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WO2017018192A1 - Appareil d'affichage d'informations - Google Patents

Appareil d'affichage d'informations Download PDF

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Publication number
WO2017018192A1
WO2017018192A1 PCT/JP2016/070487 JP2016070487W WO2017018192A1 WO 2017018192 A1 WO2017018192 A1 WO 2017018192A1 JP 2016070487 W JP2016070487 W JP 2016070487W WO 2017018192 A1 WO2017018192 A1 WO 2017018192A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
obstacle
image
travel
information display
Prior art date
Application number
PCT/JP2016/070487
Other languages
English (en)
Japanese (ja)
Inventor
祥太 野尻
祐作 中村
誉規 杉浦
Original Assignee
株式会社デンソー
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2016116431A external-priority patent/JP6428713B2/ja
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Publication of WO2017018192A1 publication Critical patent/WO2017018192A1/fr

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Classifications

    • 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
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • 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
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • This disclosure relates to an information display device mounted on a vehicle.
  • 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.
  • 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.
  • 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.
  • 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.
  • An information display device 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.
  • 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.
  • 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.
  • 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.
  • HUD head-up display
  • HCU human machine interface
  • 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.
  • 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.
  • a well-known image processing technique is used.
  • obstacles can be detected using detection results obtained by the radar 12 and the sonar 13.
  • it judges comprehensively using the magnitude
  • the HCU 20 determines whether or not the obstacle recognized in S110 exists on the route scheduled to travel.
  • the determination is made using the route scheduled to travel.
  • the travel schedule route 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.
  • the HCU 20 determines whether or not the vehicle 1 can pass over the obstacle by straddling the obstacle.
  • 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.
  • 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.
  • the HCU 20 executes a straddle passage display process for displaying information useful for passing over an obstacle existing on the planned route.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a notification image such as “I will change lanes because there is an obstacle ahead” is displayed.
  • 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!”.
  • 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.
  • a notification image such as “the vehicle ahead will change the lane scheduled to turn right soon” is displayed.
  • the provided information image may be displayed such as “turn right soon”.
  • 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.
  • 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.
  • the display mode include the type of mark, the color of the mark, and the size of the mark.
  • 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.
  • 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.
  • 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.
  • 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
  • S140 to S160 correspond to an example of processing as the route calculation unit
  • S140 to S160 correspond to an example of processing as the image display unit.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Traffic Control Systems (AREA)
  • Instrument Panels (AREA)

Abstract

L'invention concerne un appareil d'affichage d'informations qui est installé dans des véhicules. Cet appareil d'affichage d'informations est équipé d'une unité de détection d'obstacles, d'une unité de détermination d'évitement, d'une unité de calcul de trajectoire de circulation et d'une unité d'affichage d'images. L'unité de détection d'obstacles détecte un obstacle situé aux environs d'un véhicule. L'unité de détermination d'évitement détermine s'il est nécessaire ou non d'éviter l'obstacle détecté par l'unité de détection d'obstacles. L'unité de calcul de trajectoire de circulation calcule la trajectoire de circulation à parcourir par le véhicule pendant l'évitement de l'obstacle détecté par l'unité de détection d'obstacles, si l'unité de détermination d'évitement détermine qu'il est nécessaire d'éviter l'obstacle détecté par l'unité de détection d'obstacles. L'unité d'affichage d'images affiche une image de la trajectoire de circulation indiquant la trajectoire de circulation calculée par l'unité de calcul de trajectoire de circulation de telle manière que l'image de la trajectoire de circulation soit superposée à la vue observée à travers le pare-brise depuis le siège du conducteur du véhicule.
PCT/JP2016/070487 2015-07-29 2016-07-12 Appareil d'affichage d'informations WO2017018192A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2015-149471 2015-07-29
JP2015149471 2015-07-29
JP2016116431A JP6428713B2 (ja) 2015-07-29 2016-06-10 情報表示装置
JP2016-116431 2016-06-10

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018179359A1 (fr) * 2017-03-31 2018-10-04 本田技研工業株式会社 Système de commande de véhicule, procédé de commande de véhicule et programme de commande de véhicule
CN108791062A (zh) * 2017-05-02 2018-11-13 上海蔚兰动力科技有限公司 动态信息系统及操作方法
WO2018234352A1 (fr) * 2017-06-20 2018-12-27 Audi Ag Procédé pour assister un utilisateur de véhicule automobile lors de l'évitement d'un obstacle, dispositif d'aide à la conduite, et véhicule automobile
CN110462702A (zh) * 2017-03-31 2019-11-15 本田技研工业株式会社 行驶路径提供系统及其控制方法、以及程序
JP2022118036A (ja) * 2019-05-08 2022-08-12 株式会社デンソー 表示制御装置及び表示制御プログラム
US11705007B2 (en) * 2021-02-18 2023-07-18 Toyota Jidosha Kabushiki Kaisha Vehicle display device

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JPH0935177A (ja) * 1995-07-18 1997-02-07 Hitachi Ltd 運転支援方法および運転支援装置
JP2006171950A (ja) * 2004-12-14 2006-06-29 Denso Corp ヘッドアップディスプレイの表示制御装置およびプログラム
JP3966673B2 (ja) * 1999-10-26 2007-08-29 本田技研工業株式会社 物体検知装置および車両の走行安全装置
WO2012039004A1 (fr) * 2010-09-22 2012-03-29 三菱電機株式会社 Dispositif d'assistance à la conduite

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0935177A (ja) * 1995-07-18 1997-02-07 Hitachi Ltd 運転支援方法および運転支援装置
JP3966673B2 (ja) * 1999-10-26 2007-08-29 本田技研工業株式会社 物体検知装置および車両の走行安全装置
JP2006171950A (ja) * 2004-12-14 2006-06-29 Denso Corp ヘッドアップディスプレイの表示制御装置およびプログラム
WO2012039004A1 (fr) * 2010-09-22 2012-03-29 三菱電機株式会社 Dispositif d'assistance à la conduite

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110494339B (zh) * 2017-03-31 2022-09-09 本田技研工业株式会社 车辆控制系统、车辆控制方法及存储介质
JPWO2018179359A1 (ja) * 2017-03-31 2019-11-07 本田技研工業株式会社 車両制御システム、車両制御方法、および車両制御プログラム
CN110462702A (zh) * 2017-03-31 2019-11-15 本田技研工业株式会社 行驶路径提供系统及其控制方法、以及程序
CN110494339A (zh) * 2017-03-31 2019-11-22 本田技研工业株式会社 车辆控制系统、车辆控制方法及车辆控制程序
WO2018179359A1 (fr) * 2017-03-31 2018-10-04 本田技研工業株式会社 Système de commande de véhicule, procédé de commande de véhicule et programme de commande de véhicule
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CN108791062B (zh) * 2017-05-02 2021-12-10 上海蔚兰动力科技有限公司 动态信息系统及操作方法
CN108791062A (zh) * 2017-05-02 2018-11-13 上海蔚兰动力科技有限公司 动态信息系统及操作方法
CN110831840A (zh) * 2017-06-20 2020-02-21 奥迪股份公司 用于在避让障碍物时辅助机动车使用者的方法、驾驶员辅助装置和机动车
CN110831840B (zh) * 2017-06-20 2022-07-26 奥迪股份公司 用于在避让障碍物时辅助机动车使用者的方法、驾驶员辅助装置和机动车
US11420680B2 (en) 2017-06-20 2022-08-23 Audi Ag Method for assisting a user of a motor vehicle when swerving around an obstacle, driver assistance device, and a motor vehicle
WO2018234352A1 (fr) * 2017-06-20 2018-12-27 Audi Ag Procédé pour assister un utilisateur de véhicule automobile lors de l'évitement d'un obstacle, dispositif d'aide à la conduite, et véhicule automobile
JP2022118036A (ja) * 2019-05-08 2022-08-12 株式会社デンソー 表示制御装置及び表示制御プログラム
US11850940B2 (en) 2019-05-08 2023-12-26 Denso Corporation Display control device and non-transitory computer-readable storage medium for display control on head-up display
US11705007B2 (en) * 2021-02-18 2023-07-18 Toyota Jidosha Kabushiki Kaisha Vehicle display device

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