JP7298456B2 - Vehicle display control device, vehicle display control method, and vehicle display control program - Google Patents

Description

The present invention relates to a vehicle display control device, a vehicle display control method, and a vehicle display control program .

In many cases, people who are not good at driving vehicles or who are not accustomed to driving vehicles are not good at narrow roads and passing each other. In addition, in recent years, there are cases where people ride in unfamiliar vehicles in car sharing and the like. In either case, the driver is forced to drive in a tense state because it is difficult to grasp the sense of the width of the vehicle, and the driver is physically and mentally burdened.

Patent Literature 1 describes an invention of a driving support device that prevents contact of the vehicle body due to the inner ring difference by providing a display that makes the driver aware of the inner ring difference when the vehicle is turning.

JP 2009-154727 A

However, the invention described in Patent Document 1 aims to provide a display that makes the vehicle aware of the difference between the inner wheels of the vehicle. Not expected. Therefore, the invention described in Patent Document 1 has a problem that it is difficult to prevent a contact accident by making the driver aware of the width of the vehicle when the vehicle passes each other on a straight narrow road.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle display control device, a vehicle display control method, and a vehicle display control program capable of providing the driver with an appropriate sense of vehicle width. be.

A vehicle trajectory display system according to the first aspect of the invention includes a surrounding image acquisition unit that acquires an image around a vehicle, a steering angle acquisition unit that acquires a steering angle of the vehicle, and a vehicle image acquired by the surrounding image acquisition unit. Based on the position of the vehicle on the road in the road width direction estimated from the surrounding image and the steering angle acquired by the steering angle acquisition unit, the outer edge of the vehicle in the vehicle width direction is positioned in the traveling direction of the vehicle. When the speed of the vehicle is less than or equal to a predetermined value, the guideline indicating the projected position on the road surface is projected on the windshield of the vehicle and displayed, and the speed of the vehicle is greater than the predetermined value. and a control unit for controlling the display unit so as not to display the guideline if it is large .

In the first aspect of the present invention , the outer edge of the vehicle in the vehicle width direction is positioned in the traveling direction of the vehicle based on the position of the vehicle on the road in the road width direction estimated from the image of the surroundings of the vehicle and the steering angle of the vehicle. A guideline indicating the position projected on the road surface is displayed on the display unit .

ADVANTAGE OF THE INVENTION This invention has the effect that it can obtain the display control apparatus for vehicles, the display control method for vehicles, and the display control program for vehicles which can provide an appropriate vehicle width feeling to a driver.

It is a block diagram showing an example of composition of a display control for vehicles concerning a 1st embodiment. 4 is a flowchart showing an example of processing of the vehicle display control device according to the first embodiment; FIG. 4 is a schematic diagram showing an example of guideline display in the first embodiment; 9 is a flowchart showing an example of processing of the vehicle display control device according to the second embodiment; FIG. 11 is a schematic diagram showing an example of guideline display in the third embodiment. FIG. 11 is a flow chart showing an example of processing of a vehicle display control device according to a third embodiment; FIG.

[First embodiment]
An example of the first embodiment of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a block diagram showing an example of the configuration of a vehicle display control device 100 according to this embodiment. The vehicular display control device 100 according to the present embodiment provides a guideline indicating a position corresponding to the vehicle width of the vehicle and a trajectory of the vehicle corresponding to the vehicle width expected in the traveling direction of the vehicle, based on information detected by various sensors. A display ECU (Electronic Control Unit) 10 that generates data, a guideline based on the data generated by the display ECU 10 is projected and displayed on the windshield of the vehicle, and the display position of the guideline can be adjusted according to the driver's viewpoint. and an AR-HUD (Augmented Reality Head-Up Display) 12 .

Various sensors include a camera 20 for detecting the viewpoint of the driver, a camera 22 for acquiring an image in front of the vehicle for detecting road surface information by video analysis, an obstacle sensor 34 for detecting obstacles and the like existing around the vehicle, and a vehicle sensor. and a steering angle sensor 38 for detecting the steering angle of the vehicle.

The camera 20 acquires an image of the driver's face (hereinafter referred to as "face image"). The image analysis ECU 30 estimates the viewpoint of the driver from the facial image acquired by the camera 20 . As an example, the driver's viewpoint is estimated from the positional relationship between the eyelids and pupils in both eyes of the face image.

The video analysis ECU 30 outputs information related to the estimated driver's viewpoint to the display ECU 10 . The display ECU 10 adjusts the display position of the AR-HUD 12 based on information relating to the driver's viewpoint input from the video analysis ECU 30 .

The camera 22 acquires an image in front of the vehicle. The video analysis ECU 32 analyzes the image in front of the vehicle acquired by the camera 22 to detect the white lines of the road and the boundary line between the road and the outside of the road, and estimates the position of the vehicle on the road in the width direction.

The video analysis ECU 32 outputs to the display ECU 10 information such as the detected white lines of the road and the boundary line between the road and the outside of the road, and information about the position of the vehicle on the road in the width direction. The display ECU 10 receives from the video analysis ECU 32 information such as the white lines of the road and the boundary line between the road and the outside of the road, information on the position of the vehicle on the road in the width direction of the road, an obstacle sensor 34 as will be described later, Guideline data to be displayed on the AR-HUD 12 is generated based on information input from the vehicle speed sensor 36 and the steering angle sensor 38 .

The obstacle sensor 34 is, for example, millimeter wave radar, LIDAR (Light Detection and Ranging), and sonar. Millimeter-wave radar emits millimeter waves in front of and to the sides of the vehicle and receives radio waves reflected from objects. Measure the relative speed, etc. between the vehicle and the obstacle in question. LIDAR, for example, detects obstacles and the like from scattered light of a pulsed laser irradiated around a vehicle. Sonar, for example, detects obstacles and the like by utilizing differences in reflectance of ultrasonic waves emitted around the vehicle.

Each of the video analysis ECUs 30 and 32 and the display ECU 10 includes a CPU (Central Processing Unit) as an arithmetic processing device and a storage device, and executes predetermined arithmetic processing based on a program stored in the storage device. Each of the video analysis ECUs 30 and 32 and the display ECU 10 may be integrally configured. In addition, each of the display ECU 10 and the AR-HUD 12 may be constructed integrally.

In this embodiment, the traveling direction of the vehicle is estimated from the detection result of the steering angle sensor 38, but in addition to the steering angle sensor 38, a gyro sensor may be provided and the gyro sensor may detect the traveling direction of the vehicle.

FIG. 2 is a flow chart showing an example of processing of the vehicle display control device 100 according to this embodiment. The process shown in FIG. 2 is started when the power source of the vehicle is ACC (Accessory) ON or IG (Ignition) ON.

In step 200, vehicle information such as the driver's viewpoint and vehicle width is acquired. The driver's viewpoint is estimated by the video analysis ECU 30 from the driver's face image obtained by the camera 20 and output to the display ECU 10 . As the value of the vehicle width, a value stored in advance in the storage device or the like of the display ECU 10 is used.

At step 202, parameter settings that define the display position of the guidelines are obtained from the storage device. The display position of the guideline is, by default, the position where the outer edge of the vehicle in the vehicle width direction is projected onto the road surface. In this embodiment, such a position is used as the guideline display position in principle. may be stored in advance in a storage device or the like.

At step 204, it is determined whether or not the power source of the vehicle is in the ACC ON or IG ON state. At step 204, if the ACC is on or the IG is on, the procedure proceeds to step 206, and if the ACC is off (and the IG is off), the process ends.

At step 206, it is determined whether the display switch of the AR-HUD 12 is on. At step 206, if the display switch is on, the procedure goes to step 208, and if the display switch is off, the procedure goes to step 204.

At step 208, the value of the display setting vehicle speed is acquired from memory. The display setting vehicle speed is the upper limit of the vehicle speed when the guidelines are displayed on the AR-HUD 12 . Then, in step 210, vehicle speed information is acquired by the vehicle speed sensor 36. FIG.

At step 212, it is determined whether or not the vehicle speed detected by the vehicle speed sensor 36 is equal to or lower than the display set vehicle speed. At step 212 , if the vehicle speed is equal to or less than the display set vehicle speed, the procedure proceeds to step 214 , and if the vehicle speed exceeds the display set vehicle speed, the procedure proceeds to step 204 .

At step 214 , information around the vehicle is acquired by the camera 22 and the obstacle sensor 34 . In step 216, vehicle peripheral information is analyzed based on the analysis of the image acquired by the camera 22 by the video analysis ECU 32 and the detection result of the obstacle sensor. In the analysis of step 216, the presence of obstacles around the vehicle is detected, but the image analysis by the image analysis ECU 32 also estimates the position of the vehicle on the road in the width direction.

At step 218, the relative state between the obstacles detected at step 216 and the vehicle is determined. The state determination is, for example, the distance between the vehicle and an obstacle or the like. In step 218, if the obstacle or the like is far away, the procedure proceeds to step 220; if the obstacle or the like is moderately distant, the procedure proceeds to step 222; transition to The threshold for distance, middle, and near between the vehicle and an obstacle or the like changes according to the vehicle speed, and the higher the vehicle speed, the higher the threshold. As an example, when the vehicle speed is 40km/h, if the distance between the vehicle and the obstacle is 80m or more, the obstacle is judged to be far, and if the distance is between 40m and 80m, the obstacle is medium If the distance is less than 40 m, it is determined that the obstacle or the like is close.

In step 220, the color of the display on the AR-HUD 12 is set to a color such as white that does not cause a sense of caution because the obstacles are far away. In step 222, the obstacle or the like is moderately distant, so the color of the display on the AR-HUD 12 is set to a somewhat alarming color such as amber. At step 224, since the obstacles are close at 220, the color of the display of the AR-HUD 12 is set to a color such as red that gives a sense of caution. The setting of display colors such as white, amber, and red in steps 220, 222, and 224 is an example. The display colors set in steps 220, 222 and 224 may be other colors such as blue, yellow and red.

At step 226 , information on the steering angle of the vehicle is acquired by the steering angle sensor 38 . Then, in step 228, the bending rate of the guideline displayed on the AR-HUD 12 is set based on the steering angle of the vehicle detected by the steering angle sensor .

In step 230, the driver's viewpoint information estimated by the video analysis ECU 30 from the face image of the driver acquired by the camera 20 is acquired. At step 232, it is determined whether or not the driver's viewpoint has changed. In step 232, if the driver's viewpoint has changed, the procedure proceeds to step 234, and if the driver's viewpoint has not changed, the procedure proceeds to step 236.

In step 234, the display position of the AR-HUD 12 is adjusted based on the changed driver's viewpoint.

In step 236 , a guideline indicating the position of the outer edge of the vehicle in the vehicle width direction projected onto the road surface in the traveling direction of the vehicle is displayed on the AR-HUD 12 , and the procedure proceeds to step 204 . The guidelines are drawn based on the vehicle width and other specifications acquired in steps 200, 202, 210, 214, and 228, the position of the vehicle on the road in the road width direction, the bending rate, and the like.

FIG. 3 is a schematic diagram showing an example of display of guidelines 60R and 60L in this embodiment. The AR-HUD 12 is provided on the windshield 50 at a position corresponding to the driver's viewpoint, separately from the instrument panel 40 provided near the steering wheel 42 . As described above, the display position of the AR-HUD 12 is adjusted according to the driver's viewpoint estimated by the video analysis ECU 30 from the face image acquired by the camera 20 . As shown in FIG. 3, the AR-HUD 12 includes, for example, a guideline 60R that indicates the position of the right outer edge of the vehicle in the vehicle width direction projected onto the road surface, and a guideline 60R that indicates the position of the left outer edge of the vehicle in the vehicle width direction projected onto the road surface. A guideline 60L is displayed to indicate the position. In many cases, the projected position of the outer edge of the vehicle in the width direction of the vehicle is outside the left and right front wheels 70R and 70L.

As described above, the vehicular display control device 100 according to the present embodiment displays the guidelines 60R and 60L, which indicate the positions of the outer edges of the vehicle in the vehicle width direction projected onto the road surface in the traveling direction of the vehicle, on the driver's viewpoint. By displaying it, it is possible to provide the driver with an appropriate sense of vehicle width. In the past, fender poles and the like were sometimes attached to the vehicle in order to give a sense of the width of the vehicle. In addition, since the fender pole does not accurately indicate the outer edge of the vehicle, drivers who are not good at grasping the width of the vehicle should remain tense when driving on narrow straight roads or passing vehicles. There was a problem of being forced.

The vehicular display control device 100 according to the present embodiment provides the driver with an appropriate sense of vehicle width, thereby facilitating driving in an unfamiliar vehicle, preventing self-injury accidents, and eventually narrowing roads or between vehicles. It is possible to improve the driver's sense of weakness in passing each other.

[Second embodiment]
Next, a second embodiment of the present invention will be described. This embodiment differs from the first embodiment in that a general HUD that does not change the display position is used instead of the AR-HUD 12 that adjusts the display position according to the driver's viewpoint, and that obstacle determination is not performed. . Since the display position of the HUD is not changed, the camera 20 and the video analysis ECU 30 are not required, and by not performing the obstacle determination, the camera 22, the video analysis ECU 32, and the obstacle sensor are not required. Since the second embodiment is the same as the first embodiment, the other configurations are denoted by the same reference numerals as in the first embodiment, and detailed description thereof will be omitted.

FIG. 4 is a flowchart showing an example of processing of the vehicle display control device according to the present embodiment. The processing shown in FIG. 4 is started when the power of the vehicle turns on ACC or IG.

In step 400, vehicle information such as the driver's viewpoint and vehicle width is acquired. Values stored in advance in the storage device or the like of the display ECU 10 are used as the information of the driver's viewpoint and the value of the vehicle width.

At step 402, parameter settings that define the display position of the guidelines are obtained from the storage device. The display position of the guideline is, by default, the position where the outer edge of the vehicle in the vehicle width direction is projected onto the road surface. In this embodiment, such a position is used as the guideline display position in principle. may be stored in advance in a storage device or the like.

At step 404, it is determined whether or not the power source of the vehicle is in the ACC ON or IG ON state. At step 404, if the ACC is on or the IG is on, the procedure proceeds to step 406, and if the ACC is off (and the IG is off), the process ends.

At step 406, it is determined whether or not the HUD display switch is on. In step 406, if the display switch is on, the procedure goes to step 408, and if the display switch is off, the procedure goes to step 404.

At step 412 , the guidelines are displayed on the HUD and the procedure proceeds to step 404 . The guideline is drawn based on the vehicle width and other specifications acquired in steps 400 and 402 so as to indicate the projected position of the outer edge of the vehicle in the vehicle width direction when the vehicle is traveling straight on the road surface.

As described above, the vehicle display control device according to the present embodiment has a simple configuration that does not require the AR-HUD 12, the cameras 20 and 22, the video analysis ECUs 30 and 32, and the obstacle sensor 34, and is capable of By displaying on the HUD of the vehicle a guideline indicating the projected position of the outer edge of the vehicle in the width direction of the vehicle on the road surface, it is possible to provide the driver with an appropriate sense of the width of the vehicle.

Unlike the AR-HUD 12, the display position of the HUD cannot be adjusted according to the driver's viewpoint, but the user may be able to manually change the settings. It is possible to set the position.

[Third embodiment]
Next, a description will be given of a third embodiment of the present invention. This embodiment differs from the first and second embodiments in that the AR-HUD 12 or HUD is eliminated.

FIG. 5 is a schematic diagram showing an example of display of guidelines 62R and 62L in this embodiment. In this embodiment, the AR-HUD 12 is not provided, and a light emitter 64R for indicating the position of the vehicle width direction right outer edge projected onto the road surface on the upper surface of the dashboard 70, and the vehicle width direction left outer edge of the vehicle. Although it differs from the first embodiment shown in FIG. 3 in that it is provided with a light emitter 64L for indicating the position projected on the road surface, the rest of the configuration is the same as that of the first embodiment. The configurations are denoted by the same reference numerals as in the first embodiment, and detailed descriptions thereof are omitted.

The light emitters 64R and 64L are linearly arranged light emitting elements such as laser pointers or LEDs. The lights emitted by the light emitters 64R and 64L are reflected on the windshield 50 like guide lines 62R and 62L. The light emitters 64R and 64L are arranged so that the light reflected on the windshield 50 indicates the projected position of the outer edge of the vehicle in the vehicle width direction on the road surface when the vehicle is traveling straight.

FIG. 6 is a flowchart showing an example of processing of the vehicle display control device according to the present embodiment. The process shown in FIG. 6 is started when the power source of the vehicle is ACC (Accessory) ON or IG (Ignition) ON.

At step 600, it is determined whether or not the power source of the vehicle is in the ACC ON or IG ON state. At step 600, if ACC is on or IG is on, the procedure goes to step 602, and if ACC is off (and IG is off), the process ends.

At step 602, it is determined whether or not the switches of the light emitters 64R and 64L are on. At step 602, if the switch is on, the procedure goes to step 604; if the switch is off, the procedure goes to step 600;

At step 604, the light emitters 64R and 64L are turned on to display the guide lines 62R and 62L on the windshield 50, and the procedure proceeds to step 600.

As described above, the vehicle display control device according to the present embodiment has a simple configuration that does not require the AR-HUD 12, the cameras 20 and 22, the video analysis ECUs 30 and 32, and the obstacle sensor 34, and is capable of controlling the movement of the vehicle. By displaying the guide lines 62R and 62L on the windshield 50 of the vehicle, the guide lines 62R and 62L indicating the positions of the outer edges of the vehicle in the vehicle width direction projected onto the road surface can provide the driver with an appropriate sense of vehicle width. It is also easy to install on existing vehicles.

The display unit in the scope of claims is the AR-HUD 12 in the detailed description of the invention in the specification, and the line-of-sight acquisition unit in the scope of claims is the camera 20 in the detailed description of the invention in the specification. The ambient image acquisition unit in the scope of the claims is the camera 22 in the detailed description of the invention in the specification, and the steering angle acquisition unit in the scope of claims is the steering angle sensor 38 in the detailed description of the invention in the specification. The obstacle detection unit in the scope of the specification corresponds to the obstacle sensor 34 in the detailed description of the invention in the specification, and the control unit in the scope of claims corresponds to the display ECU 10 in the detailed description of the invention in the specification.

10 Display ECU
12 AR-HUD
20, 22 Cameras 30, 32 Video analysis ECU
34 Obstacle sensor 38 Steering angle sensor 50 Windshield 60L, 60R Guideline 100 vehicle display control device

Claims (6)

a surrounding image acquisition unit that acquires an image around the vehicle;
a steering angle acquisition unit that acquires a steering angle of the vehicle;
Based on the position in the road width direction of the vehicle on the road estimated from the image around the vehicle acquired by the surrounding image acquisition unit and the steering angle acquired by the steering angle acquisition unit, the controlling the display unit to project and display a guideline indicating a position of the vehicle width direction outer edge projected onto the road surface on the windshield of the vehicle when the speed of the vehicle is less than or equal to a predetermined value ; a control unit that controls the display unit so as not to display the guideline when the speed of the vehicle is greater than the predetermined value ;
A vehicle display control device comprising: The vehicular display according to claim 1, further comprising a line-of-sight acquisition unit that acquires a driver's line of sight, wherein the control unit adjusts a display position of the display unit based on the driver's line of sight acquired by the line-of-sight acquisition unit. Control device. The surrounding image acquisition unit is capable of detecting obstacles existing around the vehicle from the image around the vehicle,
further comprising an obstacle detection unit that measures the distance between the vehicle and the obstacle;
3. The control unit according to claim 1, wherein the control unit controls the display unit so as to change the display color of the display unit based on the distance between the vehicle and the obstacle measured by the obstacle detection unit. Vehicle display control device. When the speed of the vehicle increases, the distance between the vehicle and the obstacle increases, and when the speed of the vehicle decreases, the distance between the vehicle and the obstacle decreases. 4. The vehicle display control device according to claim 3 , wherein the display unit is controlled so as to change the display color of the display unit. a step of acquiring an image of the vehicle surroundings by the surrounding image acquisition unit ;
obtaining a steering angle of the vehicle by a steering angle obtaining unit ;
Based on the position of the vehicle on the road in the road width direction estimated from the image of the surroundings of the vehicle by the control unit and the steering angle of the vehicle, the outer edge of the vehicle in the vehicle width direction is aligned in the traveling direction of the vehicle. a step of controlling a display unit to project and display a guideline indicating a position projected on the road surface on the windshield of the vehicle when the speed of the vehicle is less than or equal to a predetermined value;
a step of controlling the display unit by the control unit so as not to display the guideline when the speed of the vehicle is greater than the predetermined value;
A vehicle display control method comprising: the computer,
Based on the position of the vehicle on the road in the road width direction estimated from the image around the vehicle acquired by the surrounding image acquisition unit and the steering angle acquired by the steering angle acquisition unit, the vehicle is positioned in the traveling direction of the vehicle. controlling a display unit to project and display a guideline indicating a position of the outer edge in the vehicle width direction projected onto the road surface on the windshield of the vehicle when the speed of the vehicle is less than a predetermined value; A vehicle display control program that functions as a control unit that controls the display unit so that the guideline is not displayed when the speed is greater than the predetermined value.

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