JP4867463B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device that, when detecting an obstacle present around a vehicle, displays a position of the obstacle to alert a driver.

As a conventional technique, there is a back guide monitor system that uses a display constituting a car navigation device to display an image behind the vehicle when the vehicle is driven backward. However, the information required by the driver when actually performing reverse driving is not limited to the rear image. For example, when there is an obstacle such as a wall on the front side of the vehicle, it is necessary to operate so that the front corner of the vehicle does not touch the obstacle, and information for performing the operation is also required.
In the conventional back guide monitor system, only the video information behind the vehicle can be obtained, and the driver can view the rear image of the display, visually check the rear, It is necessary to move the line of sight frequently during driving operations, such as visually confirming the front of an object, and to recognize the information obtained by each in an integrated manner. As a result, there is a problem that the driver is subjected to a cognitive load.

For example, Patent Document 1 discloses dangerous information (such as information on an approaching vehicle) that may be overlooked while the driver is operating the navigation device, when the driver looks at the operation unit of the navigation device. A technique provided in the operation unit is disclosed.
JP 2002-49998 A

However, since the technique disclosed in Patent Document 1 is limited to the operation of navigation, CD cassette, radio, air conditioner, etc., as described above, in addition to the driver viewing the display, It cannot be applied to a case of driving operation in which visual confirmation is also performed.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a driving support device that can reduce the cognitive load when the driver needs to drive while checking a lot of information. There is to do.

According to the driving support apparatus according to claim 1, when the obstacle is detected by the obstacle detection unit, the control unit detects the position of the obstacle and the line-of-sight direction of the driver detected by the line-of-sight direction detection unit. The display means is controlled so that the position indicated by is displayed in an area visible to the driver in the line-of-sight direction among the front, rear, left side, and right side of the vehicle. With this configuration, the driver can intuitively grasp the position near the obstacle around the vehicle with reference to the direction in which the driver is currently looking. Therefore, it becomes easy to pay attention to a place where an obstacle is approaching as necessary, and the driver's cognitive load can be reduced.
Then, when the line-of-sight direction detected by the line-of-sight direction detecting unit moves, the control unit moves a region where display is performed by the display unit along with the movement. Therefore, even if the driver moves his / her line of sight while the state where the obstacle is approaching, the approach situation can be continuously recognized by the display.
According to the driving support apparatus of the second aspect, since the display means is configured to project and display an image on the window glass of the vehicle, a wide display area can be secured and the display can be performed in a more flexible form. Thus, it is possible to perform display in an area close to the direction in which the driver's line of sight is actually facing.
According to the driving support apparatus of the third aspect , the display means includes at least one configured to project and display an image on the window glass of the vehicle and one disposed on the dashboard. In other words, the driver not only looks at the surroundings through the window glass while driving, but also checks various displays on the instrument panel and navigation displays, and operates the air conditioner and audio equipment. You may turn your eyes to Therefore, if the display means is arranged on the dashboard, the position where the obstacle is approaching can be recognized even in such a case.
When the driver's line-of-sight direction is directed to the display unit disposed on the dashboard, the control unit is configured to output the audio output unit and / or the light disposed at a location close to the direction in which the obstacle is located. An audio signal and / or an optical signal is output from the signal output means to alert the driver. That is, in the above case, since the driver's line of sight is not directed to the periphery of the host vehicle, it is necessary to give a clearer warning when approaching an obstacle. Therefore, by outputting the audio signal and / or the optical signal, the driver's attention can be directed in the direction in which the obstacle is approaching.

According to the driving support apparatus of the fourth aspect , since the control unit emphasizes and displays the position where the obstacle is detected on the display unit, the driver approaches the direction in which he / she is currently looking. It becomes possible to grasp the positional relationship with the obstacles more intuitively.

According to the driving support apparatus of the fifth aspect , the control means changes the display state of the obstacle on the display means according to the detection state of the obstacle by the obstacle detection means. In other words, if the attribute of the obstacle can be grasped based on the detected state of the obstacle, a more appropriate warning can be given to the driver by changing the display state according to the attribute. it can.

According to the driving support apparatus of the sixth aspect , since the control means changes the display state according to the distance to the obstacle, the warning given to the driver can be changed according to the degree of approach between the obstacle and the vehicle. .

According to the driving support apparatus of the seventh aspect , since the control means displays the distance to the obstacle on the display means, the driver more specifically indicates how close the host vehicle is to the obstacle. Can be recognized.

According to the driving support apparatus of the eighth aspect , since the control means changes the display state of the obstacle depending on whether the obstacle is stationary or moving, the obstacle is like a pedestrian, for example. The driver can recognize that it is moving and call attention.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a schematic functional block diagram showing the configuration of the driving support device 1. A driving support apparatus 1 mounted on a vehicle includes a gaze detection unit (gaze direction detection unit) 2, an information generation unit 3, an information provision control unit (control unit) 4, a provision device group (display unit) 5, and the like. Has been. The line-of-sight detection unit 2 detects the direction of the driver's face or the direction of the line of sight by processing video information obtained from a camera (not shown) that captures the behavior of the driver during driving. The details of the technology are disclosed in, for example, Japanese Patent Application Laid-Open No. 2005-266899 and Japanese Patent Application Laid-Open No. 2005-136561.

  The information generation unit 3 includes an obstacle sensor (obstacle detection unit) 6, a message generation unit 7, a camera (obstacle detection unit) 8, an image processing unit 9, and the like. The obstacle sensor 6 detects an obstacle existing around the vehicle using, for example, a laser or a microwave, and the message generation unit 7 uses the obstacle sensor 6 to detect the obstacle. A warning message to be given is generated. A plurality of obstacle sensors 6 are arranged, for example, at four corners or more of the vehicle.

A plurality of cameras 8 are arranged to capture images around the vehicle, and the image processing unit 9 processes the images captured by the camera 8 and combines the images as necessary. It has become. Information output from the line-of-sight detection unit 2 and the information generation unit 3 is given to the information provision control unit 4. FIG. 2 is a plan view showing an arrangement example of the obstacle sensor 6 and the camera 8 with respect to the vehicle.
The information provision control unit 4 is configured by a microcomputer or the like, and includes a provision device selection logic 10, a line-of-sight area display generation logic 11, a display content generation logic 12, and the like. These are blocks obtained by blocking the processing function portion by software.

  The providing device selection logic 10 selects which of the providing device groups 5 performs the warning display according to the line-of-sight direction of the driver detected by the line-of-sight detection unit 2. The line-of-sight area display generation logic 11 generates information for displaying an area captured by the driver's line of sight as an image according to the line-of-sight direction of the driver. The display content generation logic 12 generates image information obtained by integrating the line-of-sight area information generated by the line-of-sight area display generation logic 11 and the information output from the information generation unit 3. The image information is output to one of the providing device groups 5 selected by the selection logic 10.

  The providing device group 5 includes, for example, a window shield display (WSD, hereinafter referred to as a WS display) that projects and displays an image on an arbitrary area of the window shield glass of the vehicle. As shown in FIG. WS displays 5F, 5R, 5SL, and 5SR are arranged in each part of the vehicle so as to correspond to the front, rear, and both sides of the glass respectively. Note that the WS displays 5SL and 5SR are further divided into two parts, for example, in the example shown in FIG. Details of the structure and operation of the WS display are disclosed in, for example, Japanese Patent Application Laid-Open Nos. 2006-1377 and 2006-31618.

  Next, the operation of the present embodiment will be described with reference to FIGS. FIG. 3 is a flowchart showing mainly software-like processing contents performed by each functional unit of the driving support device 1. The information generation unit 3 periodically acquires and processes sensor information given from the obstacle sensor 6 and the camera 8 (step S1), and generates a message to be provided by the providing device group 5 as necessary (step S1). Step S2). Similarly, the line-of-sight detection unit 2 periodically obtains driver images captured by the camera (step S3), and detects the line-of-sight direction by processing the video information (line-of-sight information generation, step S4). ).

  In the information provision control unit 4, the line-of-sight area display generation logic 11 generates a display image of the line-of-sight area based on the line-of-sight information of the driver, and the display content generation logic 12 is output from the line-of-sight area information and information generation unit 3. An image integrated with the warning message image is generated (step S5). The information providing control unit 4 starts the process from step S5 when the information generating unit 3 outputs a message generated by detecting the approach of an obstacle, and is in a standby state until then. .

  Then, the provided device selection logic 10 determines the direction in which the driver's line of sight is directed based on the line-of-sight information (step S6), and selects one of the provided device groups 5 at a position that can be captured in the line-of-sight direction. Then (step S7), the display content generation logic 12 outputs image information to the selected WS display 5 (step S8). Then, a warning image is displayed on the selected WS display 5 (step S9).

4 and 5 show examples of actual display images. The case shown in FIG. 4 is a case where another vehicle C2 traveling in an overtaking lane is approaching from behind while the host vehicle C1 is traveling in the traveling lane, and an image is displayed on the right side of the front window FW by the WS display 5F. V1 is projected and displayed. At this time, since the driver's line of sight is directed forward, the line of sight area indicated by the eye symbol image is displayed to be in front of the symbol indicating the host vehicle.
Note that the spread of the line-of-sight area varies depending on the line-of-sight direction of the driver, but in a case where the periphery of the vehicle is confirmed, the spread of about 2 m including the center of the line of sight is often the center of the visual field. Needless to say, the projected image V1 is displayed in a form in which the driver can visually recognize the situation in front of the vehicle through the display.

  Then, the image of the other vehicle C2 that is supplemented by the information generating unit 3 and approaching the host vehicle C1 from behind is displayed together, and a star-shaped symbol mark indicating the degree of danger is displayed on the approaching side of the host vehicle C1. Displayed in position (highlighted). This star symbol is set so that the display form changes according to the type of obstacle and the degree of approach. For example, if the obstacle is a stationary object such as a utility pole or post, it is displayed in yellow, and the obstacle is When it is a moving object such as a pedestrian or another vehicle C2, it is displayed in red. In addition, regardless of the type of obstacle, it may be displayed in yellow when the distance from the obstacle is relatively long, and may be displayed in red when approaching to some extent.

  By changing the display state in this way, the driver grasps the degree of approach between the host vehicle C1 and the obstacle, or informs the driver that an obstacle moving like a pedestrian is approaching. Recognize and call attention. The image of the other vehicle C2 may be displayed as a symbol by reducing the information amount of the video imaged by the camera 8, or may be a symbol image of a vehicle prepared in advance. . Therefore, the driver grasps the image projected and displayed on the front window FW in the field of view, so that the driver is currently looking forward and the other vehicle C2 is approaching from the right rear side of the own vehicle C1. Can be recognized.

  Further, in the case of FIG. 5, an obstacle (specifically not shown, for example, a power pole) is shown in the right rear side of the own vehicle C <b> 1 in a state where the own vehicle is started backward and the driver is looking toward the left rear. The case where O is approaching is shown. At this time, the WS display 5SL is selected as the providing device according to the line-of-sight direction of the driver, and the image V2 is projected and displayed on the side window SW on the right rear seat side of the host vehicle. Therefore, the driver grasps the image projected and displayed on the side window SW in the field of view, so that the driver is currently turning his / her line of sight to the left rear side, and the obstacle O is approaching the right rear side of the host vehicle C1. I can recognize that there is.

  When the driver moves the line-of-sight direction while displaying as shown in FIGS. 4 and 5, the line-of-sight movement is detected by the line-of-sight detection unit 2, and the information provision control unit 4 performs the process of step S <b> 5. Reflected immediately. Therefore, the display position projected on the window glass changes as the driver moves in the line-of-sight direction. For example, in the case of FIG. 5, when the driver's line of sight moves to the left rear side, the providing device selects the WS display 5SR, and the display moves to the left rear side window and is displayed.

As described above, according to this embodiment, when an obstacle is detected by the obstacle sensor 6, the information provision control unit 4 of the driving support device 1 uses the position where the obstacle is detected and the line-of-sight detection unit 2. The WS display 5 is controlled so that the detected position indicated by the line-of-sight direction of the driver is displayed in an area visible to the driver in the line-of-sight direction.
Therefore, the driver can intuitively grasp the position around the vehicle where the obstacle is approaching based on the direction in which the driver is currently looking. Further, by highlighting the obstacle at that time, it becomes easier to pay attention to the place where the obstacle is approaching, and the cognitive load of the driver can be reduced. Since the WS display 5 is used, a wide display area can be secured and display can be performed more flexibly, and display can be performed in an area close to the direction in which the driver's line of sight is actually facing.

Moreover, since the information provision control part 4 highlights and displays the position where the obstacle was detected on the WS display 5, the driver can see the obstacle that is approaching the direction in which he / she is currently looking. It becomes possible to grasp the positional relationship more intuitively. Further, when the line-of-sight direction detected by the line-of-sight direction detecting means moves, the information provision control unit 4 moves the display area along with the movement, so that the driver can continue while the obstacle is approaching. Even if the user moves his / her line of sight, the driver can continue to recognize the approaching situation.
In addition, the information provision control unit 4 changes the display state of the WS display 5 according to the detection state of the other vehicle C2 or the obstacle O. Specifically, since the display state is changed according to the distance to the obstacle and whether the obstacle is stationary or moving, a warning can be given to the driver more appropriately.

(Second embodiment)
FIG. 6 shows a second embodiment of the present invention. The same parts as those of the first embodiment are denoted by the same reference numerals and the description thereof is omitted. Hereinafter, different parts will be described. The configuration of the second embodiment is substantially the same as that of the first embodiment, and shows a case where the image display form displayed on the WS display 5 is slightly different. The case shown in FIG. 6 is a case where the host vehicle is started backward and is turning right and entering the parking space of the parking lot while another vehicle C2 already parked approaches the left side of the host vehicle C1. It is in a state of being.

At this time, the image around the host vehicle is displayed in a bird's eye view that is synthesized entirely (composite bird's eye view image processing), and the image V3 in FIG. 6 is projected onto the rear window RW of the host vehicle by the WS display 5R. Is displayed. In the second embodiment, the distance from the obstacle detected by the obstacle sensor 6 is also displayed, and a warning message “CAUTION! 5 cm” is displayed for the other vehicle C2 approaching the left side. Is displayed. Therefore, the driver grasps the image projected and displayed on the rear glass in the field of view, so that he is currently turning his / her line of sight toward the left rear side and the other vehicle C2 parked on the left rear side of the own vehicle C1 approaches. I can recognize that
As described above, according to the second embodiment, the information provision control unit 4 displays the distance to the obstacle on the WS display 5, so that the driver can determine how close the vehicle is to the obstacle. Can be recognized more specifically.

(Third embodiment)
7 to 9 show a third embodiment of the present invention, and only the parts different from the first embodiment will be described. In FIG. 7, the driving support device 21 of the third embodiment includes an instrument panel display (IP display, display means) 23 and a side pillar speaker 24 (A, B, C) as the providing device group 22 in addition to the WS display 5. , D, audio signal output means).
The providing device selection logic 10A constituting the information provision control unit (control means) 25 also selects the IP display 23 and the speaker 24. Moreover, the information provision control part 25 is provided with the output speech synthesis logic 26, and produces | generates the audio | voice information output from the speaker 24 according to the selection result by 10A of selection logics.

FIG. 8 shows an arrangement image of the IP display 23. In other words, the IP display 23 has a wide display area that occupies most of the dashboard portion in the passenger compartment. Within the display area, the conventional speedometer, tachometer, distance meter, fuel gauge, car audio, etc. It is configured to display the air conditioner and the like in an integrated manner. Then, the same display as that of the first embodiment can be performed in the empty space of the display area excluding them, or the display space temporarily secured. In FIG. 8, the warning image V4 is displayed in a form closer to an actual video.
The side pillar speaker 24 is a speaker arranged inside each side pillar (only the front speakers 24A and 24B are shown in FIG. 8), and is arranged to output auxiliary warning information by sound. .

  Next, the operation of the third embodiment will be described with reference to FIG. The information provision control unit 25 executes steps S5 to S8 in the same manner as in the first embodiment. When the process proceeds from step S8 to S11, the selection logic 10A determines whether the IP display 23 is selected. If it is not the IP display 23 (“NO”), the process returns to step S5, and if it is the IP display 23 (“YES”), the audio information is output to the side pillar speaker 24 (step S12).

  In other words, the driver not only looks at the surroundings through the window glass while driving, but also checks various displays on the instrument panel and navigation displays, and operates the air conditioner and audio equipment. You may turn your eyes to In the above case, the driver's line-of-sight direction is facing the IP display 23, so the driver does not visually observe the situation around the host vehicle. Therefore, an audio signal is also output from the side pillar speaker 24 arranged on the side close to the position where the obstacle is approaching (step S13) to alert the driver. The sound output at this time may be, for example, a buzzer sound or intermittent oscillation sound, but may provide specific information such as “an obstacle is approaching in the right direction” by the synthesized sound. .

  As described above, according to the third embodiment, when the IP display 23 is arranged on the dashboard and the driver looks at the IP display 23, information on the line-of-sight area and the obstacle is displayed on the IP display 23. Therefore, the driver can recognize the position where the obstacle is approaching. In this case, since the audio signal is output from the side pillar speaker 24 arranged at a location close to the direction in which the obstacle is located and the driver is warned, the driver's attention is in the direction in which the obstacle is approaching. Can be directed to.

The present invention is not limited to the embodiments described above or shown in the drawings, and the following modifications are possible.
Instead of displaying the line-of-sight area, the position indicated by the line-of-sight direction may be displayed as a point.
Highlighting the position of the detected obstacle may be performed as necessary. Further, it is not always necessary to change the display form according to the type of obstacle.
The display means is not limited to the WS display 5. For example, a small liquid crystal display may be arranged on the dashboard or near the side window of the door.
Only one of the obstacle sensor 6 and the camera 8 may be provided to detect an obstacle.
In the third embodiment, instead of the side pillar speaker 24, a speaker disposed on the door may be used as the audio signal output means.
Further, in the third embodiment, the warning may be performed by arranging an optical signal output means such as a warning lamp and outputting an optical signal together with or in place of the side pillar speaker 24. . Further, it is not always necessary to give a warning by voice or light.
Further, in the third embodiment, warning display may be performed only by the IP display 23.

The functional block diagram which is 1st Example of this invention and shows the structure of a driving assistance device roughly Plan view showing an arrangement example of an obstacle sensor, a camera, etc. for a vehicle Flowchart showing the contents of mainly software processing performed by each function unit of the driving support device Figure showing an example of an actual display image (Part 1) Diagram showing an example of actual display image (Part 2) FIG. 4 equivalent view showing a second embodiment of the present invention. FIG. 1 equivalent view showing a third embodiment of the present invention. Diagram showing the arrangement of the instrument panel display 3 equivalent figure

Explanation of symbols

  In the drawings, 1 is a driving support device, 2 is a gaze detection unit (gaze direction detection means), 4 is an information provision control unit (control means), 5 is a window shield display (display means), and 6 is an obstacle sensor (obstacle). Detection means), 8 a camera (obstacle detection means), 21 a driving support device, 23 an instrument panel display (display means), 24 a side pillar speaker (audio signal output means), 25 an information provision control unit ( Control means).

Claims (8)

Obstacle detection means for detecting obstacles around the vehicle;
Gaze direction detection means for detecting the gaze direction of the driver of the vehicle;
When an obstacle is detected by the obstacle detection means, the position where the obstacle is detected and the position indicated by the line-of-sight direction detected by the line-of-sight detection means are the front, rear, left side of the vehicle, Control means for controlling the display means so as to be displayed in a region visible to the driver in the line-of-sight direction on the right side,
When the line-of-sight direction detected by the line-of-sight direction detecting means moves, the control means moves a region where display is performed by the display means along with the movement. The driving support apparatus according to claim 1, wherein the display unit is configured to project and display an image on a window glass of a vehicle . Obstacle detection means for detecting obstacles around the vehicle;
Gaze direction detection means for detecting the gaze direction of the driver of the vehicle;
Display means including at least one configured to project and display an image on a window glass of a vehicle, and one disposed on a dashboard;
When an obstacle is detected by the obstacle detection means, the position where the obstacle is detected and the position indicated by the line-of-sight direction detected by the line-of-sight direction detection means in the line-of-sight direction of the display means Control means for controlling the display means so as to be displayed in an area visible to the driver,
When the line of sight detected by the line-of-sight detection means is directed to the display means arranged on the dashboard, the control means is located at the obstacle detected by the obstacle detection means. A driving support device that warns the driver by outputting an audio signal and / or an optical signal by an audio output unit and / or an optical signal output unit arranged at a location close to the direction . The driving support apparatus according to claim 1, wherein the control unit highlights the position where the obstacle is detected on the display unit .   The driving according to any one of claims 1 to 4, wherein the control means changes a display state of the obstacle on the display means in accordance with an obstacle detection state by the obstacle detection means. Support device. It is configured to be able to detect the distance to the obstacle detected by the obstacle detection means,
The driving support device according to claim 5, wherein the control unit changes a display state of the obstacle according to a distance to the obstacle.   The driving support apparatus according to claim 6, wherein the control unit causes the display unit to display a distance to the obstacle.   The driving support device according to claim 5, wherein the control unit changes a display state of the obstacle according to whether the obstacle is stationary or moving. .

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