WO2020022241A1 - Vehicle display device, control method for vehicle display device, and control program for vehicle display device - Google Patents

Vehicle display device, control method for vehicle display device, and control program for vehicle display device Download PDF

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WO2020022241A1
WO2020022241A1 PCT/JP2019/028581 JP2019028581W WO2020022241A1 WO 2020022241 A1 WO2020022241 A1 WO 2020022241A1 JP 2019028581 W JP2019028581 W JP 2019028581W WO 2020022241 A1 WO2020022241 A1 WO 2020022241A1
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Prior art keywords
vehicle
display
curvature
road shape
ahead
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PCT/JP2019/028581
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French (fr)
Japanese (ja)
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勇希 舛屋
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日本精機株式会社
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Publication of WO2020022241A1 publication Critical patent/WO2020022241A1/en

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    • 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
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/22—Display screens
    • 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
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • 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
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/23—Head-up displays [HUD]
    • 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
    • B60K35/80—Arrangements for controlling instruments
    • B60K35/81—Arrangements for controlling instruments for controlling displays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a vehicle display device, a control method of the vehicle display device, and a control program of the vehicle display device.
  • a device for displaying various images by virtual images in a space in front of a driver has been proposed.
  • Such a vehicle display device can display various images in the field of view of the driver who has visually recognized the front through the windshield.
  • Patent Documents 1, 2, and 3 disclose a configuration that assists driving by displaying an image using the virtual image.
  • the present invention has been made in view of the above points, and a vehicle display device and a vehicle display capable of displaying an image with a virtual image in a driver's field of view and assisting driving without feeling annoying. It is an object of the invention to propose a control method of a device and a control program of a display device for a vehicle.
  • a display device for a vehicle includes: In a vehicle display device that displays an image by a virtual image in a space in front of a driver in a vehicle, A road shape detection unit that detects a road shape in front of the vehicle, A curvature detector that detects a curvature of a curve ahead of the vehicle, A display unit for forming an image to be displayed, A display control unit that controls the display unit, The display control unit, Determine the curvature of the nearest curve ahead of the vehicle by the display determination reference value, When the curvature is equal to or larger than the display determination reference value, a road shape ahead of the nearest curve is displayed on a road surface in front of the vehicle.
  • the road shape ahead can be displayed only when it is difficult to visually recognize the vehicle, whereby the driver can display a virtual image in the driver's field of view without driving the driver's field of view. I can help.
  • the invention of claim 2 is In the configuration of claim 1,
  • the display control unit Set the boundary to switch the display ahead,
  • the road shape ahead of the latest curve, From the vehicle to the boundary is displayed on the road surface in a shape overlooking from the driver's eye point,
  • the viewpoint is displaced upward from the driver's eye point and displayed in a bird's-eye view.
  • the road shape is displayed on the road surface in front of the vehicle, so that the road shape on the front side, which is difficult to grasp, can be easily grasped.
  • the invention of claim 3 is In the structure of claim 1 or claim 2,
  • the foreseeing estimating unit for estimating whether or not the driver has foreseen a road shape ahead of the latest curve The display control unit, When it is estimated from the estimation result of the preview estimating unit that the driver foresees the road shape ahead of the latest curve, the display of the road shape ahead of the latest curve is stopped.
  • the display of the road shape is stopped, so that the driver does not feel much more troublesome.
  • the image can be displayed as a virtual image in the field of view to assist driving.
  • the invention of claim 4 is In a control method of a vehicle display device that displays an image by a virtual image in a space in front of a driver, A road shape detecting step of detecting a road shape in front of the vehicle, A curvature detection step of detecting a curvature of a curve ahead of the vehicle, Display control step of controlling a display unit that forms an image to be displayed,
  • the display control step includes: Determine the curvature of the nearest curve ahead of the vehicle by the display determination reference value, When the curvature is equal to or larger than the display determination reference value, a road shape ahead of the nearest curve is displayed on a road surface in front of the vehicle.
  • the invention of claim 5 is In a control program of a display device for a vehicle for executing a predetermined processing procedure by execution in an arithmetic processing circuit,
  • the vehicle display device A display device for a vehicle that displays an image with a virtual image in the space in front of the driver,
  • the processing procedure includes: A road shape detecting step of detecting a road shape in front of the vehicle, A curvature detection step of detecting a curvature of a curve ahead of the vehicle, Display control step of controlling a display unit that forms an image to be displayed,
  • the display control step includes: Determine the curvature of the nearest curve ahead of the vehicle by the display determination reference value, When the curvature is equal to or larger than the display determination reference value, a road shape ahead of the nearest curve is displayed on a road surface in front of the vehicle.
  • operation is supported by displaying an image with a virtual image in a driver's visual field, without feeling annoying. be able to.
  • FIG. 2 is a diagram provided for explanation of display by the vehicle display device of FIG. 1. It is a figure provided for explanation of a preview by a display screen of a navigation device. It is a figure provided for explanation of foresight by a road sign.
  • FIG. 1 is a diagram showing a vehicle display device 1 according to a first embodiment of the present invention.
  • the vehicle display device 1 is a vehicle display device using a head-up display device, and displays various images as virtual images in a space in front of a driver who looks forward through a windshield.
  • the vehicle display device 1 assists the driver's driving by displaying the virtual image.
  • the vehicle display device 1 may be configured by a device installed on a vehicle and disposed on the vehicle, or a portable information terminal carried by a driver.
  • the vehicle display device 1 can widely apply various configurations such as a head-mounted display device that can display an image in a field of view of a driver who looks forward through a windshield.
  • the vehicle display device 1 includes a display unit 2, a vehicle information acquisition unit 3, a road shape detection unit 4, a preview estimation unit 5, a curvature detection unit 7, and an image generation unit 8.
  • the road shape detection unit 4 includes an inside / outside information detection unit 4A
  • the preview estimation unit 5 includes a gaze detection unit 5A
  • the image generation unit 8 includes a display control unit 8A.
  • the vehicle display device 1 executes the control program of the vehicle display device in an arithmetic processing circuit, thereby obtaining the road shape detection unit 4, the inside / outside information detection unit 4A, the preview estimation unit 5, the line-of-sight detection unit 5A, the curvature detection.
  • the function blocks of the unit 7, the image generation unit 8, and the display control unit 8A are configured.
  • the processing procedure based on the execution of this control program includes the road shape detection unit 4, the inside / outside information detection unit 4A, the preview estimation unit 5, the line-of-sight detection unit 5A, the curvature detection unit 7, the image generation unit 8, and the display control unit 8A.
  • a road shape detection step, a vehicle inside / outside information detection step, a preview estimation step, a line-of-sight detection step, a curvature detection step, an image generation step, and a display control step for executing corresponding processing are provided.
  • the display unit 2 is a part that forms an image to be displayed by a virtual image, and is formed by an image display panel, a peripheral circuit of the image display panel, an optical system that emits light emitted from the image display panel toward a windshield, and the like. Is done.
  • the image display panel various configurations such as a DMD (Digital Mirror Device), a liquid crystal display panel, and an organic EL (Electro Luminescence) panel can be widely applied.
  • the vehicle information acquisition unit 3 is an interface that acquires vehicle information such as vehicle speed, remaining fuel amount, and various warnings from the vehicle, and outputs the acquired vehicle information to the image generation unit 8.
  • the road shape detection unit 4 detects a road shape ahead of the vehicle. Specifically, the road shape detection unit 4 detects the current position information by the navigation function, searches the map information by the detected current position information, and thereby detects the road shape ahead of the vehicle.
  • the road shape detection unit 4 captures images of the inside and outside of the vehicle using the inside / outside information detection unit 4A, and detects display position information for specifying the display position of the image information to be displayed on the display unit 2 by image processing of the captured result. I do.
  • the vehicular display device 1 displays a virtual image on a road surface in front of the vehicle to assist the driver in driving. Accordingly, it is desired that the imaging device of the road shape detection unit 4 for acquiring the display position information be disposed as close to the driver's eye point as possible.
  • the imaging device for detecting the display position information is arranged, for example, above the driver's seat, but can be arranged at various positions as needed. Note that the imaging result of the imaging device for acquiring the display position information may be used for detecting the immediately preceding curve.
  • the foreseeing estimation unit 5 is a part for estimating whether or not the driver foresees the road shape ahead of the nearest curve.
  • the gaze detecting unit 5A detects the driver's gaze by imaging the driver's face and processing the imaging result.
  • the foresight estimating unit 5 estimates from the gaze detected by the gaze detecting unit 5A whether or not the driver foresees the road shape ahead of the nearest curve.
  • the curvature detector 7 is a part that detects the curvature of a curve ahead of the vehicle.
  • the curvature detection unit 7 detects a curve ahead of the vehicle based on the detection result of the road shape detection unit 4, and further searches and detects the curvature of the detected curve by searching map information used for navigation processing. Note that the curvature may be detected using an imaging result for acquiring display position information.
  • the image generation unit 8 is a part that controls the display of the display unit 2 by generating an image to be displayed on the display unit 2.
  • the image generation unit 8 controls the display on the display unit 2 by the display control unit 8A.
  • the display control unit 8A displays the vehicle information acquired by the vehicle information acquisition unit 3 under the control of the display unit 2.
  • the vehicle display device 1 displays vehicle information such as the vehicle speed in the field of view of the driver who has visually recognized the front through the windshield.
  • the display control unit 8 ⁇ / b> A determines whether or not it is difficult to see ahead of the immediately preceding curve based on the detection result of the curvature detection unit 7, and the display control unit 8 ⁇ / b> A may The road shape ahead of the nearest curve is displayed on the road surface.
  • FIG. 2 is a diagram provided to explain the display of the road shape, and is a diagram showing the front of the vehicle from the driver's viewpoint.
  • FIG. 2 shows a case where the curvature of the nearest curve is large and it is impossible to see ahead of the curve.
  • Reference numeral 2A denotes a displayable area of the display unit 2.
  • the display control unit 8A forms a marker 12 indicating a road shape by a tapered arrow, and displays a bend of the road by the bend of the marker 12. Further, the road shape marker 12 is formed so as to include the nearest curve, and thereby the road shape ahead of the latest curve is displayed. Thereby, in the example of FIG. 2, the nearest curve is the right curve, and it is possible to grasp the existence of the left curve which is difficult to see ahead.
  • the display control unit 8A displays the road-shaped marker 12 such that the road-shaped marker 12 is arranged on the road surface as viewed by the driver and further fits in the traveling lane. This allows the driver to easily and reliably grasp the road shape ahead of the nearest curve by displaying the marker 12 that is continuous with the road surface of the road on which the vehicle is traveling. As a result, for example, the presence of a curve that is difficult to see can be grasped, and driving can be supported and the driving load can be reduced. That is, the driver checks the shape of the road that is far away from view on a regular basis, and thereby generally predicts the travel route of the vehicle and drives the vehicle.
  • Such behavior prediction can reduce the driving load in vehicle control such as changing the vehicle position based on the latest information such as the relative position with respect to a nearby lane. Therefore, for example, at night or in bad weather, the road shape far away from view cannot be visually recognized, thereby increasing the driving load. Thus, if the marker 12 can be displayed to grasp the presence of a curve that is difficult to see, the driving load can be reduced.
  • FIG. 3 is a diagram illustrating a case where the curvature of the nearest curve is small and the point ahead of the curve can be seen in comparison with FIG. Even in such a case, if the marker 12 indicating the road shape is displayed, the driver feels annoying, and on the contrary, the burden increases. Accordingly, the display control unit 8A determines the curvature of the nearest curve ahead of the vehicle based on the display determination reference value, and displays the marker 12 indicating the road shape when the curvature is equal to or greater than the display determination reference value. When the curvature is less than the display determination reference value, the display of the marker 12 indicating the road shape is stopped. Thus, the vehicle display device 1 can display the road shape ahead only when it is difficult to visually recognize the vehicle, thereby displaying an image with a virtual image in the driver's field of view without causing any annoyance. I can help.
  • the display determination reference value may be a fixed value, may be set by a driver's operation, or may be appropriately changed according to vehicle speed, weather, driver's age, and the like.
  • the marker 12 indicating the road shape can be widely applied to various configurations, such as a case in which arrows having a fixed length are sequentially arranged on a traveling lane in a real scene.
  • the display control unit 8A displays the road-shaped marker 12 in a shape that is overlooked from the driver's eye point up to the boundary 13 set forward from the vehicle, and above the boundary, the viewpoint is located above the driver's eye point. It is displaced and displayed in a bird's-eye view.
  • FIG. 4 is a diagram showing a display of an actual road shape.
  • the display control unit 8A divides the displayable area 2A of the display unit 2 vertically into two parts, sets the lower area, which is the area from the vehicle to the boundary 13, as the superimposed display area AR1, and sets the upper area, which is beyond the boundary 13, The area is set as the overhead view display area AR2. Further, in the superimposed display area AR1, the road-shaped marker 12 attached to the road surface is displayed in a format that is viewed from the driver's viewpoint.
  • the road-shaped marker 12 attached to the road surface is displayed in a bird's-eye view in a state where the viewpoint is displaced upward from the driver's viewpoint compared to the superimposed display area AR1. .
  • the shape of the front side which is difficult to grasp, can be easily grasped, and the driving can be further assisted to improve the safety.
  • the superimposed display area AR1 and the bird's eye display area AR2 can be set as areas fixed to the displayable area 2A.
  • the superimposed display area AR1 and the bird's-eye display area AR2 may be made variable depending on the driving environment. It is possible to notify the driver of the road shape with a reduction. Specifically, when the location where the lane width is equal to or less than a certain width is set as the boundary 13 between the superimposed display area AR1 and the bird's-eye display area AR2, when the superimposed display area AR1 is used, the visibility of the marker 12 is equal to or less than a certain value.
  • the display color of the marker 12 may be switched between the superimposed display area AR1 and the bird's-eye display area AR2.
  • a dedicated marker may be assigned to each of the superimposed display area AR1 and the bird's-eye display area AR2.
  • the viewpoint relating to the bird's-eye view is gradually moved upward between the superimposed display area AR1 and the bird's-eye display area AR2 so that a certain transition area is provided between the superimposed display area AR1 and the bird's-eye display area AR2. You may.
  • the driver's viewpoint stays on the display screen of the navigation device for a certain period of time at the time when map information near the current position is displayed on the navigation device with a scale that can grasp the road shape ahead of the latest curve, Is considered to have foreseen the road shape ahead of the most recent curve.
  • FIG. 5 is a diagram showing the front of the vehicle as viewed from the driver's seat side.
  • the driver is driving the vehicle while viewing the front through the windshield 14.
  • the eye point of the driver is indicated by the symbol EP.
  • the preview estimating unit 5 determines the range ⁇ in which the display screen 15 centering on the display screen 15 of the navigation device can be visually recognized based on the driver's gaze detection result detected by the gaze detection unit 5A. Detects the driver's line of sight for a certain period of time.
  • the foreseeing estimation unit 5 uses the navigation device to map the map information in the vicinity of the current position with the scale at which the shape of the road ahead of the latest curve can be grasped at the timing of gaze stay on the display screen 15 detected by the gaze detection unit 5A. If it is displayed, it is estimated that the driver foresees the road shape ahead of the nearest curve, and the display control unit 8A is notified of the estimation result. The display control unit 8A stops displaying the marker when it is estimated from the notification of the preview estimating unit 5 that the driver is predicting the road shape ahead of the latest curve.
  • the driver detects a stagnation of the line of sight to the road sign 16 related to the road shape ahead of the latest curve, and Alternatively, it may be estimated that the road shape ahead of the nearest curve is foreseen. In addition, such a road sign 16 is displayed, for example, "It is a continuous curve ahead.”
  • a voice guide is provided from the navigation device, it may be estimated that the user has foreseen. By doing so, it is possible to assist driving by displaying an image with a virtual image in the driver's field of view without making the user feel much more troublesome.
  • the road shape ahead of the nearest curve is displayed on the road surface in front of the vehicle, so that the driver's field of view can be displayed without any inconvenience.
  • Driving can be assisted by displaying an image using a virtual image.
  • the road shape ahead of this nearest curve is displayed as a bird's eye view from the driver's eye point up to the boundary set forward from the vehicle, and beyond this boundary, the viewpoint is displaced upward from the driver's eye point.
  • the road shape is displayed on the road surface in front of the vehicle, and the road shape on the front side, which is difficult to grasp, can be easily grasped.

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Abstract

In order to use a virtual image, display an image in a driver's field of vision, and support driving, without causing any annoyance, the present invention comprises: a road shape detection unit 4 that detects the shape of the road ahead of a vehicle; a curvature detection unit 7 that detects the curvature of curves ahead of the vehicle; a display unit 2 that forms an image for display; and a display control unit 8A that controls the display unit 2. The display control unit 8A determines the curvature of the closest curve ahead of the vehicle, by using a display determination criteria value, and displays the road shape ahead of the closest curve ahead of the vehicle, if the curvature is at least the display determination criteria value.

Description

車両用表示装置、車両用表示装置の制御方法、車両用表示装置の制御プログラムDisplay device for vehicle, control method for display device for vehicle, control program for display device for vehicle
　本発明は、車両用表示装置、車両用表示装置の制御方法、車両用表示装置の制御プログラムに関するものである。 The present invention relates to a vehicle display device, a control method of the vehicle display device, and a control program of the vehicle display device.
　従来、ヘッドアップディスプレイ装置による車両用表示装置に関して、ドライバーの前方空間に、虚像により種々の画像を表示する工夫が提案されている。このような車両用表示装置は、ウインドシールドを介して前方を視認したドライバーの視界に、種々の画像を表示することができる。 Conventionally, with respect to a vehicle display device using a head-up display device, a device for displaying various images by virtual images in a space in front of a driver has been proposed. Such a vehicle display device can display various images in the field of view of the driver who has visually recognized the front through the windshield.
　このような車両用表示装置に関して、特許文献１、２、３には、この虚像による画像表示により運転を支援する構成が開示されている。 に 関 し て Regarding such a vehicle display device, Patent Documents 1, 2, and 3 disclose a configuration that assists driving by displaying an image using the virtual image.
特開２０１６－１０５２５６号公報JP 2016-105256 A 特開２００７－２５７２８６号公報JP 2007-257286 A 特開２０１６－１８２８９１号公報JP 2016-182891 A
　ところでこのような車両用表示装置では、ドライバーが視認している実景上に画像情報を表示することにより、路面との対応関係を直感的に把握できるようにして、種々の情報を提供することができる。これにより例えば視認し難いカーブが前方に存在する場合に、ドライバーが視認している実景上にこのカーブに関する情報を表示すれば、安全性を向上してドライバーの運転を支援できると考えられる。 By the way, in such a vehicle display device, by displaying image information on a real scene visually recognized by a driver, it is possible to intuitively grasp a correspondence relationship with a road surface and to provide various information. it can. Thus, for example, when a curve that is difficult to visually recognize exists in front of the driver, if information on the curve is displayed on the actual scene visually recognized by the driver, it is considered that safety can be improved and driver's driving can be supported.
　しかしながらこのような表示にあっては、ドライバーが煩わしく感じる場合もあり、この場合には、却ってドライバーの負担を増大させる問題がある。
　これにより煩わしさを感じさせることなく、ドライバーの視野に虚像により画像を表示して運転を支援することが望まれる。 However, in such a display, the driver may feel troublesome, and in this case, there is a problem that the burden on the driver is rather increased.
Accordingly, it is desired to display a virtual image in the driver's field of view and support the driving without feeling annoying.
　本発明は以上の点を考慮してなされたものであり、煩わしさを感じさせることなく、ドライバーの視野に虚像により画像を表示して運転を支援することができる車両用表示装置、車両用表示装置の制御方法、車両用表示装置の制御プログラムを提案することを目的とする。 The present invention has been made in view of the above points, and a vehicle display device and a vehicle display capable of displaying an image with a virtual image in a driver's field of view and assisting driving without feeling annoying. It is an object of the invention to propose a control method of a device and a control program of a display device for a vehicle.
　係る課題を解決するため、請求項１の発明に係る車両用表示装置は、
　車両にてドライバーの前方空間に、虚像により画像を表示する車両用表示装置において、
　前記車両の前方の道路形状を検出する道路形状検出部と、
　前記車両の前方のカーブの曲率を検出する曲率検出部と、
　表示に供する画像を形成する表示部と、
　前記表示部を制御する表示制御部とを備え、
　前記表示制御部は、
　前記車両の前方の直近のカーブの曲率を表示判定基準値により判定し、
　前記曲率が前記表示判定基準値以上の場合に、前記車両の前方の路面に前記直近のカーブより先の道路形状を表示する。 In order to solve such a problem, a display device for a vehicle according to the invention of claim 1 includes:
In a vehicle display device that displays an image by a virtual image in a space in front of a driver in a vehicle,
A road shape detection unit that detects a road shape in front of the vehicle,
A curvature detector that detects a curvature of a curve ahead of the vehicle,
A display unit for forming an image to be displayed,
A display control unit that controls the display unit,
The display control unit,
Determine the curvature of the nearest curve ahead of the vehicle by the display determination reference value,
When the curvature is equal to or larger than the display determination reference value, a road shape ahead of the nearest curve is displayed on a road surface in front of the vehicle.
　請求項１の構成によれば、視認が困難な場合にのみ先の道路形状を表示することができ、これにより煩わしさを感じさせることなく、ドライバーの視野に虚像により画像を表示して運転を支援することができる。 According to the configuration of the first aspect, the road shape ahead can be displayed only when it is difficult to visually recognize the vehicle, whereby the driver can display a virtual image in the driver's field of view without driving the driver's field of view. I can help.
　請求項２の発明は、
　請求項１の構成において、
　前記表示制御部は、
　前方に表示を切替える境界を設定し、
　前記直近のカーブより先の道路形状を、
　前記車両から前記境界までは前記路面上に前記ドライバーのアイポイントより俯瞰した形状により表示し、
　前記境界以遠ではドライバーのアイポイントより視点を上方に変位させて俯瞰した形状により表示する。 The invention of claim 2 is
In the configuration of claim 1,
The display control unit,
Set the boundary to switch the display ahead,
The road shape ahead of the latest curve,
From the vehicle to the boundary is displayed on the road surface in a shape overlooking from the driver's eye point,
At a distance beyond the boundary, the viewpoint is displaced upward from the driver's eye point and displayed in a bird's-eye view.
　請求項２の構成によれば、
　前記車両の前方の路面に道路形状を表示して、把握困難な前方側の道路形状を容易に把握できるようにすることができる。 According to the configuration of claim 2,
The road shape is displayed on the road surface in front of the vehicle, so that the road shape on the front side, which is difficult to grasp, can be easily grasped.
　請求項３の発明は、
　請求項１又は請求項２の構成において、
　前記ドライバーが、前記直近のカーブより先の道路形状を予見しているか推定する予見推定部を備え、
　前記表示制御部は、
　前記予見推定部の推定結果により、前記ドライバーが、前記直近のカーブより先の道路形状を予見していると推定される場合、前記直近のカーブより先の道路形状の表示を中止する。 The invention of claim 3 is
In the structure of claim 1 or claim 2,
The foreseeing estimating unit for estimating whether or not the driver has foreseen a road shape ahead of the latest curve,
The display control unit,
When it is estimated from the estimation result of the preview estimating unit that the driver foresees the road shape ahead of the latest curve, the display of the road shape ahead of the latest curve is stopped.
　請求項３の構成によれば、ドライバーがカーブより先の道路形状を予見していると推定される場合には、道路形状の表示を中止することにより、一段と煩わしさを感じさせることなく、ドライバーの視野に虚像により画像を表示して運転を支援することができる。 According to the configuration of claim 3, when it is estimated that the driver foresees the road shape ahead of the curve, the display of the road shape is stopped, so that the driver does not feel much more troublesome. The image can be displayed as a virtual image in the field of view to assist driving.
　請求項４の発明は、
　ドライバーの前方空間に、虚像により画像を表示する車両用表示装置の制御方法において、
　前記車両の前方の道路形状を検出する道路形状検出ステップと、
　前記車両の前方のカーブの曲率を検出する曲率検出ステップと、
　表示に供する画像を形成する表示部を制御する表示制御ステップとを備え、
　前記表示制御ステップは、
　前記車両の前方の直近のカーブの曲率を表示判定基準値により判定し、
　前記曲率が前記表示判定基準値以上の場合に、前記車両の前方の路面に前記直近のカーブより先の道路形状を表示する。 The invention of claim 4 is
In a control method of a vehicle display device that displays an image by a virtual image in a space in front of a driver,
A road shape detecting step of detecting a road shape in front of the vehicle,
A curvature detection step of detecting a curvature of a curve ahead of the vehicle,
Display control step of controlling a display unit that forms an image to be displayed,
The display control step includes:
Determine the curvature of the nearest curve ahead of the vehicle by the display determination reference value,
When the curvature is equal to or larger than the display determination reference value, a road shape ahead of the nearest curve is displayed on a road surface in front of the vehicle.
　請求項４の構成によれば、視認が困難な場合にのみ先の道路形状を表示することができ、これにより煩わしさを感じさせることなく、ドライバーの視野に虚像により画像を表示して運転を支援することができる。 According to the configuration of claim 4, it is possible to display the road shape ahead only when it is difficult to visually recognize the vehicle, thereby displaying an image with a virtual image in the driver's field of view without driving the driver. I can help.
　請求項５の発明は、
　演算処理回路における実行により所定の処理手順を実行させる車両用表示装置の制御プログラムにおいて、
　前記車両用表示装置が、
　ドライバーの前方空間に、虚像により画像を表示する車両用表示装置であり、
　前記処理手順は、
　前記車両の前方の道路形状を検出する道路形状検出ステップと、
　前記車両の前方のカーブの曲率を検出する曲率検出ステップと、
　表示に供する画像を形成する表示部を制御する表示制御ステップとを備え、
　前記表示制御ステップは、
　前記車両の前方の直近のカーブの曲率を表示判定基準値により判定し、
　前記曲率が前記表示判定基準値以上の場合に、前記車両の前方の路面に前記直近のカーブより先の道路形状を表示する。 The invention of claim 5 is
In a control program of a display device for a vehicle for executing a predetermined processing procedure by execution in an arithmetic processing circuit,
The vehicle display device,
A display device for a vehicle that displays an image with a virtual image in the space in front of the driver,
The processing procedure includes:
A road shape detecting step of detecting a road shape in front of the vehicle,
A curvature detection step of detecting a curvature of a curve ahead of the vehicle,
Display control step of controlling a display unit that forms an image to be displayed,
The display control step includes:
Determine the curvature of the nearest curve ahead of the vehicle by the display determination reference value,
When the curvature is equal to or larger than the display determination reference value, a road shape ahead of the nearest curve is displayed on a road surface in front of the vehicle.
　請求項５の構成によれば、視認が困難な場合にのみ先の道路形状を表示することができ、これにより煩わしさを感じさせることなく、ドライバーの視野に虚像により画像を表示して運転を支援することができる。 According to the configuration of claim 5, it is possible to display the road shape ahead only when it is difficult to visually recognize the vehicle, thereby displaying an image with a virtual image in the driver's field of view without driving the driver. I can help.
　本発明の車両用表示装置、車両用表示装置の制御方法、車両用表示装置の制御プログラムによれば、煩わしさを感じさせることなく、ドライバーの視野に虚像により画像を表示して運転を支援することができる。 ADVANTAGE OF THE INVENTION According to the display apparatus for vehicles, the control method of the display apparatus for vehicles, and the control program of the display apparatus for vehicles of this invention, a driving | operation is supported by displaying an image with a virtual image in a driver's visual field, without feeling annoying. be able to.
本発明の実施形態に係る車両用表示装置を示すブロック図である。It is a block diagram showing the display for vehicles concerning an embodiment of the present invention. 曲率が大きい場合の道路形状の表示例を示す図である。It is a figure showing an example of a display of a road shape in case a curvature is large. 曲率が小さい場合の道路形状の表示例を示す図である。It is a figure which shows the example of a display of the road shape when a curvature is small. 図１の車両用表示装置による表示の説明に供する図である。FIG. 2 is a diagram provided for explanation of display by the vehicle display device of FIG. 1. ナビゲーション装置の表示画面による予見の説明に供する図である。It is a figure provided for explanation of a preview by a display screen of a navigation device. 道路標識による予見の説明に供する図である。It is a figure provided for explanation of foresight by a road sign.
　〔第１実施形態〕
　図１は、本発明の第１実施形態に係る車両用表示装置１を示す図である。
　この車両用表示装置１は、ヘッドアップディスプレイ装置による車両用表示装置であり、ウインドシールドを介して前方を視認したドライバーの前方空間に、各種の画像を虚像により表示する。車両用表示装置１は、この虚像による画像表示により、ドライバーの運転を支援する。
　車両用表示装置１は、車両に据え付けて車両に配置されるものや、ドライバーが携帯する携帯情報端末により構成してもよい。
　また車両用表示装置１は、ヘッドマウントディスプレイ装置等、ウインドシールドを介して前方を視認したドライバーの視界に画像を表示可能な種々の構成を広く適用することができる。 [First Embodiment]
FIG. 1 is a diagram showing a vehicle display device 1 according to a first embodiment of the present invention.
The vehicle display device 1 is a vehicle display device using a head-up display device, and displays various images as virtual images in a space in front of a driver who looks forward through a windshield. The vehicle display device 1 assists the driver's driving by displaying the virtual image.
The vehicle display device 1 may be configured by a device installed on a vehicle and disposed on the vehicle, or a portable information terminal carried by a driver.
In addition, the vehicle display device 1 can widely apply various configurations such as a head-mounted display device that can display an image in a field of view of a driver who looks forward through a windshield.
　車両用表示装置１は、表示部２、車両情報取得部３、道路形状検出部４、予見推定部５、曲率検出部７、画像生成部８を備える。また道路形状検出部４は、車内外情報検出部４Ａを備え、予見推定部５は、視線検出部５Ａを備え、画像生成部８は、表示制御部８Ａを備える。
　車両用表示装置１は、車両用表示装置の制御プログラムを演算処理回路で実行することにより、これら道路形状検出部４、車内外情報検出部４Ａ、予見推定部５、視線検出部５Ａ、曲率検出部７、画像生成部８、表示制御部８Ａの機能ブロックが構成される。
　これによりこの制御プログラムの実行による処理手順は、道路形状検出部４、車内外情報検出部４Ａ、予見推定部５、視線検出部５Ａ、曲率検出部７、画像生成部８、表示制御部８Ａにそれぞれ対応して、対応する処理を実行する道路形状検出ステップ、車内外情報検出ステップ、予見推定ステップ、視線検出ステップ、曲率検出ステップ、画像生成ステップ、表示制御ステップを備える。 The vehicle display device 1 includes a display unit 2, a vehicle information acquisition unit 3, a road shape detection unit 4, a preview estimation unit 5, a curvature detection unit 7, and an image generation unit 8. The road shape detection unit 4 includes an inside / outside information detection unit 4A, the preview estimation unit 5 includes a gaze detection unit 5A, and the image generation unit 8 includes a display control unit 8A.
The vehicle display device 1 executes the control program of the vehicle display device in an arithmetic processing circuit, thereby obtaining the road shape detection unit 4, the inside / outside information detection unit 4A, the preview estimation unit 5, the line-of-sight detection unit 5A, the curvature detection. The function blocks of the unit 7, the image generation unit 8, and the display control unit 8A are configured.
As a result, the processing procedure based on the execution of this control program includes the road shape detection unit 4, the inside / outside information detection unit 4A, the preview estimation unit 5, the line-of-sight detection unit 5A, the curvature detection unit 7, the image generation unit 8, and the display control unit 8A. A road shape detection step, a vehicle inside / outside information detection step, a preview estimation step, a line-of-sight detection step, a curvature detection step, an image generation step, and a display control step for executing corresponding processing are provided.
　表示部２は、表示に供する画像を虚像により形成する部位であり、画像表示パネル、この画像表示パネルの周辺回路、この画像表示パネルの出射光をウインドシールドに向けて出射する光学系等により形成される。
　ここで画像表示パネルは、ＤＭＤ（Ｄｉｇｉｔａｌ　Ｍｉｒｒｏｒ　Ｄｅｖｉｃｅ）、液晶表示パネル、有機ＥＬ（Ｅｌｅｃｔｒｏ　Ｌｕｍｉｎｅｓｃｅｎｃｅ）パネル等、種々の構成を広く適用することができる。 The display unit 2 is a part that forms an image to be displayed by a virtual image, and is formed by an image display panel, a peripheral circuit of the image display panel, an optical system that emits light emitted from the image display panel toward a windshield, and the like. Is done.
Here, as the image display panel, various configurations such as a DMD (Digital Mirror Device), a liquid crystal display panel, and an organic EL (Electro Luminescence) panel can be widely applied.
　車両情報取得部３は、車速、燃料の残量、各種の警告等の車両情報を車両より取得するインターフェースであり、取得した車両情報を画像生成部８に出力する。 The vehicle information acquisition unit 3 is an interface that acquires vehicle information such as vehicle speed, remaining fuel amount, and various warnings from the vehicle, and outputs the acquired vehicle information to the image generation unit 8.
　道路形状検出部４は、車両の前方の道路形状を検出する。
　具体的に道路形状検出部４は、ナビゲーションの機能により現在位置情報を検出し、検出した現在位置情報により地図情報を検索し、これにより車両の前方の道路形状を検出する。 The road shape detection unit 4 detects a road shape ahead of the vehicle.
Specifically, the road shape detection unit 4 detects the current position information by the navigation function, searches the map information by the detected current position information, and thereby detects the road shape ahead of the vehicle.
　またさらに道路形状検出部４は、車内外情報検出部４Ａにより車両内外を撮像し、この撮像結果の画像処理により表示部２で表示する画像情報の表示位置を特定するための表示位置情報を検出する。
　車両用表示装置１は、車両前方の路面上に虚像により画像表示してドライバーの運転を補助する。これにより表示位置情報を取得するための道路形状検出部４の撮像装置は、極力、ドライバーのアイポイントに近接して配置することが望まれる。これにより車内外情報検出部４Ａにおいては、表示位置情報の検出に供する撮像装置が、例えば運転席の上方に配置されるものの、必要に応じて種々の位置に配置することができる。
　なおこの表示位置情報を取得するための撮像装置の撮像結果は、直前のカーブの検出に利用するようにしてもよい。 Further, the road shape detection unit 4 captures images of the inside and outside of the vehicle using the inside / outside information detection unit 4A, and detects display position information for specifying the display position of the image information to be displayed on the display unit 2 by image processing of the captured result. I do.
The vehicular display device 1 displays a virtual image on a road surface in front of the vehicle to assist the driver in driving. Accordingly, it is desired that the imaging device of the road shape detection unit 4 for acquiring the display position information be disposed as close to the driver's eye point as possible. Thus, in the in-vehicle / out-of-vehicle information detection unit 4A, the imaging device for detecting the display position information is arranged, for example, above the driver's seat, but can be arranged at various positions as needed.
Note that the imaging result of the imaging device for acquiring the display position information may be used for detecting the immediately preceding curve.
　予見推定部５は、直近のカーブより先の道路形状をドライバーが予見しているか推定する部位である。予見推定部５において、視線検出部５Ａは、ドライバーの顔を撮像して撮像結果を処理することにより、ドライバーの視線を検出する。
　予見推定部５は、この視線検出部５Ａで検出された視線により、ドライバーが直近のカーブより先の道路形状を予見しているか推定する。 The foreseeing estimation unit 5 is a part for estimating whether or not the driver foresees the road shape ahead of the nearest curve. In the preview estimating unit 5, the gaze detecting unit 5A detects the driver's gaze by imaging the driver's face and processing the imaging result.
The foresight estimating unit 5 estimates from the gaze detected by the gaze detecting unit 5A whether or not the driver foresees the road shape ahead of the nearest curve.
　曲率検出部７は、車両の前方のカーブの曲率を検出する部位である。曲率検出部７は、道路形状検出部４の検出結果により、車両前方のカーブを検出し、さらにこの検出したカーブの曲率をナビゲーションの処理に利用する地図情報を検索して検出する。
　なおこの曲率の検出は、表示位置情報を取得するための撮像結果を利用して検出するようにしてもよい。 The curvature detector 7 is a part that detects the curvature of a curve ahead of the vehicle. The curvature detection unit 7 detects a curve ahead of the vehicle based on the detection result of the road shape detection unit 4, and further searches and detects the curvature of the detected curve by searching map information used for navigation processing.
Note that the curvature may be detected using an imaging result for acquiring display position information.
　画像生成部８は、表示部２で表示に供する画像を生成することにより、表示部２の表示を制御する部位である。
　画像生成部８は、表示制御部８Ａにより表示部２の表示を制御する。 The image generation unit 8 is a part that controls the display of the display unit 2 by generating an image to be displayed on the display unit 2.
The image generation unit 8 controls the display on the display unit 2 by the display control unit 8A.
　表示制御部８Ａは、表示部２の制御により車両情報取得部３で取得される車両情報を表示する。これによりこの車両用表示装置１は、ウインドシールドを介して前方を視認したドライバーの視界に、車速等の車両情報を表示する。
　さらに表示制御部８Ａは、ドライバーが運転補助を指示している場合、曲率検出部７の検出結果に基いて、直前のカーブより先の見通しが難しいと考えられる場合に限って、車両の前方の路面に直近のカーブより先の道路形状を表示する。 The display control unit 8A displays the vehicle information acquired by the vehicle information acquisition unit 3 under the control of the display unit 2. Thus, the vehicle display device 1 displays vehicle information such as the vehicle speed in the field of view of the driver who has visually recognized the front through the windshield.
Further, when the driver instructs driving assistance, the display control unit 8 </ b> A determines whether or not it is difficult to see ahead of the immediately preceding curve based on the detection result of the curvature detection unit 7, and the display control unit 8 </ b> A may The road shape ahead of the nearest curve is displayed on the road surface.
　〔道路形状の表示〕
　図２は、この道路形状の表示の説明に供する図であり、ドライバーの視点より車両の前方を見て示す図である。図２は、直近のカーブの曲率が大きく、カーブより先を見て取ることができない場合である。なお符号２Ａは、表示部２の表示可能領域である。
　表示制御部８Ａは、先細りの矢印により道路形状を示すマーカー１２を形成し、このマーカー１２の折れ曲がりにより道路の折れ曲がりを表示する。また直近のカーブを含むように、この道路形状のマーカー１２を形成し、これにより直近のカーブより先の道路形状を表示する。
　これによりこの図２の例では、直近のカーブが右カーブであり、その先に見通すことが困難な左カーブの存在を把握することができる。 [Display of road shape]
FIG. 2 is a diagram provided to explain the display of the road shape, and is a diagram showing the front of the vehicle from the driver's viewpoint. FIG. 2 shows a case where the curvature of the nearest curve is large and it is impossible to see ahead of the curve. Reference numeral 2A denotes a displayable area of the display unit 2.
The display control unit 8A forms a marker 12 indicating a road shape by a tapered arrow, and displays a bend of the road by the bend of the marker 12. Further, the road shape marker 12 is formed so as to include the nearest curve, and thereby the road shape ahead of the latest curve is displayed.
Thereby, in the example of FIG. 2, the nearest curve is the right curve, and it is possible to grasp the existence of the left curve which is difficult to see ahead.
　表示制御部８Ａは、この道路形状のマーカー１２が、ドライバーより見て路面上に配置されているように、またさらに走行車線内に収まるように、この道路形状のマーカー１２を表示する。これによりドライバーは、走行中道路の路面と連続するマーカー１２の表示により、実景の路面との連続により直近のカーブより先の道路形状を容易かつ確実に把握することができる。これにより例えば見通し困難なカーブの存在等を把握することができ、運転を支援して運転負荷を軽減することができる。
　すなわちドライバーは、定期的に視界遠方の道路形状を確認することにより、自車両の走行経路を概ね予測して運転する。
　このような行動予測は、例えば近傍の車線との相対位置等の、直近の情報に基づいて、車両位置を変化させるような車両の制御において、運転負荷を軽減することができる。従って例えば夜間、悪天候時では、視界遠方の道路形状を視認できなくなることにより、運転負荷が増大することになる。
　これによりこのようにマーカー１２を表示して見通し困難なカーブの存在等を把握することができれば、運転負荷を軽減することができる。 The display control unit 8A displays the road-shaped marker 12 such that the road-shaped marker 12 is arranged on the road surface as viewed by the driver and further fits in the traveling lane. This allows the driver to easily and reliably grasp the road shape ahead of the nearest curve by displaying the marker 12 that is continuous with the road surface of the road on which the vehicle is traveling. As a result, for example, the presence of a curve that is difficult to see can be grasped, and driving can be supported and the driving load can be reduced.
That is, the driver checks the shape of the road that is far away from view on a regular basis, and thereby generally predicts the travel route of the vehicle and drives the vehicle.
Such behavior prediction can reduce the driving load in vehicle control such as changing the vehicle position based on the latest information such as the relative position with respect to a nearby lane. Therefore, for example, at night or in bad weather, the road shape far away from view cannot be visually recognized, thereby increasing the driving load.
Thus, if the marker 12 can be displayed to grasp the presence of a curve that is difficult to see, the driving load can be reduced.
　しかしながらカーブの先を見通すことができる場合には、カーブの先の道路形状も当然に把握することができる。
　図３は、図２との対比により直近のカーブの曲率が小さく、カーブより先を見て取ることができる場合を示す図である。このような場合にも、道路形状を示すマーカー１２を表示していたのでは、ドライバーは煩わしさを感じることになり、却って負担が増大することになる。
　これにより表示制御部８Ａは、車両の前方の直近のカーブの曲率を表示判定基準値により判定し、曲率が表示判定基準値以上の場合に、道路形状を示すマーカー１２を表示する。また曲率が表示判定基準値に満たない場合、道路形状を示すマーカー１２の表示を中止する。
　これにより車両用表示装置１では、視認が困難な場合にのみ先の道路形状を表示することができ、これにより煩わしさを感じさせることなく、ドライバーの視野に虚像により画像を表示して運転を支援することができる。 However, when it is possible to see the end of the curve, the shape of the road ahead of the curve can be naturally understood.
FIG. 3 is a diagram illustrating a case where the curvature of the nearest curve is small and the point ahead of the curve can be seen in comparison with FIG. Even in such a case, if the marker 12 indicating the road shape is displayed, the driver feels annoying, and on the contrary, the burden increases.
Accordingly, the display control unit 8A determines the curvature of the nearest curve ahead of the vehicle based on the display determination reference value, and displays the marker 12 indicating the road shape when the curvature is equal to or greater than the display determination reference value. When the curvature is less than the display determination reference value, the display of the marker 12 indicating the road shape is stopped.
Thus, the vehicle display device 1 can display the road shape ahead only when it is difficult to visually recognize the vehicle, thereby displaying an image with a virtual image in the driver's field of view without causing any annoyance. I can help.
　ここでこの表示判定基準値は、固定値としてもよく、ドライバーの操作により設定してもよく、車速、天候、ドライバーの年齢等に応じて適宜可変するようにしてもよい。
　また道路形状を示すマーカー１２は、一定長さの矢印を、実景の走行車線に順次配置して形成する場合等、種々の構成を広く適用することができる。 Here, the display determination reference value may be a fixed value, may be set by a driver's operation, or may be appropriately changed according to vehicle speed, weather, driver's age, and the like.
The marker 12 indicating the road shape can be widely applied to various configurations, such as a case in which arrows having a fixed length are sequentially arranged on a traveling lane in a real scene.
　〔俯瞰図形式による表示〕
　ところでこのように実景の路面上に、走行車線に収まるように道路形状のマーカー１２を表示する場合、実景の路面との連続により先の道路形状を容易かつ確実に把握することができるものの、遠方では、実景における車線幅の減少、路面の高低差等により、マーカー１２を視認し難くなる。
　これにより表示制御部８Ａは、道路形状のマーカー１２を、車両から前方に設定した境界１３まではドライバーのアイポイントより俯瞰した形状により表示し、この境界以遠ではドライバーのアイポイントより視点を上方に変位させて俯瞰した形状により表示する。 [Display in overhead view format]
By the way, when the road-shaped marker 12 is displayed on the road surface of the real scene so as to fit in the driving lane, the shape of the road ahead can be easily and reliably grasped by continuation with the road surface of the real scene. Then, it becomes difficult to visually recognize the marker 12 due to a decrease in lane width in a real scene, a difference in elevation of a road surface, and the like.
Accordingly, the display control unit 8A displays the road-shaped marker 12 in a shape that is overlooked from the driver's eye point up to the boundary 13 set forward from the vehicle, and above the boundary, the viewpoint is located above the driver's eye point. It is displaced and displayed in a bird's-eye view.
　図４は、実際の道路形状の表示を示す図である。
　表示制御部８Ａは、表示部２の表示可能領域２Ａを上下に２分割し、車両から境界１３までの領域である下側領域を重畳表示領域ＡＲ１に設定し、境界１３以遠の領域である上側領域を俯瞰表示領域ＡＲ２に設定する。
　また重畳表示領域ＡＲ１では、路面に貼り付けた道路形状のマーカー１２をドライバーの視点より俯瞰した形式により表示する。
　これに対して俯瞰表示領域ＡＲ２では、重畳表示領域ＡＲ１に比して、ドライバーの視点より視点を上方に変位させた状態で、路面に貼り付けた道路形状のマーカー１２を俯瞰した形状により表示する。
　これにより図４の例では、把握困難な前方側の形状を容易に把握することができ、一段と運転を補助して安全性を向上することができる。 FIG. 4 is a diagram showing a display of an actual road shape.
The display control unit 8A divides the displayable area 2A of the display unit 2 vertically into two parts, sets the lower area, which is the area from the vehicle to the boundary 13, as the superimposed display area AR1, and sets the upper area, which is beyond the boundary 13, The area is set as the overhead view display area AR2.
Further, in the superimposed display area AR1, the road-shaped marker 12 attached to the road surface is displayed in a format that is viewed from the driver's viewpoint.
On the other hand, in the bird's-eye display area AR2, the road-shaped marker 12 attached to the road surface is displayed in a bird's-eye view in a state where the viewpoint is displaced upward from the driver's viewpoint compared to the superimposed display area AR1. .
Thereby, in the example of FIG. 4, the shape of the front side, which is difficult to grasp, can be easily grasped, and the driving can be further assisted to improve the safety.
　ここで重畳表示領域ＡＲ１と俯瞰表示領域ＡＲ２は、表示可能領域２Ａに固定した領域として設定することができる。しかしながらドライバーの意識が集中する個所が走行環境により変化することにより、重畳表示領域ＡＲ１と俯瞰表示領域ＡＲ２は、走行環境により可変するようにしてもよく、このようにすればドライバーの負担、違和感を低減してドライバーに道路形状を通知することができる。
　具体的に、車線幅が一定幅以下となる箇所を重畳表示領域ＡＲ１と俯瞰表示領域ＡＲ２との境界１３に設定する場合、重畳表示領域ＡＲ１とした場合に、マーカー１２の視認性が一定値以下となる箇所を重畳表示領域ＡＲ１と俯瞰表示領域ＡＲ２との境界１３に設定する場合等、前方の撮像結果の画像解析により可変することができる。
　また画像解析に代えて、車速、走行中の道路、気象環境等に応じて可変することができる。 Here, the superimposed display area AR1 and the bird's eye display area AR2 can be set as areas fixed to the displayable area 2A. However, since the place where the driver's consciousness concentrates changes depending on the driving environment, the superimposed display area AR1 and the bird's-eye display area AR2 may be made variable depending on the driving environment. It is possible to notify the driver of the road shape with a reduction.
Specifically, when the location where the lane width is equal to or less than a certain width is set as the boundary 13 between the superimposed display area AR1 and the bird's-eye display area AR2, when the superimposed display area AR1 is used, the visibility of the marker 12 is equal to or less than a certain value. Can be changed by image analysis of a forward imaging result, for example, when setting a location to be a boundary 13 between the superimposed display area AR1 and the overhead view display area AR2.
Instead of the image analysis, it can be changed according to the vehicle speed, the road on which the vehicle is traveling, the weather environment, and the like.
　また重畳表示領域ＡＲ１と俯瞰表示領域ＡＲ２とでマーカー１２の表示色を切替えるようにしてもよい。
　また重畳表示領域ＡＲ１、俯瞰表示領域ＡＲ２にそれぞれ専用のマーカーを割り当てるようにしてもよい。
　また重畳表示領域ＡＲ１と俯瞰表示領域ＡＲ２との間で、俯瞰に係る視点を徐々に上方に移動させるようにして、一定の遷移領域を重畳表示領域ＡＲ１と俯瞰表示領域ＡＲ２の間に設けるようにしてもよい。 The display color of the marker 12 may be switched between the superimposed display area AR1 and the bird's-eye display area AR2.
Alternatively, a dedicated marker may be assigned to each of the superimposed display area AR1 and the bird's-eye display area AR2.
Further, the viewpoint relating to the bird's-eye view is gradually moved upward between the superimposed display area AR1 and the bird's-eye display area AR2 so that a certain transition area is provided between the superimposed display area AR1 and the bird's-eye display area AR2. You may.
　〔予測行動による表示制御〕
　表示制御部８Ａは、直近のカーブより先の道路形状を予見していると推定される場合、前記直近のカーブより先の道路形状の表示を中止する。 [Display control by predictive action]
When it is estimated that the road shape ahead of the latest curve is predicted, the display control unit 8A stops displaying the road shape ahead of the latest curve.
　例えば直近のカーブより先の道路形状を把握可能なスケールにより現在位置近傍の地図情報をナビゲーション装置で表示しているタイミングで、ドライバーの視点がナビゲーション装置の表示画面に一定時間滞留した場合、ドライバーにおいては、直近のカーブより先の道路形状を予見したと考えられる。 For example, if the driver's viewpoint stays on the display screen of the navigation device for a certain period of time at the time when map information near the current position is displayed on the navigation device with a scale that can grasp the road shape ahead of the latest curve, Is considered to have foreseen the road shape ahead of the most recent curve.
　ここで図５は、車両前方を運転席側より見て示す図である。この場合、ドライバーは、ウインドシールド１４を介して前方を視認して運転している。なおこの図５においては、符号ＥＰによりドライバーのアイポイントを示す。
　車両用表示装置１において、予見推定部５は、視線検出部５Ａにより検出されるドライバーの視線検出結果に基いて、ナビゲーション装置の表示画面１５を中心にした表示画面１５を視認可能な範囲θについて、ドライバーの視線の一定時間の滞留を検出する。 Here, FIG. 5 is a diagram showing the front of the vehicle as viewed from the driver's seat side. In this case, the driver is driving the vehicle while viewing the front through the windshield 14. In FIG. 5, the eye point of the driver is indicated by the symbol EP.
In the display device 1 for a vehicle, the preview estimating unit 5 determines the range θ in which the display screen 15 centering on the display screen 15 of the navigation device can be visually recognized based on the driver's gaze detection result detected by the gaze detection unit 5A. Detects the driver's line of sight for a certain period of time.
　予見推定部５は、この視線検出部５Ａにより検出される表示画面１５への視線滞留のタイミングで、直近のカーブより先の道路形状を把握可能なスケールにより現在位置近傍の地図情報をナビゲーション装置で表示している場合、ドライバーが、この直近のカーブより先の道路形状を予見していると推定し、この推定結果を表示制御部８Ａに通知する。
　表示制御部８Ａは、この予見推定部５の通知により、直近のカーブより先の道路形状をドライバーが予見していると推定される場合、マーカーの表示を中止する。 The foreseeing estimation unit 5 uses the navigation device to map the map information in the vicinity of the current position with the scale at which the shape of the road ahead of the latest curve can be grasped at the timing of gaze stay on the display screen 15 detected by the gaze detection unit 5A. If it is displayed, it is estimated that the driver foresees the road shape ahead of the nearest curve, and the display control unit 8A is notified of the estimation result.
The display control unit 8A stops displaying the marker when it is estimated from the notification of the preview estimating unit 5 that the driver is predicting the road shape ahead of the latest curve.
　なおこれに代えて、又はこれに加えて、図５との対比により図６に示すように、直近のカーブより先の道路形状に係る道路標識１６への視線の滞留を検出して、ドライバーが、この直近のカーブより先の道路形状を予見していると推定するようにしてもよい。なおこのような道路標識１６は、例えば「この先連続したカーブです」との表示である。
　またナビゲーション装置より音声ガイドが提供された場合、予見していると推定するようにしてもよい。
　このようにすれば一段と煩わしさを感じさせることなく、ドライバーの視野に虚像により画像を表示して運転を支援することができる。 Alternatively or additionally, as shown in FIG. 6 in comparison with FIG. 5, as shown in FIG. 6, the driver detects a stagnation of the line of sight to the road sign 16 related to the road shape ahead of the latest curve, and Alternatively, it may be estimated that the road shape ahead of the nearest curve is foreseen. In addition, such a road sign 16 is displayed, for example, "It is a continuous curve ahead."
When a voice guide is provided from the navigation device, it may be estimated that the user has foreseen.
By doing so, it is possible to assist driving by displaying an image with a virtual image in the driver's field of view without making the user feel much more troublesome.
　以上の構成によれば、曲率が表示判定基準値以上の場合に、車両の前方の路面に直近のカーブより先の道路形状を表示することにより、煩わしさを感じさせることなく、ドライバーの視野に虚像により画像を表示して運転を支援することができる。 According to the above configuration, when the curvature is equal to or greater than the display determination reference value, the road shape ahead of the nearest curve is displayed on the road surface in front of the vehicle, so that the driver's field of view can be displayed without any inconvenience. Driving can be assisted by displaying an image using a virtual image.
　またさらにこの直近のカーブより先の道路形状を、車両から前方に設定した境界まではドライバーのアイポイントより俯瞰した形状により表示し、この境界以遠ではドライバーのアイポイントより視点を上方に変位させて俯瞰した形状により表示することにより、車両の前方の路面に道路形状を表示して、把握困難な前方側の道路形状を容易に把握することができる。 In addition, the road shape ahead of this nearest curve is displayed as a bird's eye view from the driver's eye point up to the boundary set forward from the vehicle, and beyond this boundary, the viewpoint is displaced upward from the driver's eye point. By displaying the shape in a bird's-eye view, the road shape is displayed on the road surface in front of the vehicle, and the road shape on the front side, which is difficult to grasp, can be easily grasped.
　またさらにドライバーが、直近のカーブより先の道路形状を予見していると推定される場合、先の道路形状の表示を中止することにより、一段と煩わしさを感じさせることなく、ドライバーの視野に虚像により画像を表示して運転を支援することができる。 In addition, when it is estimated that the driver is predicting the road shape ahead of the latest curve, the display of the road shape ahead is stopped, and the virtual image is displayed in the driver's visual field without making the driver feel more annoying. Can display an image to assist driving.
　〔他の実施形態〕
　以上、本発明の実施に好適な具体的な構成を詳述したが、本発明は、本発明の趣旨を逸脱しない範囲で、上述の実施形態の構成を種々に変更することができる。 [Other embodiments]
As described above, the specific configuration suitable for implementing the present invention has been described in detail, but the present invention can variously change the configuration of the above-described embodiment without departing from the spirit of the present invention.
　１　車両用表示装置
　２　表示部
　３　車両情報取得部
　４　道路形状検出部
　４Ａ　車内外情報検出部
　５　予見推定部
　５Ａ　視線検出部
　７　曲率検出部
　８　画像生成部
　８Ａ　表示制御部
　１２　マーカー
　ＡＲ１　重畳表示領域
　ＡＲ２　俯瞰表示領域 REFERENCE SIGNS LIST 1 vehicle display device 2 display unit 3 vehicle information acquisition unit 4 road shape detection unit 4A inside / outside information detection unit 5 preview estimation unit 5A line-of-sight detection unit 7 curvature detection unit 8 image generation unit 8A display control unit 12 marker AR1 superimposed display area AR2 overhead view display area

Claims (5)

  1. 　車両にてドライバーの前方空間に、虚像により画像を表示する車両用表示装置において、
    　前記車両の前方の道路形状を検出する道路形状検出部と、
    　前記車両の前方のカーブの曲率を検出する曲率検出部と、
    　表示に供する画像を形成する表示部と、
    　前記表示部を制御する表示制御部とを備え、
    　前記表示制御部は、
    　前記車両の前方の直近のカーブの前記曲率を表示判定基準値により判定し、
    　前記曲率が前記表示判定基準値以上の場合に、前記車両の前方の路面に前記直近のカーブより先の道路形状を表示する
    　車両用表示装置。     In a vehicle display device that displays an image by a virtual image in a space in front of a driver in a vehicle,
    A road shape detection unit that detects a road shape in front of the vehicle,
    A curvature detector that detects a curvature of a curve ahead of the vehicle,
    A display unit for forming an image to be displayed,
    A display control unit that controls the display unit,
    The display control unit,
    Determine the curvature of the nearest curve in front of the vehicle by a display determination reference value,
    A display device for a vehicle, wherein, when the curvature is equal to or greater than the display determination reference value, a road shape ahead of the nearest curve is displayed on a road surface in front of the vehicle.
  2. 　前記表示制御部は、
    　前方に表示を切替える境界を設定し、
    　前記直近のカーブより先の道路形状を、
    　前記車両から所定の境界までは路面上に前記ドライバーのアイポイントより俯瞰した形状により表示し、
    　前記境界以遠では前記ドライバーのアイポイントより視点を上方に変位させて俯瞰した形状により表示する
    　請求項１に記載の車両用表示装置。     The display control unit,
    Set the boundary to switch the display ahead,
    The road shape ahead of the latest curve,
    From the vehicle to a predetermined boundary is displayed on the road surface in a shape overlooking from the driver's eye point,
    The display device for a vehicle according to claim 1, wherein, beyond the boundary, the viewpoint is displaced upward from the driver's eye point and displayed in a bird's-eye view.
  3. 　前記ドライバーが、前記直近のカーブより先の道路形状を予見しているか推定する予見推定部を備え、
    　前記表示制御部は、
    　前記予見推定部の推定結果により、前記ドライバーが、前記直近のカーブより先の道路形状を予見していると推定される場合、前記直近のカーブより先の道路形状の表示を中止する
    　請求項１又は請求項２に記載の車両用表示装置。     The foreseeing estimating unit for estimating whether or not the driver has foreseen a road shape ahead of the latest curve,
    The display control unit,
    The display of the road shape ahead of the latest curve is stopped when it is estimated from the estimation result of the preview estimation unit that the driver is predicting the road shape ahead of the latest curve. Or the display device for vehicles according to claim 2.
  4. 　車両にてドライバーの前方空間に、虚像により画像を表示する車両用表示装置の制御方法において、
    　前記車両の前方の道路形状を検出する道路形状検出ステップと、
    　前記車両の前方のカーブの曲率を検出する曲率検出ステップと、
    　表示に供する画像を形成する表示部を制御する表示制御ステップとを備え、
    　前記表示制御ステップは、
    　前記車両の前方の直近のカーブの前記曲率を表示判定基準値により判定し、
    　前記曲率が前記表示判定基準値以上の場合に、前記車両の前方の路面に前記直近のカーブより先の道路形状を表示する
    　車両用表示装置の制御方法。     In a control method of a vehicle display device that displays an image by a virtual image in a space in front of a driver in a vehicle,
    A road shape detecting step of detecting a road shape in front of the vehicle,
    A curvature detection step of detecting a curvature of a curve ahead of the vehicle,
    Display control step of controlling a display unit that forms an image to be displayed,
    The display control step includes:
    Determine the curvature of the nearest curve in front of the vehicle by a display determination reference value,
    A control method of a display device for a vehicle, wherein when the curvature is equal to or greater than the display determination reference value, a road shape ahead of the nearest curve is displayed on a road surface in front of the vehicle.
  5. 　演算処理回路における実行により所定の処理手順を実行させる車両用表示装置の制御プログラムにおいて、
    　車両用表示装置が、
    　車両にてドライバーの前方空間に、虚像により画像を表示する車両用表示装置であり、
    　前記処理手順は、
    　前記車両の前方の道路形状を検出する道路形状検出ステップと、
    　前記車両の前方のカーブの曲率を検出する曲率検出ステップと、
    　表示に供する画像を形成する表示部を制御する表示制御ステップとを備え、
    　前記表示制御ステップは、
    　前記車両の前方の直近のカーブの前記曲率を表示判定基準値により判定し、
    　前記曲率が前記表示判定基準値以上の場合に、前記車両の前方の路面に前記直近のカーブより先の道路形状を表示する
    　車両用表示装置の制御プログラム。     In a control program of a display device for a vehicle for executing a predetermined processing procedure by execution in an arithmetic processing circuit,
    The display device for the vehicle,
    A display device for a vehicle that displays an image by a virtual image in a space in front of a driver in a vehicle,
    The processing procedure includes:
    A road shape detecting step of detecting a road shape in front of the vehicle,
    A curvature detection step of detecting a curvature of a curve ahead of the vehicle,
    Display control step of controlling a display unit that forms an image to be displayed,
    The display control step includes:
    Determine the curvature of the nearest curve in front of the vehicle by a display determination reference value,
    A control program for a display device for a vehicle, wherein when the curvature is equal to or greater than the display determination reference value, a road shape ahead of the nearest curve is displayed on a road surface in front of the vehicle.
PCT/JP2019/028581 2018-07-25 2019-07-22 Vehicle display device, control method for vehicle display device, and control program for vehicle display device WO2020022241A1 (en)

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