WO2017018192A1

WO2017018192A1 - Information display apparatus

Info

Publication number: WO2017018192A1
Application number: PCT/JP2016/070487
Authority: WO
Inventors: 祥太野尻; 祐作中村; 誉規杉浦
Original assignee: 株式会社デンソー
Priority date: 2015-07-29
Filing date: 2016-07-12
Publication date: 2017-02-02

Abstract

Provided is an information display apparatus which is installed in vehicles. This information display apparatus is equipped with an obstacle detection unit, an avoidance determination unit, a travel route calculation unit, and an image display unit. The obstacle detection unit detects an obstacle located around a vehicle. The avoidance determination unit determines whether or not it is necessary to avoid the obstacle detected by the obstacle detection unit. The travel route calculation unit calculates the travel route for the vehicle to travel while avoiding the obstacle detected by the obstacle detection unit, if the avoidance determination unit determines that it is necessary to avoid the obstacle detected by the obstacle detection unit. The image display unit displays a travel route image indicating the travel route calculated by the travel route calculation unit in such a manner that the travel route image is superimposed on the view seen through the windshield from the driver's seat of the vehicle.

Description

Information display device

Cross-reference of related applications

This application is based on Japanese Patent Application No. 2015-149471 filed on July 29, 2015 and Japanese Patent Application No. 2016-116431 filed on June 10, 2016. The disclosure is incorporated by reference.

This disclosure relates to an information display device mounted on a vehicle.

In Patent Document 1, a recommended route that allows the vehicle to travel while avoiding contact with an obstacle is calculated, and the recommended route is superimposed on a vehicle peripheral image captured by an imaging unit that is a camera installed in the front of the vehicle. The point to be displayed on a display unit such as a car navigation monitor is described.

International Publication 2012/039004

However, in the above technology, the direction in which the driver turns the line of sight when checking the front through the windshield is different from the direction in which the driver turns the line of sight when checking the display content on the display unit. I had to look away from the direction and check the recommended route on the display.

In view of such a point, one of the objects of the present disclosure is to enable the driver to check a route on which the vehicle can travel while avoiding contact with an obstacle without keeping an eye on the traveling direction. To provide technology.

An information display device according to one aspect of the present disclosure is an information display device mounted on a vehicle, and includes an obstacle detection unit, an avoidance determination unit, a travel route calculation unit, and an image display unit. The obstacle detection unit detects an obstacle present around the vehicle. The avoidance determination unit determines whether it is necessary to avoid the obstacle detected by the obstacle detection unit. The travel route calculation unit calculates a travel route for causing the vehicle to travel while avoiding an obstacle when the avoidance determination unit determines that the obstacle detected by the obstacle detection unit needs to be avoided. . The image display unit displays the travel route image representing the travel route calculated by the travel route calculation unit so as to be superimposed on the scenery seen through the windshield from the driver's seat of the vehicle.

According to such an information display device, a travel route for traveling the vehicle while avoiding an obstacle enters the driver's view of the traveling direction. Therefore, even if the driver does not keep an eye on the traveling direction, it is possible to confirm a route on which the host vehicle can travel while avoiding contact with an obstacle.

The above and other objects, features, and advantages of the present disclosure will become more apparent from the following detailed description with reference to the accompanying drawings. In the drawing
FIG. 1 is a block diagram showing the configuration of the vehicle. FIG. 2 is a diagram illustrating a driver's seat of the vehicle. FIG. 3 is a flowchart showing the information display process. FIG. 4 is an explanatory diagram of the information display process. FIG. 5 is an explanatory diagram of the information display process. FIG. 6 is an explanatory diagram of the information display process. FIG. 7 is an explanatory diagram of the information display process. FIG. 8 is an explanatory diagram of the information display process. FIG. 9 is an explanatory diagram of the information display process. FIG. 10 is an explanatory diagram of the information display process.

Hereinafter, embodiments will be illustrated with reference to the drawings.

<1. Configuration>
A vehicle 1 shown in FIG. 1 includes a camera 11, a radar 12, a sonar 13, a vehicle speed sensor 14, a yaw rate sensor 15, a head-up display (hereinafter referred to as HUD) 18, a HUD control device 19, a human machine interface, A control unit (hereinafter referred to as HCU) 20.

The camera 11 is provided with one or more, and images the surroundings of the own vehicle. The camera 11 outputs the captured image to the HCU 20.

The radar 12 detects an object existing around the vehicle 1 by transmitting electromagnetic waves such as radio waves around the vehicle 1 and receiving the reflected waves. The radar 12 outputs the detection result to the HCU 20.

The sonar 13 detects an object existing around the vehicle 1 by transmitting sound waves around the vehicle 1 and receiving the reflected waves. The sonar 13 outputs the detection result to the HCU 20.

The vehicle speed sensor 14 detects the traveling speed of the vehicle 1. The vehicle speed sensor 14 outputs the detection result to the HCU 20.

The yaw rate sensor 15 detects the yaw rate that is the rotational angular velocity of the vehicle 1 in the turning direction. The yaw rate sensor 15 outputs the detection result to the HCU 20.

The HUD 18 is a device that projects various images on the windshield of the vehicle 1 and displays these images so as to be superimposed on the scenery seen from the driver's seat of the vehicle 1 through the windshield. The HUD 18 includes a liquid crystal panel, a backlight that illuminates and transmits the liquid crystal panel, and a concave mirror that reflects an image generated by the light of the backlight transmitted through the liquid crystal panel toward the windshield. Then, as shown in FIG. 2, the HUD 18 displays an image so as to be superimposed on a landscape that is an area on the windshield of the vehicle 1 and is seen through the area 19 a located in front of the driver's seat.

The HUD control device 19 includes a well-known microcomputer centered on a CPU, a ROM, and a RAM, and displays an image on the HUD 18 based on a command from the HCU 20.

The HCU 20 includes a known microcomputer centered on a CPU, ROM, and RAM, and executes various processes such as an information display process based on the acquired various signals. The information display process is a process of displaying various information such as a travel route for causing the vehicle 1 to travel while avoiding an obstacle so as to be superimposed on the scenery seen through the area 19a.

The HCU 20 functions as an information display device that is mounted on a vehicle and displays various types of information by executing an information display process. Further, the HCU 20 functions as an obstacle detection unit that detects an obstacle present around the vehicle by executing S110 of the information display process. The HCU 20 functions as an avoidance determination unit that determines whether or not an obstacle needs to be avoided by executing S120 and S130 of the information display process. In addition, the HCU 20 performs information display processing S140, S150, and S160, thereby obtaining information such as a travel route image, a provided information image, a non-route region image, a wheel image, a trajectory image, and a height dimension information image in the region 19a. It functions as an image display unit that displays the image so as to be superimposed on the scenery seen through.

<2. Processing>
Next, information display processing executed by the HCU 20 will be described with reference to the flowchart of FIG. The information display process is started when the ignition switch of the vehicle 1 is turned on.

In the first step S110, the HCU 20 determines whether there are obstacles around. For example, an obstacle is detected from an image captured by the camera 11. The obstacles referred to here are installed objects, falling objects, parked vehicles, travel prohibited areas, and the like. At this time, a well-known image processing technique is used. Also, obstacles can be detected using detection results obtained by the radar 12 and the sonar 13. In addition, about the identification of an obstruction, it judges comprehensively using the magnitude | size, moving speed, etc. of the detected object, for example. If it is determined that there are no obstacles around (S110: NO), S110 is executed again. On the other hand, if it is determined that there is an obstacle around (S110: YES), the process proceeds to S120.

In S120, the HCU 20 determines whether or not the obstacle recognized in S110 exists on the route scheduled to travel. Here, when a route scheduled to travel is set during automatic driving or the like, the determination is made using the route scheduled to travel. Note that, when the travel schedule route is not set, the travel schedule route when the vehicle 1 travels as it is is estimated, and it is determined whether there is an obstacle on the estimated travel route. Vehicle state information such as the vehicle speed and yaw rate of the vehicle 1 is used for estimating the route scheduled to travel. If it is determined that there is no obstacle on the planned travel route (S120: YES), it is determined that there is no need to avoid this obstacle, and the process proceeds to S160. On the other hand, when it is determined that there is an obstacle on the route scheduled to travel (S120: YES), the process proceeds to S130.

In S130, the HCU 20 determines whether or not the vehicle 1 can pass over the obstacle by straddling the obstacle. Here, when the height dimension of the obstacle is less than a preset judgment value, it is judged that the vehicle 1 can pass over the obstacle, and the height dimension of the obstacle is greater than or equal to the judgment value. It is determined that the vehicle 1 cannot pass over the obstacle. Note that the judgment value is based on the height dimension from the ground contact surface of the wheel provided in the vehicle 1 to the lower surface of the vehicle body, and the vehicle 1 straddles an obstacle, that is, between the left and right wheels of the vehicle 1 that travels on the planned travel route. It is set from the viewpoint that the vehicle 1 is allowed to pass over the obstacle without the obstacle located in contact with the lower surface of the vehicle body of the vehicle 1. If it is determined that the vehicle 1 can pass over the obstacle (S130: YES), it is determined that there is no need to avoid this obstacle, and the process proceeds to S140. On the other hand, when it is determined that the vehicle 1 cannot pass over the obstacle (S130: NO), it is determined that the obstacle needs to be avoided, and the process proceeds to S150.

In S140, the HCU 20 executes a straddle passage display process for displaying information useful for passing over an obstacle existing on the planned route. Specifically, the HCU 20 creates a height dimension information image representing information provided regarding the height dimension of the obstacle and causes the HUD control device 19 to display the height dimension information image. The height dimension information image is displayed so as to be superimposed on the scenery seen through the area 19a located in front of the driver's seat. The display mode of the height dimension information image will be described later. Further, the HCU 20 creates a wheel image representing a wheel included in the vehicle 1 and a trajectory image representing a trajectory that a wheel included in the vehicle 1 is scheduled to pass through, and causes the HUD control device 19 to display the image. As illustrated in FIG. 8, the wheel image and the trajectory image are displayed so as to be superimposed on the scenery seen through the area 19 a located in front of the driver's seat. Thereafter, the process proceeds to S110.

In S150, the HCU 20 executes avoidance passage display processing for displaying information useful for traveling while avoiding obstacles. Specifically, the HCU 20 calculates a travel route for causing the vehicle 1 to travel while avoiding an obstacle, creates a travel route image representing the calculated travel route, and displays the travel route image on the HUD control device 19. As illustrated in FIGS. 4 to 6 and 10, the travel route image is displayed so as to be superimposed on the scenery seen through the area 19 a located in front of the driver's seat. As for the travel route image, the center line of the travel route may be highlighted with a thick line as illustrated in FIGS. Further, the HCU 20 creates a provided information image representing information provided regarding the obstacle and causes the HUD control device 19 to display the provided information image. As illustrated in FIG. 4, the provided information image is displayed so as to be superimposed on the scenery seen through the area 19 a located in front of the driver's seat. The display mode of the provided information image will be described later. Further, the HCU 20 creates an out-of-route area image representing an area other than the travel route on the travel path on which the vehicle 1 travels, and displays it on the HUD control device 19. The non-route area image is displayed so as to be superimposed on the scenery seen through the area 19a located in front of the driver's seat, as illustrated in FIG. The display mode of the out-of-route area image will be described later. Then, the HCU 20 creates a wheel image representing the wheels included in the vehicle 1 and causes the HUD control device 19 to display the wheel image. As illustrated in FIG. 4, the wheel image is displayed so as to be superimposed on the scenery seen through the area 19 a located in front of the driver's seat.

Also, the HCU 20 creates a notification image representing information to be notified to the passenger of the vehicle 1 and displays it on the HUD control device 19. As illustrated in FIGS. 4, 9, and 10, the notification image is displayed so as to be superimposed on the scenery seen through the area 19 a located in front of the driver's seat.

For example, when the HCU 20 obtains information indicating that an obstacle such as a falling object exists in front of the vehicle 1 using road-to-vehicle communication or the like, as illustrated in FIG. , A notification image such as “I will change lanes because there is an obstacle ahead” is displayed.

Further, when the HCU 20 receives the brake signal of the vehicle ahead by using inter-vehicle communication or the like to predict the speed of the vehicle ahead and control the deceleration of the traveling speed of the vehicle 1, it is exemplified in FIG. In this way, a notification image such as “the vehicle brakes in front is decelerated” is displayed. At this time, the provided information image may be displayed such as “Brake!”.

Further, when the HCU 20 receives the navigation information of the preceding vehicle using inter-vehicle communication or the like to predict the behavior of the preceding vehicle and performs the optimum traveling control of the vehicle 1, an example is illustrated in FIG. 10. Thus, a notification image such as “the vehicle ahead will change the lane scheduled to turn right soon” is displayed. At this time, the provided information image may be displayed such as “turn right soon”.

Then, the process proceeds to S110.

In S160, the HCU 20 executes an obstacle presence notification display process for notifying that an obstacle is present. Specifically, the HCU 20 creates a provided information image representing information provided regarding the obstacle and causes the HUD control device 19 to display the provided information image. As illustrated in FIG. 4, the provided information image is displayed so as to be superimposed on the scenery seen through the area 19 a located in front of the driver's seat. The display mode of the provided information image will be described later. Thereafter, the process proceeds to S110.

In addition, about the height dimension information image displayed in said S140, it is good to employ | adopt the display aspect according to the height dimension of an obstruction. For example, as illustrated in FIG. 8, the display mode is different between an obstacle whose height dimension is greater than or equal to a preset predetermined value and an obstacle that is less than the predetermined value. Examples of the display mode include the type of mark, the color of the mark, and the size of the mark.

Further, regarding the provided information images displayed in the above S150 and S160, different display modes may be adopted for the obstacles determined to be avoided and the obstacles determined not to be avoided. Examples of the display mode include the type of mark, the color of the mark, and the size of the mark. Moreover, about a provision information image, it is good to employ | adopt a different display mode according to the distance from the vehicle 1 to an obstruction. For example, as shown in FIG. 4, for an obstacle at a long distance from the vehicle 1, a warning sign and a warning are displayed as a provided information image, but an obstacle at a short distance from the vehicle 1 is displayed. In other words, as the provided information image, a warning sign is displayed in a larger color in different colors, and an arrow indicating an obstacle is displayed together.

In addition, the out-of-route area image displayed in S150 may adopt a display mode different from the travel route image. Examples of the display mode include tone and color. As illustrated in FIG. 7, the outside area image is toned down compared to the travel route image.

<3. Effect>
According to the embodiment detailed above, the following effects can be obtained.

In other words, in this embodiment, a travel route for traveling the vehicle while avoiding an obstacle enters the field of view of the driver who sees the traveling direction. Therefore, even if the driver does not keep an eye on the traveling direction, it is possible to confirm a route on which the host vehicle can travel while avoiding contact with an obstacle.

<4. Contrast with terms described in claims>
In this embodiment, the HCU 20 corresponds to an example of an information display device, S110 corresponds to an example of processing as an obstacle detection unit, S120 and S130 correspond to an example of processing as an avoidance determination unit, and S150 travels. S140 to S160 correspond to an example of processing as the route calculation unit, and S140 to S160 correspond to an example of processing as the image display unit.

<5. Other embodiments>
As mentioned above, although one Embodiment of this invention was described, embodiment is not limited to the above-mentioned embodiment. For example, the following various embodiments are possible.

(1) The functions of one component in the above embodiment may be distributed as a plurality of components, or the functions of a plurality of components may be integrated into one component. Moreover, you may abbreviate | omit a part of structure of the said embodiment. Further, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment.

(2) In addition to the information display device described above, various systems such as a system including the information display device as a constituent element, a program for causing a computer to function as the information display device, a medium on which the program is recorded, an information display device method, etc. Embodiments can embody the technical idea of the present disclosure.

Claims

An information display device (20) mounted on a vehicle,
An obstacle detection unit (S110) for detecting obstacles existing around the vehicle;
An avoidance determination unit (S120, S130) for determining whether or not an obstacle detected by the obstacle detection unit needs to be avoided;
In order to drive the vehicle while avoiding the obstacle detected by the obstacle detecting unit when the avoidance determining unit determines that the obstacle detected by the obstacle detecting unit needs to be avoided A travel route calculation unit (S150) for calculating the travel route of
An image display unit (S140, S150, S160) for displaying a travel route image representing the travel route calculated by the travel route calculation unit so as to be superimposed on the scenery seen from the driver's seat through the windshield;
An information display device comprising:
The information display device according to claim 1,
The said image display part displays the provision information image showing the information provided regarding the obstacle detected by the said obstacle detection part so that it may superimpose on the scenery seen through a windshield from the driver's seat of the said vehicle.
The information display device according to claim 2,
The image display unit displays differently between the provided information image corresponding to the obstacle determined to be avoided by the avoidance determining unit and the provided information image corresponding to the obstacle determined not to be avoided. The information display apparatus which displays so that it may superimpose on the scenery seen through a windshield from the driver's seat of the said vehicle in a mode.
The information display device according to any one of claims 1 to 3,
The image display unit displays an out-of-route area image representing an area other than the travel route on a travel path on which the vehicle travels so as to be superimposed on a scenery seen from the driver's seat through the windshield.
The information display device according to claim 4,
The image display unit displays the non-route area image in a display manner different from the travel route image so as to be superimposed on a scenery seen from the driver's seat of the vehicle through the windshield.
The information display device according to any one of claims 1 to 5,
The said image display part displays the wheel image showing the wheel with which the said vehicle is provided so that it may superimpose on the scenery seen through a windshield from the driver's seat of the said vehicle.
The information display device according to any one of claims 1 to 6,
The avoidance determination unit
When it is determined whether the obstacle detected by the obstacle detection unit exists on a route planned to travel of the vehicle, and it is determined that the obstacle exists on the route planned to travel of the vehicle Determines whether the vehicle can pass across the obstacle,
Further, it is determined that there is no need to avoid an obstacle that is determined not to exist on the route on which the vehicle is scheduled to travel, and the vehicle that is present on the route on which the vehicle is scheduled to travel can pass across. It is determined that there is no need to avoid the determined obstacle, and it is necessary to avoid the obstacle that exists on the route planned to travel of the vehicle and is determined not to be able to pass across the vehicle. Information display device to judge.
The information display device according to claim 7,
The image display unit is a height dimension that represents information provided on the height dimension of the obstacle that is present on the route that the vehicle is scheduled to travel but is determined to be able to pass through the vehicle by the avoidance determination unit. An information display device that displays an information image, a wheel image representing a wheel included in the vehicle, and a trajectory image representing a trajectory that the wheel included in the vehicle is scheduled to pass through a scenery that is visible from the driver's seat of the vehicle through the windshield.
The information display device according to any one of claims 1 to 8,
The said image display part displays the notification image showing the information which should be notified to the passenger of the said vehicle on the scenery seen through a windshield from the driver's seat of the said vehicle. Information display apparatus.