WO2013136374A1 - Dispositif d'assistance à la conduite - Google Patents

Dispositif d'assistance à la conduite Download PDF

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Publication number
WO2013136374A1
WO2013136374A1 PCT/JP2012/001862 JP2012001862W WO2013136374A1 WO 2013136374 A1 WO2013136374 A1 WO 2013136374A1 JP 2012001862 W JP2012001862 W JP 2012001862W WO 2013136374 A1 WO2013136374 A1 WO 2013136374A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
driving support
display
display controller
recommended viewpoint
Prior art date
Application number
PCT/JP2012/001862
Other languages
English (en)
Japanese (ja)
Inventor
涼太郎 鈴木
井上　悟
幸生 西本
Original Assignee
三菱電機株式会社
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
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2014504467A priority Critical patent/JP5826375B2/ja
Priority to PCT/JP2012/001862 priority patent/WO2013136374A1/fr
Publication of WO2013136374A1 publication Critical patent/WO2013136374A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/23—Head-up displays [HUD]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—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
    • B60K35/285—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 for improving awareness by directing driver's gaze direction or eye points
    • 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
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/149—Instrument input by detecting viewing direction not otherwise provided for
    • 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
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/20—Optical features of instruments
    • B60K2360/33—Illumination features
    • B60K2360/334—Projection means
    • 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
    • G02B2027/0138—Head-up displays characterised by optical features comprising image capture systems, e.g. camera
    • 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

Definitions

  • the present invention relates to a driving support device that displays a driving support marker using a vehicle windshield or the like as a head-up display.
  • a driving support device having a function of displaying a guide line representing a vehicle width, a traveling locus, and the like superimposed on an image around a vehicle captured by an around view camera or a back camera has been put into practical use.
  • the image is displayed on the monitor display in any of the devices, the driver needs to move the line of sight from the front of the vehicle to the monitor display, and there is a problem that the periphery of the vehicle cannot be directly confirmed.
  • a driving support device that uses a head-up display and displays a guide line on a windshield (see, for example, Patent Document 1).
  • the driver can check the road conditions and the guide line through the windshield.
  • improvement of a method for displaying information for driving assistance has been desired.
  • the present invention has been made to solve the above-described problems, and displays a virtual image of a marker for driving assistance on a scenery viewed by the driver through the windshield so that the driver can recognize the situation around the vehicle and drive the vehicle.
  • the purpose is to reduce the load.
  • the driving support device includes a display controller that displays a virtual image of a recommended viewpoint marker indicating the position of the viewpoint to be placed by the driver on the scenery seen through the windshield as a driving support image.
  • the virtual image of the recommended viewpoint marker indicating the position of the viewpoint to be placed by the driver is recognized on the scenery that can be seen through the windshield, so that the driver can travel while looking at a distance from the vehicle.
  • the situation recognition and driving operation load can be reduced.
  • FIG. 1 It is a block diagram which shows the structure of the driving assistance apparatus which concerns on Embodiment 1 of this invention. It is a schematic diagram which shows the scenery which the driver looked through the windshield, and shows the state where the point-shaped recommended viewpoint marker is displayed. It is a figure explaining the display position determination method of the recommended viewpoint marker by the driving assistance device which concerns on Embodiment 1.
  • FIG. It is the schematic diagram which accumulated the optical flow on the scenery which the driver saw through the windshield. It is a schematic diagram which shows the scenery which the driver looked through the windshield, and shows a state in which a short line-shaped recommended viewpoint marker is displayed. It is a schematic diagram which shows the scenery which the driver saw through the windshield, and shows a state in which a long line-shaped recommended viewpoint marker is displayed.
  • FIG. 1 includes a head-up display (hereinafter referred to as HUD) 1, a display controller 2, a vehicle speed sensor 3, a steering sensor 4, a yaw rate sensor 5, a turn signal switch 6, a camera 7, an image processing unit 8, and a car navigation system.
  • HUD head-up display
  • display controller 2 a vehicle speed sensor 3
  • steering sensor 4 a steering sensor 4
  • yaw rate sensor 5 a turn signal switch 6
  • camera 7 an image processing unit 8
  • car navigation system an apparatus 9 and a road condition determination unit 10 are included.
  • the HUD 1 reflects the image from the projector 11 by the mirror 12 and projects the image on the windshield 13 of the vehicle, causing the driver to recognize it as a virtual image.
  • the display controller 2 performs display control of an image projected by the projector 11 onto the windshield 13. With this configuration, when the driver looks at the front of the vehicle, the virtual image projected from the projector 11 onto the windshield 13 appears to be superimposed on the scenery in front of the vehicle seen through the windshield 13.
  • a display control method a known technique (for example, refer to Japanese Patent Laid-Open No. 6-115381) may be used, and in accordance with this, a parameter indicating the relationship between the projection position of the virtual image and the display position on the scene is preliminarily displayed. Set to.
  • the image of the projector 11 is projected onto the sheet or the screen, and on the scene that can be seen through the windshield 13.
  • the images may overlap at a predetermined position.
  • the vehicle speed sensor 3 measures the speed of the host vehicle and outputs it to the display controller 2.
  • the steering sensor 4 detects the steering angle of the host vehicle and outputs it to the display controller 2.
  • the yaw rate sensor 5 detects the yaw rate of the host vehicle and outputs it to the display controller 2. It is not necessary to provide both the steering sensor 4 and the yaw rate sensor 5, and either one may be provided.
  • the turn signal switch 6 outputs turn signal information indicating a right turn or a left turn to the display controller 2.
  • the camera 7 images the front of the host vehicle and outputs it to the image processing unit 8.
  • the image processing unit 8 calculates the optical flow of the captured image by image processing, recognizes the shape of the road in front of the vehicle, the shape of the curve, and the like, and outputs the processing result to the display controller 2.
  • the navigation 9 holds map information around the host vehicle, and the road condition determination unit 10 determines from the map information of the navigation 9 the type of road on which the host vehicle is traveling (highway, general road, etc.) and the type of location ( The intersection, a parking lot, etc.) or the shape of the road in front of the vehicle and the shape of the curve, etc. are determined, and the determination result is output to the display controller 2.
  • the display controller 2 is based on information obtained from any one or more of the vehicle speed sensor 3, the steering sensor 4, the yaw rate sensor 5, the turn signal switch 6, the image processing unit 8, and the road condition determination unit 10. And the position and shape of the display of the driving assistance marker are changed according to the vehicle traveling state.
  • a marker display method corresponding to the vehicle traveling state will be described.
  • the display controller 2 displays the viewpoint on which the driver should be placed on the windshield 13 as a point when the host vehicle is traveling at a medium to high speed.
  • the driving support marker is displayed at a recommended position where the driver should place his / her viewpoint in order to extract the effect.
  • FIG. 2 shows the scenery viewed from the driver. From the driver, the handle 14 and the windshield 13 are visible, and the recommended viewpoint marker 20 is recognized as a virtual image on the scenery in front of the vehicle seen through the windshield 13.
  • the recommended viewpoint marker 20 in the example of FIG. 2 is displayed on a road indicating a destination point about 60 m ahead at 60 km / h, that is, about 3 seconds after traveling straight ahead.
  • FIG. 3 is a diagram illustrating a method for determining the display position of the recommended viewpoint marker 20.
  • the display controller 2 determines the display position of the recommended viewpoint marker 20 according to the vehicle speed measured by the vehicle speed sensor 3 and the steering angle estimated from the steering angle detected by the steering sensor 4 or the yaw rate detected by the yaw rate sensor 5. .
  • the display controller 2 responds to the vehicle speed during straight traveling (steering angle 0 degree) as shown in FIG.
  • the reach distance at / h, the reach distance of 60 km / h, and the reach distance of 100 km / h are obtained.
  • the direction in which the recommended viewpoint marker 20 is displayed is determined according to the steering angle. Furthermore, in the case of curve driving, if the recommended viewpoint marker 20 is displayed far away, it may be displayed in a range where the visibility of the curved road is not clear. Therefore, it is desirable to limit the display position of the recommended viewpoint marker 20 to at least a range that is theoretically visible according to the traveling curvature, that is, the steering angle. Specifically, it is necessary to limit the display range of the recommended viewpoint marker 20 near the host vehicle as the steering angle increases. Therefore, as shown in FIG. 3, the display range 30 recommended at the vehicle speed of 30 km / h, the display range 31 of 60 km / h, and the display range 32 of 100 km / h are substantially arc-shaped.
  • the display controller 2 determines the arrival distance according to the vehicle speed and the display direction according to the steering angle, further corrects the arrival distance according to the steering angle, and displays the recommended viewpoint marker 20 at the position. To do. Note that the display controller 2 may adjust the display position so that the recommended viewpoint marker 20 does not deviate from the road based on the degree of road bending, the road width, and the like recognized by the image processing unit 8 through the image recognition process. Alternatively, the display position may be adjusted so that the recommended viewpoint marker 20 does not deviate from the road based on the degree of road bending or the road width determined by the road condition determination unit 10 from the map information of the navigation 9.
  • the display controller 2 displays the recommended viewpoint marker 20 at the point 34 on the road when the vehicle speed of the host vehicle 33 is 30 km / h and the steering angle is 0 degree.
  • the display controller 2 moves the display position of the recommended viewpoint marker 20 from the point 34 to the point 35.
  • the display controller 2 displays the recommended viewpoint marker 20 at the point 36 when the vehicle speed of the host vehicle 33 is 60 km / h and the steering angle is 90 degrees, and the vehicle speed of the host vehicle 33 is 100 km / h and the steering angle is 0.
  • the recommended viewpoint marker 20 is displayed at the point 37.
  • the arrival point after about 3 seconds is set as the recommended position where the driver should place the viewpoint, but the arrival point at any other time may be set as the recommended position.
  • the display controller 2 may display the recommended viewpoint marker 20 farther than the display range 30 to 32 shown in FIG. 3 when the traveling place is the highway. In this case, the display controller 2 may determine whether the current travel location is an expressway based on the road type acquired by the road condition determination unit 10 from the map information of the navigation 9 or the vehicle speed of the vehicle speed sensor 3. .
  • the display controller 2 displays the recommended viewpoint marker 20 closer to the display range 30 to 32 shown in FIG. 3 when the traveling place is a parking lot or the like. It may be. In this case, if the display controller 2 determines whether or not the current travel location is in a parking lot or other facility based on the information indicating the travel location acquired from the map information of the navigation 9 by the road condition determination unit 10. Good.
  • the display controller 2 is recommended to be closer to the display range 30 to 32 shown in FIG.
  • the viewpoint marker 20 may be displayed.
  • the display controller 2 may determine whether or not the traveling place is a place that requires a right or left turn such as an intersection based on the turn signal information indicating the right or left turn of the turn signal switch 6. Or you may judge based on the information which shows the driving
  • the display controller 2 uses an optical flow (for example, an optical flow in a straight line direction of the vehicle) recognized from an image obtained by imaging the periphery of the vehicle, instead of the vehicle speed, as a determinant of the distance from the host vehicle to the viewpoint to be placed by the driver.
  • the recommended viewpoint marker 20 is displayed at a position where the optical flow has a predetermined speed in the scenery seen through the windshield 13.
  • the optical flow is a distribution of velocity vectors representing how much the attention point in successive images has moved in which direction per unit time. The velocity vector is large in the vicinity of the host vehicle, and the velocity vector is small as the distance is increased.
  • the optical flow is calculated from the image captured by the camera 7 by the image processing unit 8.
  • FIG. 4 shows the scenery seen from the driver.
  • Each is indicated by a broken line
  • the range of the optical flow corresponding to each speed in the vehicle left-right direction is indicated by a solid line.
  • the scenery to be recognized by the driver at medium speed travels at a speed of 60 km / h as shown by a broken line in FIG.
  • the scenery to be recognized moves at a faster speed of 80 km / h, as shown in FIG. . This makes it difficult for the driver to recognize the situation during high-speed traveling.
  • placing the viewpoint moderately far away means looking at a point where the amount of movement and the range of movement of the scenery are easy to recognize.
  • the driver's viewpoint is placed at a position 60 m away as shown in FIG. 4A, the scenery to be recognized moves at the same speed of 60 km / h as in FIG. 4B, but the movement range is as shown in FIG. Narrower than Therefore, the driver can easily recognize the situation.
  • the amount and range of movement of the scenery is an optical flow itself, and it is appropriate to determine the distance to display the recommended viewpoint marker 20 using the optical flow of the scenery captured by the camera 7. In addition, it is generally known that as the traveling speed increases, it is necessary to look farther. However, it is also considered that an appropriate determination can be made by considering the viewpoint position based on the speed information of the optical flow. .
  • the driver may perform a driving operation (fine correction of the steering) so that the recommended viewpoint marker 20 continues to be in the range of the road width.
  • the load is small.
  • the cognitive load is small by looking at a point where the situation is easily recognized.
  • the shape of the recommended viewpoint marker 20 may be other than a point shape.
  • a modification example will be described below.
  • 5 and 6 are examples in which the recommended viewpoint marker 20 is linear.
  • the display controller 2 calculates a future travel locus based on the vehicle speed and the steering angle, and displays it as a recommended viewpoint marker 20 of a line segment having a predetermined length.
  • the short recommended viewpoint marker 20 as shown in FIG. 5 may be displayed only in the vicinity of the arrival point after about 3 seconds, and only the traveling locus in the vicinity of the arrival point may be notified to the driver, or the long recommended viewpoint marker as shown in FIG. 20 may be displayed extending to the arrival point after about 3 seconds from the current position of the host vehicle, and the driver may be informed of the continuous travel locus to the arrival point.
  • a line shape since the driver can be aware of the continuity of the response (arrival point) to his / her driving operation, there is an advantage that a sudden or unnecessary steering angle correction is difficult to occur.
  • the display controller 2 may perform display control so as to change the length of the recommended viewpoint marker 20 according to the vehicle speed. For example, when the vehicle is traveling at a medium speed or higher than a predetermined vehicle speed, the recommended recommended viewpoint marker 20 is short as shown in FIG. Is displayed, and a long recommended viewpoint marker 20 is displayed as shown in FIG.
  • the display controller 2 may also change the thickness of the line of the recommended viewpoint marker 20 when changing the distance for displaying the recommended viewpoint marker 20 according to the vehicle speed. For example, the line of the recommended viewpoint marker 20 is made thinner as the vehicle speed increases.
  • FIG. 7 shows an example in which the recommended viewpoint marker 20 has a vehicle shape.
  • the display controller 2 calculates the arrival point after about 3 seconds based on the vehicle speed and the steering angle, and displays the recommended viewpoint marker 20 of the vehicle shape at the arrival point.
  • the display controller 2 may also change the size of the vehicle shape of the recommended viewpoint marker 20 when changing the distance for displaying the recommended viewpoint marker 20 according to the vehicle speed.
  • the driver can specifically imagine the passing image of the marker display point. For example, it is possible to easily trace the same travel line as the preceding vehicle by performing the driving operation so that the recommended viewpoint marker 20 of the vehicle shape overlaps the preceding vehicle.
  • FIG. 8 is an example in which a function that represents the vehicle width is combined with the recommended viewpoint marker.
  • the display controller 2 calculates a future travel locus based on the vehicle speed and the steering angle, and displays a recommended viewpoint marker 21 representing the actual vehicle width as viewed from the driver in the vicinity of the arrival point after about 3 seconds.
  • the recommended viewpoint marker 21 includes a line segment indicating the right end position of the host vehicle and a line segment indicating the left end position as shown in FIG. Since the recommended viewpoint marker 21 is displayed at a position close to the host vehicle during low speed traveling in FIG. 8C, the right end line and the left end line representing the vehicle width are separated, but the medium speed traveling in FIG.
  • the display position of the recommended viewpoint marker 21 becomes far from the host vehicle, so that the right end line and the left end line approach each other, and finally one line (or 1) Two points). For this reason, it is possible for the driver to have a natural display in which there is no switching between the boundary line indicating the vehicle width and the marker indicating the arrival point.
  • the shape of the recommended viewpoint marker 21 representing the arrival point and the vehicle width may be a vehicle shape.
  • FIG. 11 shows an example in which the recommended viewpoint marker 21 has a vehicle shape.
  • the vehicle-shaped recommended viewpoint marker 21 is also displayed as small in the distance during high-speed travel and large in the vicinity during low-speed travel, similarly to the linear recommended viewpoint marker 21 shown in FIG.
  • the driver can strictly determine contact / non-contact with an obstacle (such as a tunnel) having a height with respect to the ground.
  • the driving assistance device controls the video of the projector 11 of the HUD 1 and recommends the recommended viewpoint marker 20 that indicates the position of the viewpoint that the driver should place in the scenery seen through the windshield 13.
  • the display controller 2 for displaying the virtual image is provided. For this reason, it becomes possible for the driver to travel while viewing the recommended viewpoint marker 20 at an appropriate distance, and it is possible to reduce the situational recognition of the surroundings of the vehicle and the driving operation load.
  • the display controller 2 is configured to move the display position of the recommended viewpoint marker 20 in the perspective direction and the left-right direction with respect to the host vehicle based on the current traveling state. For this reason, the driver's viewpoint can be guided to an appropriate position according to the driving situation, and the driving operation load can be reduced.
  • the display controller 2 displays the recommended viewpoint marker 20 based on the current traveling state, a line indicating the trajectory that the host vehicle will travel from, and a point where the host vehicle reaches after a predetermined time. It is configured to change to a shape combining any one or more of a line or a point to be displayed, a boundary line indicating the left-right width of the host vehicle, and an image of the vehicle. For this reason, the display according to the driving
  • the driving support device uses the peripheral image captured by the camera 7 mounted on the host vehicle to calculate the image processing unit 8 that calculates the optical flow of the scenery seen through the windshield 13.
  • the display controller 2 is configured to display the recommended viewpoint marker 20 on the scenery moving at a predetermined speed based on the optical flow calculated by the image processing unit 8. For this reason, the load of situation recognition can be reduced.
  • the display controller 2 is configured to move the display position of the recommended viewpoint marker 20 to a position far from the own vehicle when the vehicle speed is high, and to a close position when the vehicle speed is low. Therefore, it is possible to reduce the situation recognition and driving operation load.
  • the display controller 2 moves the display position of the recommended viewpoint marker 20 in the left-right direction according to the steering angle, and automatically displays the display position of the recommended viewpoint marker 20 when the steering angle is small.
  • the display position of the recommended viewpoint marker 20 is moved to a near position. For this reason, the recommended viewpoint marker 20 can be displayed in the range where the visibility of a curved road is clear.
  • the display controller 2 is configured such that the size of the recommended viewpoint marker 20 is reduced when displayed at a position far from the host vehicle and increased when displayed at a close position. . For this reason, it is possible to improve the effectiveness of driving support by changing the length of the recommended viewpoint marker 20 having a linear shape or changing the size of the recommended viewpoint marker 20 having a vehicle shape according to the driving situation. it can.
  • the driving support apparatus includes the road condition determination unit 10 that determines whether the travel location is an expressway from the map information that the navigation 9 has, and the display controller 2 includes the vehicle speed sensor 3, The display position of the recommended viewpoint marker 20 determined based on information of one or more of the steering sensor 4, the yaw rate sensor 5, and the camera 7 is moved to a farther position when the current travel location is an expressway. It was configured to make it. For this reason, the load of situation recognition can be reduced when traveling on a highway with good visibility.
  • the display controller 2 displays the recommended viewpoint marker 20 determined based on any one or more of the vehicle speed sensor 3, the steering sensor 4, the yaw rate sensor 5, and the camera 7.
  • the position is configured to be moved to a closer position when the turn signal switch 6 outputs information on turning left or right.
  • a road condition determination unit 10 that determines whether the travel location is an intersection from map information of the navigation 9 is provided, and the display controller 2 is any of the vehicle speed sensor 3, the steering sensor 4, the yaw rate sensor 5, and the camera 7.
  • the display position of the recommended viewpoint marker 20 determined based on one or more information is configured to be moved to a closer position when the current travel location is an intersection. For this reason, it is possible to reduce the load of situation recognition when turning right or left.
  • the driving support apparatus includes the road condition determination unit 10 that determines whether the travel location is in the parking lot or the facility from the map information of the navigation 9, and the display controller 2
  • the display position of the recommended viewpoint marker 20 determined based on any one or more information of the sensor 3, the steering sensor 4, the yaw rate sensor 5, and the camera 7 is used when the current travel location is in a parking lot or facility. It was configured to move to a closer position. For this reason, the load of situation recognition can be reduced when traveling in a parking lot or the like with poor visibility.
  • the driving support device can detect the front of the vehicle from the map information of the image processing unit 8 or the navigation 9 that recognizes the shape of the road ahead of the vehicle from the peripheral image captured by the camera 7.
  • the display controller 2 recognizes the shape of the road of the vehicle so that the display controller 2 overlaps the display position of the recommended viewpoint marker 20 on the road ahead of the host vehicle recognized by the image processing unit 8 or the road state determination unit 10. Configured to adjust. For this reason, the recommended viewpoint marker 20 can be displayed in the range where the visibility of a curved road is clear.
  • any component of the embodiment can be modified or any component of the embodiment can be omitted within the scope of the invention.
  • the driving support apparatus displays the recommended position of the driver's viewpoint on the scenery seen through the windshield, and is therefore suitable for use in a vehicle equipped with a head-up display.
  • 1 HUD 1 HUD
  • 2 display controller 3 vehicle speed sensor, 4 steering sensor, 5 yaw rate sensor, 6 turn signal switch, 7 camera, 8 image processing unit, 9 navigation, 10 road condition judgment unit, 11 projector, 12 mirror, 13 front Glass, 14 handles, 20, 21 recommended viewpoint marker, 30-32 recommended viewpoint marker display range, 33 own vehicle, 34-37 recommended viewpoint marker display point, 40 roadside groove, 41 oncoming vehicle, 42 parked vehicle.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Instrument Panels (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

Afin de faciliter la reconnaissance des circonstances dans les environs d'un véhicule, ce dispositif d'assistance à la conduite détermine l'endroit où le conducteur doit fixer son regard en fonction de la vitesse du véhicule, de l'angle de braquage et autres, et il affiche le résultat sous la forme d'un point de repère visuel (20) conseillé dans le paysage visible à travers un pare-brise (13).
PCT/JP2012/001862 2012-03-16 2012-03-16 Dispositif d'assistance à la conduite WO2013136374A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2014504467A JP5826375B2 (ja) 2012-03-16 2012-03-16 運転支援装置
PCT/JP2012/001862 WO2013136374A1 (fr) 2012-03-16 2012-03-16 Dispositif d'assistance à la conduite

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Application Number Priority Date Filing Date Title
PCT/JP2012/001862 WO2013136374A1 (fr) 2012-03-16 2012-03-16 Dispositif d'assistance à la conduite

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WO2013136374A1 true WO2013136374A1 (fr) 2013-09-19

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WO2016198678A1 (fr) 2015-06-11 2016-12-15 Saint-Gobain Glass France Système de projection pour dispositif d'affichage tête haute (hud) à réalité augmentée
JP2017171116A (ja) * 2016-03-24 2017-09-28 マツダ株式会社 車両の室内指標表示装置
JP2017171117A (ja) * 2016-03-24 2017-09-28 マツダ株式会社 車両の室内指標表示装置
JP2017171118A (ja) * 2016-03-24 2017-09-28 マツダ株式会社 車両の室内指標表示装置
JP2017182595A (ja) * 2016-03-31 2017-10-05 日産自動車株式会社 運転支援方法及び運転支援装置
GB2559606A (en) * 2017-02-13 2018-08-15 Jaguar Land Rover Ltd Controlling the operation of a head-up display apparatus
WO2019031318A1 (fr) * 2017-08-08 2019-02-14 住友建機株式会社 Engin de voirie
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WO2020043352A1 (fr) 2018-08-29 2020-03-05 Saint-Gobain Glass France Dispositif de vérification pour un affichage tête-haute (hud)
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US10656414B2 (en) 2015-06-11 2020-05-19 Saint-Gobain Glass France Projection arrangement for a head-up display (HUD)
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US10828872B2 (en) 2016-03-17 2020-11-10 Saint-Gobain Glass France Composite pane having electrically conductive coating for a head-up display
CN113917923A (zh) * 2021-10-11 2022-01-11 上海安吉星信息服务有限公司 一种自动驾驶启动方法及装置

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US10234681B2 (en) 2013-12-12 2019-03-19 Saint-Gobain Glass France Thermoplastic film for a laminated-glass pane having a non-linear continuous wedge insert in the vertical and horizontal direction in some sections
JP2016070915A (ja) * 2014-09-30 2016-05-09 富士重工業株式会社 車両の視線誘導装置
JP2016071665A (ja) * 2014-09-30 2016-05-09 富士重工業株式会社 車両の視線誘導装置
KR20160062255A (ko) * 2014-11-24 2016-06-02 현대엠엔소프트 주식회사 차량 주행방향 기반 hud 시스템
KR102324280B1 (ko) * 2014-11-24 2021-11-12 현대오토에버 주식회사 차량 주행방향 기반 hud 시스템
US10350859B2 (en) 2014-12-08 2019-07-16 Saint-Gobain Glass France Composite glass having reduced thickness for a head-up display (HUD)
WO2016198678A1 (fr) 2015-06-11 2016-12-15 Saint-Gobain Glass France Système de projection pour dispositif d'affichage tête haute (hud) à réalité augmentée
US10656414B2 (en) 2015-06-11 2020-05-19 Saint-Gobain Glass France Projection arrangement for a head-up display (HUD)
US10678050B2 (en) 2015-06-11 2020-06-09 Saint-Gobain Glass France Projection arrangement for a contact analog head-up display (HUD)
US10828872B2 (en) 2016-03-17 2020-11-10 Saint-Gobain Glass France Composite pane having electrically conductive coating for a head-up display
JP2017171118A (ja) * 2016-03-24 2017-09-28 マツダ株式会社 車両の室内指標表示装置
JP2017171117A (ja) * 2016-03-24 2017-09-28 マツダ株式会社 車両の室内指標表示装置
JP2017171116A (ja) * 2016-03-24 2017-09-28 マツダ株式会社 車両の室内指標表示装置
JP2017182595A (ja) * 2016-03-31 2017-10-05 日産自動車株式会社 運転支援方法及び運転支援装置
GB2559606A (en) * 2017-02-13 2018-08-15 Jaguar Land Rover Ltd Controlling the operation of a head-up display apparatus
GB2559606B (en) * 2017-02-13 2021-03-10 Jaguar Land Rover Ltd Controlling the operation of a head-up display apparatus
US11214279B2 (en) 2017-02-13 2022-01-04 Jaguar Land Rover Limited Controlling the operation of a head-up display apparatus
JP7146767B2 (ja) 2017-08-08 2022-10-04 住友建機株式会社 道路機械
JPWO2019031318A1 (ja) * 2017-08-08 2020-09-24 住友建機株式会社 道路機械
WO2019031318A1 (fr) * 2017-08-08 2019-02-14 住友建機株式会社 Engin de voirie
JP2019093806A (ja) * 2017-11-20 2019-06-20 アルパイン株式会社 自動運転システム
JP7007055B2 (ja) 2017-11-20 2022-01-24 アルパイン株式会社 自動運転システム
DE202019005819U1 (de) 2018-08-29 2022-05-17 Saint-Gobain Glass France Prüfvorrichtung für ein Head-Up-Display (HUD)
US11340453B2 (en) 2018-08-29 2022-05-24 Saint-Gobain Glass France Testing device for a head-up display (HUD)
WO2020043352A1 (fr) 2018-08-29 2020-03-05 Saint-Gobain Glass France Dispositif de vérification pour un affichage tête-haute (hud)
JPWO2020067113A1 (ja) * 2018-09-25 2021-08-30 株式会社小糸製作所 灯具システムおよび車両用灯具
WO2020067113A1 (fr) * 2018-09-25 2020-04-02 株式会社小糸製作所 Système de phare et phare de véhicule
JP7287979B2 (ja) 2018-09-25 2023-06-06 株式会社小糸製作所 灯具システムおよび車両用灯具
US12017576B2 (en) 2018-09-25 2024-06-25 Koito Manufacturing Co., Ltd. Lamp system and automotive lamp
JPWO2020208779A1 (ja) * 2019-04-11 2021-09-13 三菱電機株式会社 表示制御装置及び表示制御方法
WO2020208779A1 (fr) * 2019-04-11 2020-10-15 三菱電機株式会社 Dispositif de commande d'affichage et procédé de commande d'affichage
CN113917923A (zh) * 2021-10-11 2022-01-11 上海安吉星信息服务有限公司 一种自动驾驶启动方法及装置

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