrupted, it is difficult to acquire a captured image at the current time in real time. That is, the captured image presented on the display 30 is highly likely to be a past video.
- the present embodiment by presenting that the wireless communication of the communication device 2 has been interrupted, it is possible to notify the driver that the presented captured image is not a real-time image.
- the delay state determination function may be configured to determine the reliability of wireless communication according to the delay state. When the delay time is long and the delay state of the wireless communication is bad, it is determined that the reliability of the wireless communication is low. On the other hand, if the delay time is short and the delay state of the wireless communication is not bad (the communication state is good), it is determined that the reliability of the wireless communication is high.
- the reliability of wireless communication can be defined according to the communication time in the communication state. The longer the communication time, the lower the reliability of wireless communication can be set.
- the control device 10 presents the determined reliability on the display 30. In a situation where the delay time of wireless communication is long and the reliability of wireless communication is low, it is difficult to acquire a captured image at the present time in real time. That is, the captured image presented on the display 30 is highly likely to be a past video. In the present embodiment, the fact that the reliability of wireless communication of the communication device 2 is low can be presented to the driver that the presented captured image is not a real-time image.
- the guide line superimposing function of the control device 10 includes a vehicle width guide line Q1 indicating the position of the side surface of the host vehicle when the host vehicle moves, and a distance indicating a position along the traveling direction of the host vehicle when the host vehicle moves.
- a guide line including the guide line Q2 is generated.
- the guide line superimposing function then superimposes the generated guide line on the image captured by the camera 1 as shown in FIG.
- the guide line superimposing function is such that each distance guide line Q2 is located at a position where the distance from the host vehicle becomes the distance indicated by the distance guide line Q2. Is superimposed.
- the guide line superimposing function is based on the wireless communication delay state and the state of the own vehicle acquired from the vehicle controller 3.
- the overlapping position of the guide line on the image is determined.
- FIG.4 and FIG.5 the superimposition method of the guide line which concerns on 1st Embodiment is demonstrated.
- 4 and 5 are diagrams for explaining a method of superimposing guide lines in the first embodiment.
- the scene where the own vehicle moves backward and enters the parking space is illustrated.
- the position on the image where the distance from the vehicle (camera 1) is the distance indicated by each distance guide line Q2 will be described as the reference position Q2 'of each distance guide line Q2.
- the position of the vehicle from which the image is captured is the position before the delay time and is different from the current position of the host vehicle.
- the image shown in FIG. 5 is captured at time t10.
- an image captured at time t10 is displayed on the display 30 of the terminal device 100 at time t11. Therefore, at time t11, the actual position of the host vehicle is a position P1 on the traveling direction side of the host vehicle from the position P0 where the image displayed on the display 30 is captured.
- the guide line superimposing function allows the driver to recognize that the host vehicle and the obstacle O are closer when the wireless communication is delayed than when the wireless communication is not delayed.
- the distance guide line Q2 is located at a position closer to the own vehicle (opposite to the traveling direction of the own vehicle) than the reference position Q2 ′ where the distance from the own vehicle (camera 1) is the distance indicated by the distance guide line Q2.
- the guide line has a plurality of distance guide lines Q2, each distance guide line Q2 is positioned closer to the vehicle side than the reference position Q2 ′ of each distance guide line Q2. Superimpose.
- the reference position Q2 ' (for example, a position indicating a distance of 1.0 m from the host vehicle) indicated by the distance guide line Q2 is P3 in the image captured at time t10.
- the position where the distance from the host vehicle is the distance indicated by the distance guide line Q2 in the image is P3.
- the guide line superimposing function superimposes the distance guide line Q2 on the position P4 closer to the host vehicle than the position P3.
- the position P4 on which the distance guide line Q2 is superimposed is closer to the host vehicle than P3 which is the reference position Q2 '.
- the distance guide line Q2 is moved closer to the host vehicle on the image by the amount that the host vehicle has actually moved with respect to the image capturing position.
- the distance indicated by the line Q2 (for example, 1.0 m from the own vehicle) does not change, but the distance indicated by the distance guide line Q2 from the own vehicle (for example, the own vehicle) compared to the case where the distance guide line Q2 is superimposed on the reference position Q2 ′. From the host vehicle to the obstacle, for example, when the obstacle O exists in the traveling direction of the host vehicle. The driver can be made to recognize that the distance to O is a relatively short distance.
- the guide line superimposing function when wireless communication is delayed, is based on the state information such as the vehicle speed and steering information of the own vehicle and the delay time of the wireless communication from the position where the image is captured.
- the amount of movement to the current position is estimated, and the distance guide line Q2 is superimposed on the position closer to the host vehicle than the reference position Q2 ′ by the estimated amount of movement.
- the guide line superimposing function estimates the amount of movement from the position P0 where the image is captured to the current position P1 of the host vehicle at time t11. Then, the guide line superimposing function superimposes the distance guide line Q2 on the image at the position P4 moved from the reference position Q2 'to the own vehicle side by the estimated amount of movement.
- the guide line superimposing function may be configured to superimpose the distance guide line Q2 at a position closer to the host vehicle than the reference position Q2 'by a predetermined amount of movement.
- the information presentation function of the control device 10 causes the display 30 to display an image on which the guide line is superimposed by the guide line superimposing function as shown in FIG.
- the reference position Q2 ′ is displayed for convenience, but the reference position Q2 ′ is not displayed when an image is displayed on the display 30 (also in FIGS. 7 and 9 described later). The same.)
- FIG. 6 is a flowchart showing information presentation processing according to the first embodiment. 6 is executed by the control device 10 of the terminal device 100.
- step S101 the delay state determination function of the control device 10 determines the delay state of wireless communication between the terminal device 100 and the in-vehicle device 200. Specifically, the delay state determination function determines whether or not wireless communication has been established between the terminal device 100 and the in-vehicle device 200, and if wireless communication has been established, the delay time of the wireless communication Judging. Note that the information presentation function of the control device 10 may display that on the display 30 when the wireless communication is not established (when the wireless communication is interrupted).
- step S102 the state information of the host vehicle is acquired by the guide line superimposing function of the control device 10.
- the guide line superimposing function can acquire state information such as the vehicle speed, acceleration, steering angle, and traveling direction of the host vehicle from the vehicle controller 3.
- step S103 an image around the host vehicle captured by the camera 1 is acquired by the image acquisition function of the control device 10.
- step S104 whether or not the wireless communication between the terminal device 100 and the in-vehicle device 200 is delayed based on the determination result of the delay state of the wireless communication in step S101 by the guide line superimposing function of the control device 10. Judgment is made. If the wireless communication is delayed, the process proceeds to step S105. If the wireless communication is not delayed, the process proceeds to step S106. If the wireless communication is not delayed for a certain time (for example, 200 msec) or more, it may be determined that the wireless communication is not delayed and the process may proceed to step S106.
- a certain time for example, 200 msec
- step S106 processing for superimposing the guide line on the image acquired in step S103 is performed by the guide line superimposing function.
- the guide line superimposing function displays each distance guide line Q2 indicating the distance from the own vehicle, and the distance from the own vehicle is each distance guide line Q2. Is superimposed on a position (reference position Q2 ′) at a distance indicated by.
- step S105 the guide line superimposing function, as shown in FIG. 5, is on the own vehicle side (progress of the own vehicle) from the reference position Q2 ′ where the distance from the own vehicle is the distance indicated by the distance guide line Q2 on the image.
- Each distance guide line Q2 is overlapped at a position opposite to the direction).
- the guide line superimposing function is based on the determination result of the wireless communication delay state in step S101 and the own vehicle state (for example, the vehicle speed and the steering angle) acquired in step S102. The amount of movement of the vehicle to the current position is estimated, and each distance guide line Q2 is superimposed on the position moved from the reference position Q2 ′ to the own vehicle side by the estimated amount of movement.
- step S107 the information presentation function of the control device 10 presents the image on which the guide line is superimposed in step S105 or step S106 on the screen of the display 30.
- the information presentation system 1000 determines the overlapping position of the distance guide line Q2 on the image captured by the camera 1 based on the delay state of the wireless communication. Therefore, in 1st Embodiment, even if it is a case where the radio
- the host vehicle when the wireless communication is delayed, as shown in FIG. 5, the host vehicle is more than the reference position Q2 ′ where the distance from the host vehicle is the distance indicated by the distance guide line Q2 on the image.
- Each distance guide line Q2 is superimposed on the position on the side (opposite to the traveling direction of the host vehicle). Further, based on the state of the host vehicle (vehicle speed, rudder angle, etc.) and the delay time, the amount of movement of the host vehicle at the delay time is estimated, and the estimated amount of movement has moved from the reference position Q2 ′ to the host vehicle side.
- Each distance guide line Q2 is superimposed on the position.
- the distance guide line Q2 since the distance guide line Q2 approaches the own vehicle side on the image by the amount that the own vehicle has actually moved relative to the position where the image was captured, the distance guide line Q2 is set to the reference position Q2 ′.
- the driver can recognize that the distance indicated by the distance guide line Q2 from the own vehicle (for example, a distance of 1.0 m from the own vehicle) is a relatively short distance.
- the driver can be made to recognize that the distance from the host vehicle to the obstacle O is also a relatively short distance.
- the information presentation system 1000 according to the second embodiment has the same configuration as the information presentation system 1000 according to the first embodiment, and the information presentation system according to the first embodiment except that the information presentation system 1000 operates as described below. The same operation as the system 1000 is performed.
- control device 10 of the terminal device 100 further includes a moving body detection information acquisition function for detecting a moving body in addition to the functions according to the first embodiment.
- the moving body detection information acquisition function of the control device 10 acquires detection information as to whether or not there is a moving body around the host vehicle. Specifically, the moving body detection information acquisition function acquires information on whether or not a moving body exists from the in-vehicle device 200.
- the in-vehicle device 200 includes a moving body detection device 43.
- the moving body detection device 43 determines whether or not there is a moving body around the vehicle based on the temporal change of the feature extracted from the captured image of the in-vehicle camera 1.
- the method for detecting the moving object based on the captured image is not particularly limited, and the method known at the time of filing of the present application can be appropriately used.
- the guide line superimposing function of the control device 10 determines whether or not the detection information indicating that the moving object exists is acquired by the moving object detection information acquiring function when the wireless communication is delayed. If there is a moving body, the position of the guide line superimposed on the captured image is changed based on the distance to the moving body.
- the guide line superimposing function first calculates the distance from the own vehicle (camera 1) to the moving object when the moving object exists around the own vehicle. Then, the guide line superimposing function determines whether or not the moving body is within the range of the guide line based on the calculated distance to the moving body. For example, as shown in FIG. 7, the guide line superimposing function according to the present embodiment is located at positions where the distance from the own vehicle (camera 1) is 0.5 m, 1.0 m, 2.0 m, and 3.0 m. Each distance guide line Q2 is superimposed. In this case, the distance guide line Q2 displays a distance from the host vehicle to 3.0 m, and the range of the guide line is a distance range of 3.0 m from the host vehicle.
- the guide line superimposing function determines that the moving body exists outside the range of the guide line when the distance from the own vehicle to the moving body exceeds 3.0 m, while the distance from the own vehicle to the moving body. Is 3.0 m or less, it is determined that the moving body is within the range of the guide line.
- the distance from the host vehicle is as shown in FIG.
- the distance guide line Q2 is superimposed on a position closer to the traveling direction of the host vehicle than the reference position Q2 ′ that is the distance indicated by the distance guide line Q2.
- the captured image captured at time t20 is illustrated as being presented to the driver at time t21. is doing. In this case, when the host vehicle moves to the position P11 at time t21, an image captured at the position P10 is presented to the driver.
- the actual distance from the host vehicle is also the case where the position on the image where the distance from the host vehicle is the distance indicated by the distance guide line Q2 (for example, 1.0 m from the host vehicle) is P13.
- the position at which the distance indicated by the distance guide line Q2 (for example, 1.0 m from the host vehicle) is P14. Therefore, the guide line superimposing function is used when the moving body does not exist around the own vehicle or when the moving body exists within the range of the guide line, the distance guide line Q2 is actually displayed on the image from the own vehicle.
- the distance guide line Q2 is superimposed on a position P14 on the traveling direction side of the host vehicle with respect to P13 which is the reference position Q2 ′.
- the guide line superimposing function estimates the current position of the host vehicle based on the delay time of wireless communication and the state of the host vehicle, and the distance from the estimated current position is the distance indicated by the distance guide line Q2.
- the distance guide line Q2 can be superimposed on the position.
- each distance guide line Q2 can be displayed so that the distance guide line Q2 indicates the actual distance from the host vehicle.
- 7 and 8 are diagrams for explaining the guide line superimposing method when the moving body does not exist around the host vehicle or when the moving body exists within the range of the guide line.
- FIG. 9 is a diagram for explaining a guide line superimposing method when the moving body is outside the range of the guide line.
- the guide line superimposing function superimposes a sign M indicating the moving body on the image as shown in FIG. 9 when the moving body exists around the host vehicle. Further, the guide line superimposing function superimposes a sign M indicating the moving body at a position closer to the host vehicle than the actual position of the moving body when wireless communication is delayed. Specifically, the guide line superimposing function estimates the amount of movement from the position where the image was captured to the current position of the own vehicle based on the state information of the own vehicle and the delay time of the wireless communication. A sign M indicating the moving body is superimposed on a position corresponding to the corresponding position so that the moving body is moved to the own vehicle side from the actual position of the moving body. Thereby, even when wireless communication is delayed, the actual distance from the host vehicle to the moving body can be appropriately displayed on the image.
- FIG. 10 is a flowchart showing information presentation processing according to the second embodiment. 10 is executed by the control device 10 of the terminal device 100.
- steps S201 to S203 as in steps S101 to S103 of the first embodiment, the delay state of wireless communication between the terminal device 100 and the in-vehicle device 200 is determined (step S201), and acquisition of the state information of the host vehicle is obtained. Is performed (step S202), and an image around the host vehicle is acquired (step S203).
- step S204 the mobile body detection information is acquired by the mobile body detection information acquisition function of the control device 10.
- step S205 the guide line superimposing function of the control device 10 determines whether there is a moving body around the host vehicle based on the moving body detection information acquired in step S204. If there is no moving body around the host vehicle, the process proceeds to step S211. If a moving body exists around the host vehicle, the process proceeds to step S206.
- step S206 it is determined by the guide line superimposing function of the control device 10 whether or not the moving body is within the guide line range. If the moving body exists within the guide line range, the process proceeds to step S207. If the moving body exists outside the guide line range, the process proceeds to step S208.
- step S207 since it is determined that the moving body is within the range of the guide line, the guide line superimposing function, as shown in FIG. 7, includes the vehicle state information such as the vehicle speed and the steering angle, and wireless communication. Based on this delay time, the distance guide line Q2 is superimposed on a position closer to the traveling direction of the host vehicle than the reference position Q2 ′. Thereby, the actual distance from the own vehicle to the moving body can be appropriately displayed on the image.
- step S208 it is determined that the moving body is outside the range of the guide line.
- the guide line superimposing function is based on the state information of the host vehicle such as the vehicle speed and the rudder angle, and the delay time of the wireless communication.
- the distance guide line Q2 is superimposed at a position on the opposite side to the traveling direction of. As a result, the driver can appropriately recognize that there is a time and distance allowance until the host vehicle approaches the moving body as compared with the case where the distance guide line Q2 is superimposed on the reference position Q2 ′. it can.
- step S209 the guide line superimposing function is performed to superimpose a sign indicating the moving body on the image.
- the guide line superimposing function moves the sign M indicating the moving body based on the state information of the host vehicle such as the vehicle speed and the steering angle and the delay time of the wireless communication. It superimposes on the position of the own vehicle side rather than the actual position of the body.
- step S210 the information presentation function of the control device 10 presents an image on which the guide line is superimposed in steps S207 and S208 and the sign M indicating the moving object is superimposed on the screen of the display 30 in step S209. .
- step S211 If it is determined in step S205 that there is no moving body around the host vehicle, the process proceeds to step S211.
- step S211 as in step S207, the guide line superimposing function is used to set the position of the own vehicle in the traveling direction from the reference position Q2 ′ so that each distance guide line Q2 indicates the actual distance from the own vehicle. A distance guide line Q2 is superimposed. Thereby, the actual distance from the host vehicle can be appropriately displayed on the image. Then, the process proceeds to step S210, and the image on which the guide line is superimposed in step S211 is presented on the screen of the display 30.
- the information presentation system 1000 when the mobile object is detected in the case where the wireless communication is delayed, whether or not the mobile object exists within the range of the guide line. Determine whether.
- the moving body is within the range of the guide line, as shown in FIG. 7, based on the state of the host vehicle and the delay time so that each distance guide line Q2 indicates the actual distance from the host vehicle.
- Each distance guide line Q2 is superimposed on a position closer to the traveling direction of the host vehicle than the reference position Q2 ′.
- the distance guide line Q2 when the wireless communication is delayed and the moving body does not exist around the host vehicle, the distance guide line Q2 is actually from the host vehicle as shown in FIG. As shown by the distance, the distance guide line Q2 is superimposed on a position closer to the traveling direction of the host vehicle than the reference position Q2 ′. Thereby, when the wireless communication is delayed and the moving body does not exist around the own vehicle, the actual distance from the own vehicle can be appropriately displayed on the image by the distance guide line Q2. it can.
- a sign M indicating the moving body is displayed as shown in FIG. Is superimposed on a position closer to the host vehicle than the actual position.
- the distance guide line Q2 when the wireless communication is not delayed, the distance guide line Q2 is superimposed on the reference position Q2 ′ that is the distance indicated by the distance guide line Q2, as in the first embodiment. (The same applies to the third embodiment described later).
- the information presentation system 1000 according to the third embodiment has the same configuration as the information presentation system 1000 according to the first embodiment, and the information presentation system according to the first embodiment except that the information presentation system 1000 operates as described below. The same operation as the system 1000 is performed.
- the delay state determination function of the control device 10 determines the delay state of wireless communication between the terminal device 100 and the in-vehicle device 200, as in the first embodiment. In the third embodiment, the delay state determination function determines whether the wireless communication delay state is a communication interruption state, a normal delay state, or an abnormal delay state.
- the delay state determination function determines that the wireless communication delay state is the normal delay state when the wireless communication delay time is within a predetermined time (for example, 200 msec).
- the delay state determination function determines that the wireless communication delay state is an abnormal communication state when the wireless communication delay time exceeds a predetermined time.
- the delay state determination function determines that the wireless communication delay state is a communication interruption state.
- the guide line superimposing function of the control device 10 changes the display mode of the guide line based on the delay state of the wireless communication between the terminal device 100 and the in-vehicle device 200.
- the guide line superimposing function is configured so that the driver can recognize whether the wireless communication delay state is a communication interruption state, a normal delay state, or an abnormal delay state.
- the display mode of the guide line is changed according to the interruption state, the normal delay state, and the abnormal delay state.
- FIGS. 11 to 13 are diagrams for explaining the display mode of the guide lines in the third embodiment.
- the guide line superimposing function displays the guide line color in a lighter color than the normal delay state as shown in FIG. 12 when the wireless communication delay state is determined to be an abnormal delay state.
- the guide line is displayed with a broken line.
- the driver can appropriately recognize that the wireless communication between the terminal device 100 and the in-vehicle device 200 is in an abnormal delay state.
- the guide line superimposing function causes the distance guide line Q2 to travel more than the reference position Q2 ′ in the same manner as the scene shown in FIG. It is superimposed on the position on the direction side.
- the guide line superimposing function first emphasizes the guide line more than the normal delay state as shown in FIG. indicate.
- the guide line superimposition function displays the guide line in a darker color than in the normal delay state, or displays the guide line more emphasized than in the normal delay state by displaying the guide line thicker. Can do.
- the guide line superimposing function hides the guide line as shown in FIG. 13B after a certain time has elapsed since the guide line was highlighted.
- the driver can appropriately recognize that the wireless communication between the terminal device 100 and the in-vehicle device 200 is in a communication interruption state.
- the traveling direction of the host vehicle is greater than the reference position Q2 ′ in the distance guide line Q2 as in the scenes shown in FIGS. It can be superimposed on the side position.
- FIG. 14 is a flowchart showing information presentation processing according to the third embodiment. 14 is executed by the control device 10 of the terminal device 100.
- steps S301 to S303 as in steps S101 to S103 of the first embodiment, determination of the delay state of wireless communication between the terminal device 100 and the in-vehicle device 200 is performed (step S301), and acquisition of the state information of the host vehicle is obtained. Is performed (step S302), and an image around the host vehicle is acquired (step S303). In step S301, it is determined whether the wireless communication delay state is a communication interruption state, a normal delay state, or an abnormal delay state.
- step S304 based on the determination result in step S301, the guide line superimposing function determines whether or not the delay state of the wireless communication between the terminal device 100 and the in-vehicle device 200 is a communication interruption state. If it is determined that the communication is interrupted, the process proceeds to step S308. On the other hand, if it is determined that the communication is not interrupted, the process proceeds to step S305.
- step S305 the guide line superimposing function determines whether or not the wireless communication delay state is the normal delay state. For example, if it is determined that the delay time of the wireless communication is within a predetermined time and is in the normal delay state, the process proceeds to step S306, while the delay time of the wireless communication exceeds the predetermined time and the abnormal delay state If it is determined that there is, the process proceeds to step S307.
- step S306 since it is determined that the wireless communication delay state is the normal delay state, as shown in FIG. 11, the guide line superimposing function moves the vehicle to a position closer to the traveling direction of the host vehicle than the reference position Q2 ′.
- the distance guide line Q2 is superimposed.
- step S307 since it is determined that the wireless communication is delayed, the guide line superimposing function causes the distance from the reference position Q2 ′ to the position on the traveling direction side of the host vehicle as shown in FIG. A guide line Q2 is superimposed.
- the guide line superimposing function displays the guide line color in a lighter color than in the normal delay state. Display with a broken line. As a result, the driver can appropriately recognize that the wireless communication delay state is an abnormal delay state.
- step S304 determines whether the wireless communication delay state is a communication interruption state. If it is determined in step S304 that the wireless communication delay state is a communication interruption state, the process proceeds to step S308.
- step S308 as shown in FIG. 13A, the guide line is emphasized and displayed by the guide line superimposing function, and the distance guide line is positioned at a position closer to the traveling direction of the host vehicle than the reference position Q2 ′. Q2 is superimposed.
- step S309 the guide line superimposing function determines whether a predetermined time has elapsed since the guide line was highlighted. The process waits in step S309 until the predetermined time elapses, and proceeds to step S310 when the predetermined time elapses.
- step S310 the guide line is hidden by the guide line superimposing function. In this way, when the delay state of wireless communication is a communication interruption state, the guide line is highlighted and then the guide line is hidden, so that the wireless communication delay state is a communication interruption state. Can be recognized appropriately by the driver.
- step S311 the information presentation function of the control device 10 presents the image on which the guide line is superimposed in step S306, S307, or step S308 on the screen of the display 30.
- the information presentation system 1000 changes the display mode of the guide line based on the delay state of the wireless communication between the terminal device 100 and the in-vehicle device 200. For example, when the delay state of the wireless communication is an abnormal delay state, the guide line is displayed in a light color, a broken line, or the like compared to the case of the normal delay state. In addition, when the wireless communication delay state is a communication interruption state, the guide line is highlighted after the guide line is hidden as compared with the normal delay state. Thereby, in 3rd Embodiment, in addition to the effect of 1st Embodiment, a driver can be made to recognize the delay state of radio
- the terminal device 100 and the information presentation system 1000 are described as examples of one aspect of the information presentation system according to the present invention, but the present invention is not limited to this.
- the terminal device 100 provided with the control apparatus 10 containing CPU11, ROM12, and RAM13 and the information presentation system 1000 provided with the vehicle-mounted apparatus 200 were demonstrated as an example of the one aspect
- the present invention is not limited to this.
- the camera 1, the communication apparatus 2, the vehicle controller 3, and the vehicle-mounted apparatus 200 provided with the various apparatuses 4 were demonstrated as an aspect of the vehicle-mounted apparatus provided with a camera and a communication function, It is not limited to this.
- the configuration in which the guide line is superimposed on the image obtained by imaging the rear of the host vehicle is illustrated.
- the present invention is not limited to this. It can be set as the structure which superimposes.
- the guide line is set to a position closer to the host vehicle than the reference position Q2 ′ or to a position on the traveling direction side of the host vehicle. It can be set as the structure which overlaps.
- each distance guide line Q2 is either one of the position on the own vehicle side with respect to the reference position Q2 ′ and the position on the traveling direction side of the own vehicle.
- the present invention is not limited to this configuration, and some distance guide lines Q2 are superimposed on a position closer to the own vehicle than the reference position Q2 ′, and other distance guide lines Q2 are placed on the own vehicle. Can be superimposed on a position on the traveling direction side.
- a distance guide line Q2 indicating a distance from the host vehicle to a certain distance is superimposed on a position closer to the host vehicle than the reference position Q2 ′, and a distance guide line Q2 indicating a distance exceeding a certain distance from the host vehicle.
- the configuration in which the guide line having the vehicle width guide line Q1 and the distance guide line Q2 is superimposed on the image is exemplified, but in addition to this configuration, for example, the host vehicle is predicted to move.
- the predicted route P indicating the trajectory can be further superimposed on the image.
- each distance guide line Q2 when the wireless communication is delayed, as shown in FIG. 5, the configuration in which each distance guide line Q2 is superimposed at a position closer to the host vehicle than the reference position Q2 ′.
- it is not limited to this structure,
- it can be set as the structure which each distance guide line Q2 superimposes on the position of the advancing direction side of the own vehicle rather than reference position Q2 '. . In this case, the driver can appropriately recognize the actual distance from the host vehicle on the image.
- the distance guide line Q2 when the wireless communication is delayed and there is no moving body around the host vehicle, or when the moving body is outside the range of the guide line, the distance guide line Q2 is The configuration in which the distance guide line Q2 is superimposed at a position closer to the traveling direction of the host vehicle than the reference position Q2 ′ so as to display the actual distance from the host vehicle is illustrated, but is not limited to this configuration. If the position is closer to the traveling direction of the host vehicle than the reference position Q2 ′, the distance guide line Q2 is not positioned corresponding to the actual distance from the host vehicle (the traveling of the host vehicle by a predetermined distance from the reference position Q2 ′). It is good also as a structure superimposed on the direction side position. Also in this case, the distance indicated by the distance guide line Q2 can be presented to the driver as a distance closer to the actual distance from the host vehicle.
- the configuration in which the display mode of the guide line is changed based on the delay state of the wireless communication is illustrated, but the display mode of the guide line corresponding to each delay state is limited to the above-described example. However, it can be set as appropriate.
- the guide line transparency may be changed, and the guide line may be blinked.
- the wireless communication state is an abnormal communication state, it is possible to increase the transparency of the guide line or to blink the guide line.
- the communication state of the wireless communication is a communication interruption communication state, first, the transparency of the guide line may be lowered and then the transparency of the guide line may be increased.
- the guide line may be displayed in a blinking manner.
- the guide line is displayed as a relatively inconspicuous receding color line such as blue, green, and bluish purple, a broken line, and a relatively thin line.
- the guide line may be displayed as a relatively conspicuous advance color line such as red, solid line, orange, or yellow, or a relatively thick line.
- the overlapping position of the distance guide line Q2 can be determined based on whether an obstacle exists around the host vehicle or whether the obstacle exists within the range of the guide line.
- the image acquisition function of the control device 10 is the image acquisition means of the present invention
- the guide line superimposition function is the vehicle information acquisition means and superimposition means of the present invention
- the delay state determination function is the determination of the present invention.
- the moving body detection information acquisition function corresponds to the obstacle information acquisition unit of the present invention.
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Abstract
Description
図1は、本実施形態に係る情報提示システム1000のブロック構成図である。情報提示システム1000は、車載装置200と、端末装置100とを備える。
次に、第2実施形態に係る情報提示システム1000について説明する。第2実施形態に係る情報提示システム1000は、第1実施形態に係る情報提示システム1000と同様の構成を有し、以下に説明するように動作すること以外は、第1実施形態に係る情報提示システム1000と同様の動作を行う。
次に、第3実施形態に係る情報提示システム1000について説明する。第3実施形態に係る情報提示システム1000は、第1実施形態に係る情報提示システム1000と同様の構成を有し、以下に説明するように動作すること以外は、第1実施形態に係る情報提示システム1000と同様の動作を行う。
100…端末装置
10…制御装置
11…CPU
12…ROM
13…RAM
20…通信装置
30…ディスプレイ
200…車載装置
1,1a~1d…カメラ
2…通信装置
3…車両コントローラ
4…各種装置
41…ステアリング制御装置
42…加速度センサ
43…移動体検出装置
Claims (9)
- 車両に設けられたカメラを有する車載装置と、前記車載装置と無線通信する携帯可能な端末装置と、を有する情報提示システムにおいて、
前記端末装置は、
前記カメラにより撮像された車両周囲の画像を取得する画像取得手段と、
前記画像上に車両からの距離を示す距離標識を重畳する重畳手段と、
前記車載装置と前記端末装置との無線通信の遅延時間を含む遅延状態を判断する判断手段と、
前記距離標識が重畳された前記画像を提示する提示手段と、を備え、
前記重畳手段は、前記無線通信が遅延していない場合には、前記画像上において車両からの距離が前記距離標識の示す距離となる基準位置に、前記距離標識を重畳し、前記無線通信が遅延している場合には、前記基準位置よりも車両の進行方向側の位置、または、前記基準位置よりも車両側の位置に、前記距離標識を重畳することを特徴とする情報提示システム。 - 請求項1に記載の情報提示システムであって、
前記重畳手段は、車両の状態情報を取得し、取得した前記車両の状態情報および前記無線通信の遅延時間に基づいて、前記画像を撮像した際の車両の位置から車両の現在の位置までの移動量を推測し、前記基準位置から前記移動量だけ車両の進行方向側または車両側に移動した位置に、前記距離標識を重畳することを特徴とする情報提示システム。 - 請求項1に記載の情報提示システムであって、
前記重畳手段は、前記基準位置から所定の移動量だけ車両の進行方向側または車両側に移動した位置に、前記距離標識を重畳することを特徴とする情報提示システム。 - 請求項1~3のいずれかに記載の情報提示システムであって、
車両の周囲に存在する障害物の情報を取得する障害物情報取得手段をさらに備え、
前記重畳手段は、前記障害物の情報を加味して、前記距離標識の重畳位置を決定することを特徴とする情報提示システム。 - 請求項4に記載の情報提示システムであって、
前記重畳手段は、前記無線通信が遅延しており、かつ、前記障害物を検出しない場合には、前記基準位置よりも車両の進行方向側に、前記距離標識を重畳することを特徴とする情報提示システム。 - 請求項4または5に記載の情報提示システムであって、
前記重畳手段は、前記無線通信が遅延しており、かつ、前記画像において車両から前記距離標識が示す距離範囲内に前記障害物が存在する場合には、前記基準位置よりも車両の進行方向側に、前記距離標識を重畳することを特徴とする情報提示システム。 - 請求項4~6のいずれかに記載の情報提示システムであって、
前記重畳手段は、前記無線通信が遅延しており、かつ、前記画像中において車両から前記距離標識が示す距離範囲外に前記障害物が存在する場合には、前記基準位置よりも車両側に、前記距離標識を重畳することを特徴とする情報提示システム。 - 請求項4~7のいずれかに記載の情報提示システムであって、
前記重畳手段は、前記障害物が存在する場合に、前記障害物の位置を示す標識を、前記障害物の実際の位置よりも車両側の位置に重畳することを特徴とする情報提示システム。 - 請求項1~8のいずれかに記載の情報提示システムであって、
前記重畳手段は、前記無線通信の遅延状態に応じて、前記画像上における前記距離標識の表示態様を異ならせることを特徴とする情報提示システム。
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