KR101767437B1 - Displaying control apparatus of head up display and method thereof - Google Patents

Displaying control apparatus of head up display and method thereof Download PDF

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KR101767437B1
KR101767437B1 KR1020150160584A KR20150160584A KR101767437B1 KR 101767437 B1 KR101767437 B1 KR 101767437B1 KR 1020150160584 A KR1020150160584 A KR 1020150160584A KR 20150160584 A KR20150160584 A KR 20150160584A KR 101767437 B1 KR101767437 B1 KR 101767437B1
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virtual image
vibration
risk
vehicle
control unit
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KR1020150160584A
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KR20170057511A (en
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오형석
금병직
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현대오트론 주식회사
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    • 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
    • G02B27/0101—Head-up displays characterised by optical features
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
    • B60R2300/205—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used using a head-up display
    • 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
    • G02B27/0101—Head-up displays characterised by optical features
    • G02B2027/014—Head-up displays characterised by optical features comprising information/image processing systems
    • 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
    • G02B27/0179—Display position adjusting means not related to the information to be displayed
    • G02B2027/0183—Adaptation to parameters characterising the motion of the vehicle

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Instrument Panels (AREA)
  • Controls And Circuits For Display Device (AREA)

Abstract

The present invention relates to a vehicular drive system for detecting vibration of a vehicle through a vibration detection unit for detecting vibration of a vehicle, a road characteristic information storage unit for storing road characteristic information, a head up display unit, and a vibration sensing unit, And a control unit for adjusting the position of the virtual image displayed on the object through the head-up display unit by compensating the vibration and road characteristics after the detection by the road characteristic information storage unit.

Description

Technical Field [0001] The present invention relates to a display control apparatus and method for a head-up display,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a display control apparatus and method for a head-up display, and more particularly, to a display control apparatus and method for a head-up display that displays a virtual image of an object at an accurate position regardless of vibration or shaking of the vehicle.

There is a disadvantage in that the information providing apparatus for the user mounted on the vehicle is distracted by the driver's attention and there is a risk of accident occurrence. A head up display (HUD) is an information providing device for solving such a problem. The head-up display can display various information provided to the driver on the top of the windshield. Accordingly, there is an advantage in that the risk of an accident can be prevented because the driver does not have to turn his or her gaze to check the information, but the position of the provided information is displayed at a predetermined position instead of the position of the actual virtual image in front, There is a problem in that the driver's safety and convenience may be deteriorated due to a cognitive load to recognize the displayed information.

In order to solve such a problem, augmented reality type head-up display that matches the virtual image of the actual objects located in front of the driver and the position of information represented in the head-up display based on the driver's view is emerging. The augmented reality type head-up display can generate a virtual graphic and display it in combination with the actual virtual image in front of the driver, so that the information required by the driver can be recognized by the driver as if it is displayed together with the actual object in front of the driver.

In the conventional augmented reality type head-up display device, the display position of the object is moved along the trajectory surrounding the obstacle in order to prevent the display position of the object from being changed due to vibration or shaking of the vehicle. However, As a method of using a driver's parallax, there is a method of preventing vibration itself, and there is a problem in clearly displaying an object.

Background Art [0002] The background art of the present invention is disclosed in Korean Patent Application Publication No. 10-2013-0104821 (2033.09.25) entitled " Vehicle Information Display System and Method ".

SUMMARY OF THE INVENTION It is an object of the present invention to provide a head-up display in which a virtual image of an object is displayed at an accurate position regardless of vibration or shaking of a vehicle, A display control apparatus and method are provided.

According to an aspect of the present invention, there is provided an apparatus for controlling display of a head-up display, including: a vibration sensing unit for sensing vibration of a vehicle; A road characteristic information storage unit for storing a road characteristic; A head up display; And a controller for detecting vibration of the vehicle through the vibration sensing unit, detecting the road characteristic corresponding to the current position in the road characteristic information storage unit, compensating the vibration and the road characteristic, And a control unit for adjusting the position of the virtual image to be displayed.

The control unit of the present invention is characterized in that the position of the virtual image is controlled by predicting the vibration sensed by the vibration sensing unit through a prediction filter.

The control unit of the present invention is characterized in that the position of the virtual image is changed according to at least one of the gradient and the curvature of the road among the road characteristics.

The apparatus of the present invention may further include a risk detector for detecting a risk of the object according to the present invention, wherein the controller displays the virtual image differently according to the risk of the object.

The control unit of the present invention is characterized in that when a break signal is input, the size, color, and shape of the virtual image are changed so that the risk of the object is reduced.

The controller may control at least one of the size, color and shape of the virtual image depending on the risk of the object.

The control unit may generate a virtual rectangle based on the positional coordinates of the object, transform the generated rectangle into a trapezoidal rectangle at a three-dimensional viewpoint, and then transform the virtual image into a circular or elliptical shape .

The control unit of the present invention is characterized in that the position of the object is predicted using a prediction filter, and the position of the virtual image is changed based on the predicted position.

According to an aspect of the present invention, there is provided a method of displaying an object position of a vehicle, the method comprising: sensing a vibration of the vehicle; The control unit detecting a road characteristic corresponding to a current position of the vehicle; And adjusting the position of the virtual image displayed on the object through the head-up display unit by compensating the vibration and the road characteristic by the control unit.

In the step of adjusting the position of the virtual image of the present invention, the controller may predict the vibration sensed by the vibration sensing unit through a prediction filter to control the position of the virtual image.

In the step of adjusting the position of the virtual image of the present invention, the control unit changes the position of the virtual image according to at least one of the gradient and the curvature of the road among the road characteristics.

The controller may further include adjusting at least one of the size, color, and shape of the virtual image depending on the risk of the object.

In the step of adjusting at least one of the size, color, and shape of the virtual image of the present invention, the controller may change the size, color and shape of the virtual image when the break signal is input, thereby reducing the risk of the object .

In the step of adjusting at least one of the size, color, and shape of the virtual image of the present invention, the controller generates a virtual rectangle based on the position coordinates of the object, transforms the generated rectangle into a trapezoidal rectangle The virtual image is displayed in a circular or elliptical shape with the center of the trapezoidal square as a center.

The control unit of the present invention further includes a step of predicting the position of the object using a prediction filter and changing the position of the virtual image based on the predicted position.

The present invention displays a virtual image of an object at an accurate position irrespective of vibration or shaking of the vehicle, thereby reducing a sense of heterogeneity between an object and a virtual image.

1 is a block diagram of a display control apparatus of a head-up display according to an embodiment of the present invention.
2 is a diagram showing an example of detecting vehicle vibration according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating an example of transforming a virtual image into a three-dimensional view according to an embodiment of the present invention.
4 is a perspective view illustrating a perspective projection according to an exemplary embodiment of the present invention.
5 is a diagram illustrating an example of display control according to an exemplary embodiment of the present invention.
6 is a flowchart of a display control method of a head-up display according to an embodiment of the present invention.

Hereinafter, an apparatus and method for controlling a display of a head-up display according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. Further, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the user, the intention or custom of the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

FIG. 1 is a block diagram of a display control apparatus for a head-up display according to an embodiment of the present invention. FIG. 2 is a diagram illustrating an example of detecting vehicle vibration according to an embodiment of the present invention. 4 is a perspective view illustrating a perspective projection according to an embodiment of the present invention. FIG. 5 is a view illustrating a perspective view of an embodiment of the present invention. And a display control example according to the risk according to the example.

1, a display control apparatus for a head-up display according to an exemplary embodiment of the present invention includes a photographing unit 10, a vibration sensing unit 20, a risk detection unit 30, a Global Positioning System (GPS) module 40 A road characteristic information storage unit 50, a head up display unit 60, and a control unit 70.

The photographing section 10 photographs an image of the front of the vehicle. Particularly, the photographing unit 10 photographs the viewing direction or the vehicle traveling direction to acquire a virtual image of a pedestrian or an obstacle.

As the photographing unit 10, an FIR (Far Infra Red) camera, a CMOS (Complementary Metal Oxide Semiconductor) camera, a CCD (Charge Coupled Device) camera, or the like may be employed. A CMOS camera or a CCD camera senses and projects light in the visible light region, thus acquiring a virtual image similar to that of a human eye. And the FIR camera acquires the virtual image by projecting light of the infrared band which the human can not see.

The vibration sensing unit 20 senses the vibration of the vehicle 80. The vibration of the normal vehicle 80 can be caused by the power transmitted from the engine (not shown) through the power transmission device (not shown) in synchronism with the vibration of the vehicle drive system, and also by the road condition or the like. These vibrations are represented by yaw, roll, and pitch directions, and the vibration sensing unit 20 senses vibrations in each direction and inputs the sensed vibration to the controller 70.

The GPS module 40 receives the GPS signal from the GPS satellite and acquires the current position of the vehicle 80 using the received GPS signal and inputs the current position of the acquired vehicle 80 to the control unit 70.

The road characteristic information storage unit 50 stores road characteristics. The road characteristic may include a road segment or a curvature, and may include any other factors that may cause the position of the virtual image to be changed.

The road characteristic information storage unit 50 may be mounted inside the vehicle, but the present embodiment is not limited thereto.

That is, the road characteristic information storage unit 50 may be separately provided in a management system capable of wireless communication with the vehicle 80. [ In this case, the management system receives the road characteristic from the vehicle 80 through the wireless communication network, detects the road characteristic corresponding to the current position of the vehicle 80 in the road characteristic information storage section 50, To the corresponding vehicle (80).

The head-up display unit 60 provides the driver with various convenience information, and displays various virtual images corresponding to the object on the windshield of the vehicle 80. [

That is, the head-up display unit 60 displays a virtual image on real objects on the windshield located at the front based on the driver's view, by displaying a virtual image synthesized with an actual object in front of the driver. The head-up display unit 60 allows the driver to recognize that the provided information is displayed together with the actual object in front of the driver.

The risk detection unit 30 detects a risk to an object. That is, the risk detection unit 30 detects the risk based on the traveling direction of the object, the distance between the object and the vehicle 80, and the vehicle speed, and then transmits the detected risk to the control unit 70.

The control unit 70 displays a virtual image on the windshield of the vehicle 80 through the head-up display unit 60 based on the virtual image photographed through the photographing unit 10. [ In this case, the control unit 70 detects the vibration of the vehicle 80 through the vibration sensing unit 20, detects the road characteristic corresponding to the current position in the road characteristic information storage unit 50, And controls the position of the virtual image displayed on the object through the head-up display unit 60. [

More specifically, the control unit 70 senses the vibration of the vehicle 80 through the vibration sensing unit 20. The vibration of the vehicle 80 varies in a yaw direction, a roll direction, and a pitch direction as shown in Fig. The control unit 70 detects vibrations of the vehicle 80 appearing in the yaw direction, the roll direction and the pitch direction through the vibration sensing unit 20 and outputs the detected vibration of the vehicle 80 to a prediction filter, Use a filter to compensate. In this case, the controller 70 predicts the current vibration based on the previous vibration of the vehicle 80 using the Kalman filter, and adjusts the position of the virtual image according to the vibration of the predicted vehicle 80. [ Even if the vehicle 80 vibrates in the yaw direction, the roll direction, and the pitch direction, the position of the virtual image is corrected through the head-up display unit 60 so that the virtual image of the actual object can be accurately positioned As shown in FIG.

The control unit 70 periodically or non-periodically detects the current position of the vehicle 80 through the GPS module 40 and outputs the road characteristic corresponding to the detected current position of the vehicle 80 to the road characteristic information storage unit 50). In this case, when the road characteristic information storage unit 50 is provided in a separate management system, the control unit 70 transmits the current position of the vehicle 80 to the management system via the wireless communication network, Lt; / RTI > corresponding to the current location of the road. Accordingly, the management system detects the road characteristic corresponding to the current position of the vehicle 80 in the road characteristic information storage unit 50 and delivers the detected road characteristic to the control unit 70. [

Further, when the road characteristic corresponding to the current position of the vehicle 80 is detected as described above, the control section 70 adjusts the position of the virtual image according to the road characteristic. That is, when the current vehicle 80 can not maintain the horizontal state according to the gradient and the curvature of the actual road, the controller 70 controls the head-up display unit 50 according to the road characteristics, that is, the gradient and the curvature, The virtual image corresponding to the actual object is displayed at the correct position regardless of the gradient of the road and the curvature.

Furthermore, the controller 70 forms the virtual image displayed on the object in various manners according to the risk of the object detected by the risk detector 30, and displays the virtual image through the head-up display 60.

In this case, the controller 70 generates a virtual rectangle based on the positional coordinates of the object as shown in FIG. 3A, and performs a matrix operation on the coordinates of each vertex of the generated rectangle using perspective view conversion. Then, the controller 70 transforms the rectangle into a three-dimensional perspective view (trapezoidal quadrangle) as shown in FIG. 3 (b).

That is, the control unit 70 converts the vertex coordinates ((x1, y1, z1), (x2, y2, z2), (x3, y3, z3), And a trapezoidal quadrangle formed by four vertex coordinates ((x11, y11, z11), (x22, y22, z22), (x33, y33, z33), (x44, y44, z44)).

The perspective view conversion formula (PV) is shown in Equation 1 below.

Figure 112015111518153-pat00001

4, r is the distance from the center of the first rectangle to the right side, l is the distance from the center of the first rectangle to the left side, t is the distance from the center of the first rectangle to the upper side B is the distance from the center of the first rectangle to the bottom side, n is the distance from the view point to the center of the first rectangle, and f is the distance from the view point to the center of the second rectangle.

3 (c), the controller 70 displays the virtual image around the center of the trapezoidal quadrangle. In this case, the virtual image may be displayed as a circle or an ellipse.

In addition, the controller 70 adjusts at least one of the size, color, and shape of the virtual image according to the risk of the object. That is, the control unit 70 increases the size of the virtual image as shown in FIG. 5 as the risk increases, or changes the color to a red color or increases the size, thereby allowing the driver to intuitively recognize the risk .

In addition, when the driver presses the brake pedal to input a brake signal, the controller 70 changes the size, color, and shape of the virtual image to reduce the risk. That is, when the brake signal is inputted, since the driver actually recognizes an object ahead and recognizes the danger level, the controller 70 changes the size, color, and shape of the virtual image to reduce the risk .

In addition, the control unit 70 predicts the position of the object photographed by the photographing unit 10, changes the position of the virtual image based on the predicted position, and displays the virtual image at a more accurate position. That is, since the position of an object such as a pedestrian or the vehicle 80 varies with time, the control unit 70 predicts a position change based on the previous position of the object using a Kalman filter or the like, By correcting the position of the virtual image, the virtual image is displayed at a relatively accurate position.

Hereinafter, a display control method of a head-up display according to an embodiment of the present invention will be described in detail with reference to FIG.

6 is a flowchart of a display control method of a head-up display according to an embodiment of the present invention.

Referring to FIG. 6, first, the controller 70 senses the vibration of the vehicle 80 through the vibration sensing unit 20 (S10).

The control unit 70 detects the current position of the vehicle 80 through the GPS module 40 and outputs the road characteristic corresponding to the detected current position of the vehicle 80 to the road characteristic information storage unit 50 (S30).

For example, when the road characteristic information storage unit 50 is provided in a separate management system, the control unit 70 transmits the current position of the vehicle 80 to the management system via the wireless communication network, And the management system detects the road characteristic corresponding to the current position of the vehicle 80 in the road characteristic information storage unit 50 and outputs the detected road characteristic to the control unit 70 . Thus, when the vibration and the road characteristic of the vehicle 80 are detected, the controller 70 controls the position of the virtual image by compensating the vibration and the road characteristic of the vehicle 80 (S40). That is, the controller 70 predicts the current vibration based on the previous vibration through the Kalman filter and adjusts the position of the virtual image according to the vibration of the predicted vehicle 80.

In addition, the control unit 70 corrects the position of the virtual image through the head-up display unit 60 according to the road characteristics, that is, the gradient and the curvature of the road.

That is, the control unit 70 displays the virtual image corresponding to the actual object at the correct position regardless of the vibration of the vehicle 80, the gradient of the road, and the curvature.

In addition, the control unit 70 detects the risk level of the object through the risk level detecting unit 30 (S50), and displays a virtual image on the object according to the risk level of the detected object. The control unit 70 generates a virtual rectangle based on the positional coordinates of the object, transforms the generated rectangle into a three-dimensional perspective view (trapezoidal rectangle), and displays the virtual image around the center point of the trapezoidal rectangle . In this case, the controller 70 predicts the positional change based on the previous position of the object using a Kalman filter or the like, and corrects the position of the virtual image based on the predicted result, thereby displaying the virtual image at a relatively accurate position.

In addition, the controller 70 adjusts at least one of the size, color, and shape of the virtual image depending on the risk of the detected object, and displays the image through the head-up display unit 60 (S60). For example, the controller 70 increases the size of the virtual image as the risk increases, or changes the color to the red color or increases the size, thereby allowing the driver to intuitively recognize the risk.

Meanwhile, in the process of displaying the virtual image on the object according to the risk of the object as described above, when the driver presses the brake pedal to input the break signal, the controller 70 sets the size, .

As described above, the present embodiment displays the virtual image of the object at the correct position irrespective of the vibration or shake of the vehicle 80, thereby reducing the heterogeneity between the object and the virtual image.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, I will understand. Accordingly, the true scope of the present invention should be determined by the following claims.

10:
20:
30:
40: GPS module
50: road characteristic information storage unit
60: head up display section
70:
80: vehicle

Claims (15)

A vibration sensing unit for sensing vibration of the vehicle;
A road characteristic information storage unit for storing a road characteristic;
A head up display; And
And a control unit for detecting vibration of the vehicle through the vibration sensing unit and detecting the road characteristic corresponding to the current position in the road characteristic information storage unit and then compensating for the vibration and the road characteristic, And a control unit for adjusting the position of the virtual image,
Further comprising a risk detection unit for detecting a risk of the object based on at least one of a traveling direction of the object, a distance between the vehicles, and a vehicle speed,
Wherein the controller displays the virtual image differently according to the risk detected by the risk detector,
Wherein the control unit changes the size, color and shape of the virtual image when the break signal is input, thereby reducing the risk of the object.
The apparatus of claim 1,
Wherein the position of the virtual image is controlled by predicting the vibration sensed by the vibration sensing unit through a prediction filter.
The apparatus of claim 1,
Wherein the position of the virtual image is changed according to at least one of the gradient and the curvature of the road among the road characteristics.
delete delete delete The apparatus of claim 1,
A virtual rectangle is generated on the basis of the positional coordinates of the object, the generated rectangle is transformed into a trapezoidal rectangle by a three-dimensional viewpoint, and then the virtual image is displayed in a circular or elliptical shape with the center of the trapezoidal rectangle as a center. A display control device of a head-up display.
2. The method according to claim 1, wherein, when at least one of size, color, and shape of the virtual image is adjusted according to the risk of the object, the controller predicts the position of the object using a prediction filter, And the position of the virtual image is changed.
Sensing vibration of the vehicle by the vibration sensing unit;
The control unit detecting a road characteristic corresponding to a current position of the vehicle; And
Wherein the control unit compensates the vibration and the road characteristics to adjust the position of the virtual image displayed on the object through the head-up display unit,
The control unit may further include a step of detecting the risk of the object based on at least one of the moving direction of the object, the distance between the vehicles and the vehicle speed by controlling the risk detecting unit, and displaying the virtual image differently according to the risk of the object,
Wherein the control unit changes the size, color and shape of the virtual image when the break signal is input, thereby reducing the risk of the object.
10. The method according to claim 9, wherein, in the step of adjusting the position of the virtual image,
Wherein the control unit predicts the vibration sensed by the vibration sensing unit through a prediction filter and controls the position of the virtual image.
10. The method according to claim 9, wherein, in the step of adjusting the position of the virtual image,
Wherein the control unit changes the position of the virtual image according to at least one of the gradient and the curvature of the road.
delete delete 10. The method according to claim 9, wherein, in the step of adjusting at least one of the size, color, and shape of the virtual image, the controller generates a virtual rectangle based on the positional coordinates of the object, Wherein the virtual image is displayed in a circular or elliptical shape centering on a center point of a trapezoidal quadrangle after being transformed into a rectangle.
10. The method according to claim 9, wherein, when at least one of size, color, and shape of the virtual image is adjusted according to the risk of the object, the controller predicts the position of the object using a prediction filter, And changing the position of the virtual image.
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JP2004364112A (en) * 2003-06-06 2004-12-24 Honda Motor Co Ltd Device for displaying vehicle surroundings
JP2014010347A (en) * 2012-06-29 2014-01-20 Jvc Kenwood Corp Image display device, and image display method

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004364112A (en) * 2003-06-06 2004-12-24 Honda Motor Co Ltd Device for displaying vehicle surroundings
JP2014010347A (en) * 2012-06-29 2014-01-20 Jvc Kenwood Corp Image display device, and image display method

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