JP5406328B2 - VEHICLE DISPLAY DEVICE, ITS CONTROL METHOD AND PROGRAM - Google Patents

Description

  The present invention relates to a vehicle display device, a control method thereof, and a program. In particular, the present invention relates to a vehicle display device that supports driving, a control method thereof, and a program.

  In recent years, development of a head-up display capable of recognizing information necessary for driving as well as scenery during driving has been actively performed. A head-up display is realized by projecting an image onto a windshield. The driver recognizes the projected image as a virtual image located in front of the windshield. By using the head-up display, the driver can recognize information necessary for driving without diverting his line of sight from the front, so that a safe driving environment can be provided.

  In view of this, various techniques have been developed to display warnings corresponding to objects outside the vehicle (obstacles, other vehicles, pedestrians, etc.) on the head-up display to alert the driver.

  Here, in Patent Document 1, when an object outside the vehicle is outside the driver's field of view, information is displayed on the axis of the driver's line of sight or in the vicinity thereof, and the display position is set in the direction of the object outside the vehicle. An apparatus for guiding a driver's line of sight toward an object outside the vehicle by moving toward the vehicle is disclosed.

  Patent Document 2 discloses an apparatus that displays alert information in a peripheral visual field when a driver's line of sight is guided to an object.

  Patent Document 3 discloses an apparatus that guides the driver's line of sight to an object outside the vehicle after displaying a warning at a position deviated from the driver's line of sight.

Japanese Patent No. 4698002 JP 2003-291688 A JP 2010-126135 A

  Each disclosure of the above prior art document is incorporated herein by reference. The following analysis was made by the present inventors.

  As described above, a warning corresponding to an object outside the vehicle can be displayed by the head-up display to alert the driver. However, excessive warning display on low-risk objects (such as pedestrians who are not on the path of the vehicle, pedestrians who are moving away from the track of the vehicle) may be annoying to the driver. On the contrary, it becomes an obstacle to driving. In particular, the alarm display that obstructs the field of view is highly problematic for the driver. On the other hand, it is necessary for the driver to quickly respond to an object with a high degree of danger. For this reason, it is necessary to display a warning that is excessive to some extent and to alert the driver to an object outside the vehicle. That is, for a high-risk object, an alarm display that obstructs the field of view is an acceptable display.

  Here, according to the techniques disclosed in Patent Documents 1 to 3, the driver's line of sight can be guided to an object outside the vehicle. However, according to the techniques disclosed in Patent Documents 1 to 3, the driver's field of view may be hindered and the driver may feel troublesome.

  Therefore, a vehicle display device that displays an appropriate warning according to the degree of danger, a control method thereof, and a program without causing the driver to feel excessive annoyance is desired.

  According to the first aspect of the present invention, an object detection unit that detects an object outside the vehicle, a risk determination unit that determines the risk of the object outside the vehicle, and a position on the windshield that indicates the position of the object outside the vehicle. A warning image generation unit that generates a warning image that changes toward a region estimated as a driver's central visual field starting from the warning point converted into the following, and according to the determination result of the risk determination unit, There is provided a vehicular display device including an alarm image changing unit that changes a display mode and an image display unit that displays the alarm image on the windshield.

  According to a second aspect of the present invention, there is provided a control method for a vehicle display device including an image display unit that displays a warning image on a windshield, the step of detecting an object outside the vehicle, and the danger of the object outside the vehicle. A risk determination step for determining a degree, and the alarm image that changes toward an area estimated as a driver's central field of view, starting from an alarm location obtained by converting the position of an object outside the vehicle into a position on the windshield. There is provided a control method for a display device for a vehicle, including a warning image generation step to be generated and a step of changing a display mode of the warning image according to a determination result of the risk determination step.

  According to a third aspect of the present invention, there is provided a program that is executed by a computer that controls a display device for a vehicle including an image display unit that displays an alarm image on a windshield, the processing for detecting an object outside the vehicle, A risk determination process for determining the risk of an object outside the vehicle, and a change toward an area estimated as a driver's central field of view, starting from an alarm location obtained by converting the position of the object outside the vehicle into a position on the windshield There is provided a program for executing an alarm image generation process for generating the alarm image and a process for changing a display mode of the alarm image according to a determination result of the risk determination process. This program can be recorded on a computer-readable storage medium. The storage medium can be non-transient such as a semiconductor memory, a hard disk, a magnetic recording medium, an optical recording medium, or the like. The present invention can also be embodied as a computer program product.

  According to each aspect of the present invention, there is provided a vehicle display device that displays an appropriate alarm according to the degree of danger, a control method thereof, and a program without causing the driver to feel excessive annoyance.

It is a figure for demonstrating one Embodiment. It is a figure which shows an example of the system configuration | structure containing the vehicle display apparatus 1 which concerns on 1st Embodiment. It is a figure which shows an example of the alarm image displayed on a windshield. It is a figure which shows an example of the internal structure of the display apparatus 1 for vehicles which concerns on 1st Embodiment. It is a figure which shows an example of a display of an alarm image. It is a figure which shows an example of a display of an alarm image. It is a figure which shows an example of a display of an alarm image. It is a figure which shows an example of a display of an alarm image. It is a figure which shows an example of a display of an alarm image. 4 is a flowchart showing an example of the operation of the vehicle display device 1. It is a figure which shows an example of the internal structure of the display apparatus 1a for vehicles which concerns on 2nd Embodiment.

  First, an outline of an embodiment will be described with reference to FIG. Note that the reference numerals of the drawings attached to the outline are attached to the respective elements for convenience as an example for facilitating understanding, and the description of the outline is not intended to be any limitation.

  As described above, an alarm corresponding to an object or the like outside the vehicle can be displayed on the head-up display to alert the driver. However, if the information that is not so important is overemphasized, it may be annoying to the driver. Therefore, a vehicle display device that displays an appropriate warning according to the degree of danger, a control method thereof, and a program without causing the driver to feel excessive annoyance is desired.

  Therefore, as an example, the vehicle display device 400 shown in FIG. 1 is provided. The vehicle display device 400 includes an object detection unit 401 that detects an object outside the vehicle, a risk determination unit 402 that determines the risk of the object outside the vehicle, and an alarm that converts the position of the object outside the vehicle into a position on the windshield. The warning image generation unit 403 that generates a warning image that changes from the location to the region estimated as the central visual field of the driver, and the display mode of the warning image is changed according to the determination result of the risk determination unit 402 An alarm image changing unit 404 for displaying an alarm image on the windshield.

  When the vehicle display device 400 detects an object outside the vehicle and determines that the driver needs to recognize the presence of the object, the vehicle display device 400 starts driving from an alarm point on the windshield corresponding to the object outside the vehicle. The alarm image is moved and displayed in the direction of the central visual field of the person. Here, the central visual field refers to a visual field within a viewing angle of about 20 degrees, although there are individual differences, and refers to a region where the object can be clearly recognized. The maximum visual field with one eye is about 150 degrees in horizontal angle, and the area outside the central visual field is called the peripheral visual field.

  A person visually recognizes an object existing in the central visual field. The central visual field is highly sensitive to spatial resolution and color, and is suitable for accurately capturing the color and shape of an object. On the other hand, the peripheral visual field is suitable for detection of movement and position by using the peripheral part of the retina and vaguely looking at the peripheral part of the visual field. For example, when a visual stimulus with movement or the like is presented in the peripheral visual field, the person first senses the visual stimulus in the peripheral visual field, then turns the line of sight to that direction, and uses the central visual field to determine what the object is. Recognize. Therefore, the vehicle display device 400 appropriately changes the display form of the alarm image that warns the object outside the vehicle according to the risk of the object outside the vehicle, using such characteristics of the human eye. For example, in the case of an object with a low risk level, the warning image is not displayed in the area estimated as the central visual field, but is displayed only in the area estimated as the peripheral visual field. On the other hand, if the object has a high degree of danger, the alarm image is displayed in the estimated area as the central field of view, and the driver can reliably recognize the object outside the vehicle. Furthermore, since the vehicle display device 400 gradually moves the alarm image toward the area estimated as the central visual field starting from the alarm location, the driver suddenly displays the alarm image in front of the eyes (central visual field). You don't feel it is displayed. That is, the alarm image is gradually moved from a location (alarm location) away from the area estimated as the central visual field toward the area estimated as the central visual field so that the driver does not feel bothersome. In the following description, the central visual field refers to the “region estimated as the central visual field”, and the peripheral visual field refers to the “region estimated as the peripheral visual field”, unless the context has a different meaning.

  Thus, the display apparatus 400 for vehicles changes the display mode of an alarm image according to the risk level of an object etc. outside a vehicle. Therefore, the vehicle display device 400 can display an appropriate alarm according to the degree of danger without causing the driver to feel excessive annoyance.

  In the present invention, the following modes are possible.

  [Mode 1] As in the vehicular display device according to the first aspect.

  [Mode 2] In the vehicular display device, when the risk determination unit determines the first risk, the alarm image generator generates the alarm image within an area estimated as a driver's peripheral vision. Is preferably moved.

  [Mode 3] In the vehicle display device, when the risk level determination unit determines that the second risk level is higher than the first risk level, the warning image generation unit may It is preferable to move the alarm image so as to go around the outer periphery of the area estimated as.

  [Mode 4] In the vehicle display device, when the risk level determination unit determines that the third risk level is higher than the second risk level, the alarm image generation unit is configured to display the central visual field. It is preferable to move the warning image into the area estimated as.

  [Mode 5] The display device for a vehicle changes an estimated value for the central visual field and the peripheral visual field in accordance with a visual line detection unit that detects the visual line of the driver and the visual line of the driver detected by the visual line detection unit. It is preferable to provide a visual field estimation unit.

  [Mode 6] The vehicle display device includes a warning image perception unit that determines whether or not a driver perceives the warning image, and a display state of the warning image when the driver perceives the warning image. It is preferable that the visual field estimation unit changes the estimated values for the central visual field and the peripheral visual field based on the display state stored in the warning image storage unit.

  [Mode 7] The visual field estimation unit may change the estimated values for the central visual field and the peripheral visual field in accordance with information on at least one of a travel location, a travel time, a travel speed, and a driver's state. preferable.

  [Mode 8] It is preferable that the alarm image changing unit changes at least one of a shape, a color, a moving speed, and a display cycle of a display mode of the alarm image.

  [Mode 9] It is preferable that the risk determination unit determines the risk based on at least one of the type, position, and travel environment of the object outside the vehicle.

  [Mode 10] The control method of the vehicle display device according to the second aspect.

  [Mode 11] In the control method for the display device for a vehicle, when it is determined that the first risk level is determined in the risk level determination step, the warning image generation step is performed within an area estimated as the driver's peripheral vision. It is preferable to move the alarm image.

  [Mode 12] In the control method for the vehicular display device, in the risk determination step, when it is determined that the second risk level is higher than the first risk level, the warning image generation step includes: It is preferable to move the alarm image so as to go around the outer periphery of the region estimated as the central visual field.

  [Mode 13] In the control method for the vehicular display device, when the risk determination step determines that the third risk is higher than the second risk, the warning image generation step includes: It is preferable to move the alarm image within an area estimated as the central visual field.

  [Mode 14] A control method of the vehicle display method includes a gaze detection step of detecting a driver's gaze, and a visual field estimation step of changing estimated values for the central visual field and the peripheral visual field according to the driver's gaze. And preferably.

  [Mode 15] The control method of the vehicle display device includes a step of determining whether or not a driver perceives the warning image, and a display state of the warning image when the driver perceives the warning image. Preferably, the visual field estimation step changes the estimated values for the central visual field and the peripheral visual field based on the display state stored by the warning image storage step. .

  [Mode 16] The program according to the third aspect.

  [Mode 17] When the risk is determined to be the first risk by the risk determination process, the alarm image generation process moves the alarm image within an area estimated as the peripheral visual field of the driver. It is preferable.

  [Mode 18] When the program determines that the second risk level is higher than the first risk level by the risk level determination process, the alarm image generation process estimates the center visual field. It is preferable to move the warning image so as to go around the outer periphery of the region.

  [Mode 19] When the program determines that the third risk level is higher than the second risk level by the risk level determination process, the alarm image generation process estimates the center visual field. It is preferable to move the alarm image within the region.

  [Mode 20] The program executes a line-of-sight detection process for detecting a driver's line of sight and a visual field estimation process for changing estimated values for the central visual field and the peripheral visual field according to the driver's line of sight. Is preferred.

  [Mode 21] The program further includes a process for determining whether or not the driver perceives the warning image, and an alarm for storing a display state of the warning image when the driver perceives the warning image. It is preferable that the visual field estimation process changes the estimated values for the central visual field and the peripheral visual field based on the display state stored by the warning image storage process.

  Hereinafter, specific embodiments will be described in more detail with reference to the drawings.

[First Embodiment]
The first embodiment will be described in more detail with reference to the drawings.

  FIG. 2 is a diagram illustrating an example of a configuration of a system including the vehicle display device 1 according to the present embodiment.

  A vehicle 2 shown in FIG. 2 includes a windshield 3. The driver recognizes the scenery in front through the windshield 3. Furthermore, the windshield 3 is subjected to processing that functions as a combiner (reflecting member). By irradiating light to the combiner from the vehicle display device 1 included in the vehicle 2, the driver can visually recognize the display image.

  In addition, the vehicle 2 includes either a camera (not shown) that captures a state outside the vehicle or a sensor (not shown) that detects an object outside the vehicle. Based on the outputs of these cameras and sensors, the vehicular display device 1 determines the risk level of an object outside the vehicle. In the present embodiment, the description will be made assuming that an object outside the vehicle existing in front of the vehicle is detected. However, this is not intended to limit the alarm to an object outside the vehicle in front of the vehicle.

  FIG. 3 is a diagram illustrating an example of an alarm image displayed on the windshield 3.

  In FIG. 3, a pedestrian (an object 303 outside the vehicle) who wants to cross a road exists in the peripheral visual field 302 (an area outside the central visual field 301). In this case, the vehicle display device 1 displays a warning image 304 on the windshield 3 in order to call the driver's attention to the pedestrian.

  FIG. 4 is a diagram illustrating an example of the internal configuration of the vehicle display device 1. For simplicity, FIG. 4 shows only the modules related to the vehicle display device 1 according to the present embodiment.

  The vehicle display device 1 includes a line-of-sight detection unit 10, a control unit 20, and an image display unit 30. Furthermore, the control unit 20 includes a visual field estimation unit 40, an object detection unit 50, a risk determination unit 60, an alarm image control unit 70, and a display end determination unit 80.

  The line-of-sight detection unit 10 detects the driver's line-of-sight direction by imaging the eyes. Specifically, a camera is arranged at a position in the vehicle where a driver's face image can be captured. The line-of-sight detection unit 10 detects the position reflected by the driver's eyes and the position of the pupil from the acquired face image data. Thereafter, the line-of-sight detection unit 10 detects the driver's line-of-sight direction based on the positional relationship. Note that there are various types of gaze direction detection methods, but any method can be used.

  The visual field estimation unit 40 changes the estimated values for the central visual field and the peripheral visual field of the driver according to the driver's visual line detected by the visual line detection unit 10. More specifically, if the driver recognizes an object and the line of sight moves, it can be estimated that the region where the object exists is the peripheral visual field. On the other hand, if the line of sight does not move, it can be estimated that the region where the object exists is included in the central visual field. Therefore, when operating the vehicle display device 1 for the first time, it is desirable to provide an opportunity to measure the visual field of the driver.

  In addition, the driver's field of view varies depending on the state of the driver (a state of high arousal, a state of sloppyness) and the surrounding environment (weather, time, etc.) Therefore, it is preferable that the visual field estimation unit 40 changes and adjusts the estimated visual field based on these pieces of information during traveling. That is, it is conceivable to adjust the field of view based on at least one of the travel location of the vehicle 2, the travel time, the travel speed, and the driver's state.

  Various methods are conceivable as means for grasping the state of the driver. As an example, it is conceivable to grasp the state of the driver based on the driver's physiological information. For example, the eye may be imaged and the driver's state may be grasped based on the degree of eye opening. Alternatively, a sensor for measuring a pulse or the like may be attached to the steering, and the driver's state may be grasped based on a measurement result of the pulse or the like. When it is determined that the driver's arousal level is low after grasping the driver's state, the visual field estimation unit 40 estimates the driver's visual field narrowly. On the other hand, when it is determined that the driver's arousal level is high, the visual field estimation unit 40 estimates the driver's visual field widely.

  The object detection unit 50 detects an object outside the vehicle using a camera or the like mounted on the vehicle 2. At that time, the object detection unit 50 analyzes the data obtained from the camera or the like, and detects the type of the object outside the vehicle, the position from the own vehicle, and the like from the characteristics included in the data. For example, it is determined whether the object outside the vehicle is a person or an object such as a utility pole, and further, the distance between the object outside the vehicle and the host vehicle is detected.

  Alternatively, the object detection unit 50 may detect a driving attention area. The driving caution area is an intersection with poor visibility or the shadow of a vehicle parked on the shoulder. In that case, the object detection part 50 can also acquire the information regarding the location where accident occurs frequently from a navigation apparatus as a driving attention area.

  The risk determination unit 60 determines the risk based on information on at least one of the type and position of an object outside the vehicle and the traveling environment of the vehicle. For example, if an object outside the vehicle is a person and the distance from the vehicle is very close, or even within the traveling area of the vehicle (the possibility of a collision is high), the risk level is judged to be high. The On the other hand, even if an object outside the vehicle is a person, if the distance from the host vehicle is far away or gradually moves away from the traveling area (the possibility of a collision is low), the risk level is determined to be low. . Furthermore, even if the types and positions of the objects outside the vehicle are approximately the same, the degree of danger varies depending on the driving environment. For example, even in the case of an object outside the same vehicle, it is determined that the danger level is higher at night and at night. Also, when driving in an environment with poor visibility, the risk is not always high immediately, but in a driving caution area where there is a risk of collision, the risk of an object outside the vehicle approaching is relatively high. .

  The alarm image control unit 70 generates an alarm image that notifies the driver of the alarm location. Thereafter, the image display unit 30 displays a warning image on the windshield 3.

  Here, the alarm image control unit 70 generates an alarm image that changes from the alarm location toward the central visual field. When the object detection unit 50 detects an object outside the vehicle, the alarm image control unit 70 displays an alarm image near the position where the object outside the vehicle exists. Then, the warning image control unit 70 displays the warning image by moving it in the direction of the central visual field. The alarm image control unit 70 may erase or leave the image of the moved locus.

  Further, the alarm image control unit 70 changes the display mode of the alarm image according to the determination result of the risk determination unit 60. The display mode includes at least one of the shape, color, moving speed, and display cycle of the alarm image. For example, it is conceivable to repeat the movement of the alarm image within a predetermined display range according to the degree of danger. Hereinafter, the display range of the alarm image will be described by exemplifying three levels of risk. In addition, the following illustrations are not intended to limit the target risk level to three levels.

  First, the display range of the alarm image at the first risk level will be described. Here, the first risk level is the lowest risk level among the three levels. As described above, when the danger level of an object outside the vehicle is low, if an excessive warning is displayed, the driver is bothered and the driving is hindered. Therefore, it is preferable that the alarm image control unit 70 moves the alarm image only within the peripheral visual field when the risk of an object outside the vehicle is low.

  FIG. 5 is a diagram illustrating an example of display of an alarm image at the first risk level. In FIG. 5, an object 303 a outside the vehicle exists in the peripheral visual field 302. The object detection unit 50 detects an object 303a outside the vehicle. In this case, the warning image control unit 70 generates the warning image 304a and moves the warning image 304a in the direction indicated by the arrow A1. Since the first risk level is relatively low, it is preferable that the alarm image control unit 70 stops the movement of the alarm image 304a within the peripheral visual field 302. That is, the alarm image 304 a is not displayed up to the center visual field 301.

  Next, the display range of the alarm image at the second risk level will be described. Here, the second risk level is a risk level higher than the first risk level. In this case, it is desirable to alert the driver to an object outside the vehicle rather than the first risk level. However, it is preferable to refrain from an excessive warning display that hinders the driver's view. Therefore, the alarm image control unit 70 moves the alarm image so as to go around the outer periphery of the central visual field.

  FIG. 6 is a diagram illustrating an example of a display of an alarm image at the second risk level. Also in FIG. 6, an object 303 b outside the vehicle exists in the peripheral visual field 302. The object detection unit 50 detects an object 303b outside the vehicle. In this case, the warning image control unit 70 generates the warning image 304b and moves the warning image 304b in the direction indicated by the arrow A2 until the vicinity of the central visual field 301 is reached. Then, in the vicinity of the central visual field 301, the alarm image 304b is moved so as to go around the outer periphery of the central visual field 301 as indicated by arrows B2 and C2.

  Next, the display range of the alarm image at the third risk level will be described. Here, the third risk is the highest risk. In this case, priority is given to letting the driver perceive an object outside the vehicle over the troublesomeness of the driver. Therefore, the alarm image control unit 70 moves the alarm image within the peripheral visual field and the central visual field.

  FIG. 7 is a diagram illustrating an example of a display of an alarm image at the third risk level. Also in FIG. 7, an object 303 c outside the vehicle exists in the peripheral visual field 302. The object detection unit 50 detects an object 303c outside the vehicle. In this case, the warning image control unit 70 generates the warning image 304c and moves the warning image 304c in the direction indicated by the arrow A3. Since the degree of danger is the highest, the alarm image control unit 70 moves the alarm image 304 c also in the central visual field 301.

  In FIGS. 5 to 7, the movement of the arched image has been described as the alarm display, but other expression methods may be used. For example, the vehicular display device 1 may display an alarm using an image simulating wavefront propagation. Alternatively, the vehicular display device 1 may display a warning by a circle that expands and contracts. Alternatively, an alarm may be displayed by simulating the propagation of light. In addition, although various forms of alarm images can be considered, the display form of the alarm image is not limited.

  FIG. 8 is a diagram illustrating an example of an alarm image represented by concentric circles. As shown in FIG. 8, when the alarm image 304d is represented by a concentric circle, it may be represented by a circle centered on the object 303d outside the vehicle. As described above, when the risk of the object 303d outside the vehicle is high, it is preferable to display the alarm image 304d also in the central visual field.

  Furthermore, the warning image control unit 70 may change the warning image according to the type of the object outside the vehicle. For example, when the object detection unit 50 detects a person, the alarm image control unit 70 may use an image (icon) simulating a person as the alarm image. Alternatively, when the object detection unit 50 detects another vehicle, the alarm image control unit 70 may use an image (icon) simulating a vehicle as the alarm image. Furthermore, when alerting the driver to the driving attention area, the warning image control unit 70 may use an exclamation mark (exclamation mark) as a warning image. The alarm image control unit 70 displays an alarm image corresponding to the type of the object outside the vehicle in a display mode corresponding to the degree of risk.

  FIG. 9 is a diagram illustrating an example in which an image simulating a person is used as an alarm image. In FIG. 9, when the object detection unit 50 detects a pedestrian (object 303e outside the vehicle), an image (alarm image 304e) simulating a person is displayed as the alarm image.

  The alarm image control unit 70 may change the size of the alarm image according to the degree of risk. Specifically, when the degree of risk is high, the alarm image control unit 70 generates a large alarm image. However, a large warning image may make the driver feel bothersome. Therefore, when the degree of risk is low, a small alarm image is generated.

  Further, when the degree of danger is high, the alarm image control unit 70 may generate an alarm image with a strong visual stimulus color. For example, a warm color has a stronger visual stimulus than a cold color. Therefore, when the degree of danger is high, a warning image of a warm color is displayed, and when the degree of danger is low, the warning image is displayed with a cold color. As a result, warning display can be performed without making the driver feel bothersome.

  Furthermore, the warning image control unit 70 may change the luminance of the warning image according to the degree of risk. Specifically, the warning image control unit 70 generates a high-brightness warning image when the risk level is high, and generates a low-brightness warning image when the risk level is low.

  Furthermore, the warning image control unit 70 may change the moving speed of the warning image according to the degree of risk. Specifically, when the degree of danger is high, the alarm image control unit 70 moves the alarm image quickly. This is because the faster the moving speed, the stronger the visual stimulus. As a result, the driver can perceive the warning display quickly. On the other hand, when the degree of risk is low, the alarm image control unit 70 does not need to move the alarm image quickly. This is because if the visual stimulus is strong, the driver can quickly perceive the warning display, but the driver may feel annoyed.

  Furthermore, the alarm image control unit 70 may change the display period of the alarm image according to the degree of risk. Specifically, when the degree of danger is high, the alarm image control unit 70 blinks and displays the alarm image at a short cycle. When the blinking display is made in a short cycle, the visual stimulus to the driver becomes strong. As a result, the driver can quickly perceive the warning display. On the other hand, when the degree of risk is low, the alarm image control unit 70 blinks and displays the alarm image with a long cycle. As a result, the visual stimulus to the driver becomes weak, and an alarm can be displayed without making the driver feel bothersome.

  When the display end determination unit 80 determines that the condition for terminating the display of the alarm image is satisfied, the vehicular display device 1 ends the display of the alarm image. For example, when the alarm location reaches the central visual field, the display end determination unit 80 may determine that the display of the alarm image has ended. Alternatively, when the driver performs an operation such as pressing a predetermined button, the display end determination unit 80 may determine that the display of the alarm image has ended. Alternatively, after displaying the alarm image for a predetermined time, the display end determination unit 80 may determine that the display of the alarm image has ended. Alternatively, the display may be terminated when the driver notices (reacts to) the alarm.

  Next, the operation of the vehicle display device 1 will be described.

  FIG. 10 is a flowchart illustrating an example of the operation of the vehicle display device 1.

  In step S01, the object detection unit 50 determines whether or not an object outside the vehicle exists around the vehicle. When there is an object outside the vehicle (step S01, Yes branch), the risk determination unit 60 determines the risk of the object outside the vehicle (step S02). When there is no object outside the vehicle (step S01, No branch), the process of step S01 is continued.

  In step S03, the alarm image control unit 70 calculates an alarm location based on the position of an object outside the vehicle.

  In step S04, the line-of-sight detection unit 10 detects the driver's line-of-sight direction.

  In step S05, the visual field estimation unit 40 generates an estimated value for the driver's visual field based on the line-of-sight direction calculated in the previous step.

  In step S06, the warning image control unit 70 generates a warning image according to the risk level of an object outside the vehicle. In the first process of step S06, the alarm image control unit 70 generates an alarm image near the alarm location. In the second and subsequent processing of step S06, the warning image control unit 70 generates a warning image at a position corresponding to the degree of risk based on the position of the previous warning image.

  In step S07, the alarm image control unit 70 supplies an image signal including the alarm image to the image display unit 30. The image display unit 30 displays a warning image on the windshield 3.

  In step S08, the display end determination unit 80 determines whether or not the condition for the display end of the alarm image is satisfied. When the display end condition is satisfied (step S08, Yes branch), the vehicle display device 1 ends the process.

[Modification 1]
In the vehicle display device 1 according to the present embodiment, the case where the alarm image is displayed on the windshield 3 has been described. However, there are cases where it is desired to alert the driver not to the front of the vehicle but to the navigation display and meter display. In that case, instead of the windshield 3, the vehicle display device 1 may display an alarm image on at least one of a navigation display and a meter display.

[Modification 2]
In the vehicle display device 1 according to the present embodiment, the case where the visual stimulus (alarm image) is used to call the driver's attention to an object outside the vehicle has been described. However, the driver's attention may be given to an object outside the vehicle by an auditory stimulus (alarm sound). That is, a sound field may be generated around the driver, and the alarm location may be notified to the driver by an alarm sound. Or you may call a driver | operator's attention using a warning image and a warning sound together.

  It should be noted that each function of the vehicle display device 1 can be realized by hardware by mounting circuit components that are hardware components such as LSI (Large Scale Integration) incorporating a program. As another example, a program that provides the function may be stored in a storage device, loaded into the main storage unit, and executed by a CPU (Central Processing Unit) to be realized in software.

  As described above, the vehicle display device 1 according to the present embodiment displays an alarm image corresponding to the risk level of an object outside the vehicle. Here, when the risk of an object outside the vehicle is low, an alarm image is displayed only in the peripheral visual field. As a result, the vehicle display device 1 according to the present embodiment can alert the driver to an object outside the vehicle without causing the driver to feel bothered. On the other hand, when the risk of an object outside the vehicle is high, an alarm image is also displayed in the central visual field. As a result, the driver can quickly perceive the presence of an object outside the vehicle. Furthermore, even if an object outside the vehicle is out of the driver's peripheral vision, the alarm is displayed toward the central visual field starting from the alarm location, so if the driver perceives the alarm display, You can also call attention to objects outside of. As described above, by changing the display mode of the alarm image according to the risk level of an object outside the vehicle, an appropriate alarm corresponding to the risk level can be displayed without causing the driver to feel excessive annoyance.

[Second Embodiment]
Next, a second embodiment will be described in detail with reference to the drawings.

  FIG. 11 is a diagram illustrating an example of an internal configuration of the vehicle display device 1a according to the present embodiment. 11, the same components as those in FIG. 4 are denoted by the same reference numerals, and the description thereof is omitted. The difference between the vehicle display device 1 and the vehicle display device 1a is that an alarm image perception unit 90 and an alarm image storage unit 91 are provided.

  The alarm image perception unit 90 determines whether or not the driver perceives the display of the alarm image. For example, when the warning image is displayed in the peripheral visual field, the warning image perception unit 90 determines that the driver perceives the display of the warning image when the line of sight is directed toward the warning image. Alternatively, when the driver performs an operation such as pressing a predetermined button, it may be determined that the driver perceived the display of the alarm image.

  The alarm image storage unit 91 stores a display state (for example, display position) of the alarm image when the driver perceives the alarm image.

  Next, the visual field estimation unit 40a changes the estimated value for the driver's visual field based on the display state of the warning image stored in the warning image storage unit 91 (learns the driver's visual field). For example, when an object outside the vehicle is perceived earlier than the estimated value in the visual field estimation unit 40a, it is understood that the actual visual field is wider than the estimated value for the current visual field, and the estimated value for the visual field is changed.

  The warning image control unit 70a generates a warning image based on a visual field suitable for each driver. As a result, in the vehicular display device 1a according to the present embodiment, an appropriate alarm corresponding to the degree of danger can be displayed without causing the driver to feel excessive annoyance.

  In each of the above-described embodiments, the display of an alarm image for one alarm location has been described. However, it is of course possible to display independent alarm images for a plurality of alarm locations.

  Each disclosure of the cited patent documents and the like cited above is incorporated herein by reference. Within the scope of the entire disclosure (including claims) of the present invention, the embodiments and examples can be changed and adjusted based on the basic technical concept. Various disclosed elements (including each element of each claim, each element of each embodiment or example, each element of each drawing, etc.) within the scope of the claims of the present invention, Selection is possible. That is, the present invention of course includes various variations and modifications that could be made by those skilled in the art according to the entire disclosure including the claims and the technical idea.

1, 1a, 400 Display device for vehicle 2 Vehicle 3 Windshield 10 Line of sight detection unit 20 Control unit 30, 405 Image display unit 40, 40a Field of view estimation unit 50, 401 Object detection unit 60, 402 Risk determination unit 70, 70a Alarm Image control unit 80 Display end determination unit 90 Alarm image perception unit 91 Alarm image storage unit 301 Central visual field 302 Peripheral visual field 303, 303a to 303e Objects outside vehicle 304, 304a to 304e Alarm images 202 and 403 Alarm image generation units 203 and 404 Alarm Image change section

Claims (21)

An object detection unit for detecting an object outside the vehicle;
A risk determination unit for determining the risk of an object outside the vehicle;
An alarm image generator that generates an alarm image that changes toward an area estimated as a driver's central field of view, starting from an alarm location where the position of the object outside the vehicle is converted to a position on the windshield,
An alarm image changing unit that changes a display mode of the alarm image according to a determination result of the risk determination unit;
An image display unit for displaying the alarm image on the windshield;
A vehicle display device comprising: In the case where the risk determination unit determines the first risk,
The vehicle display device according to claim 1, wherein the warning image generation unit moves the warning image within an area estimated as a peripheral visual field of the driver. In the case where the risk determination unit determines that the second risk is higher than the first risk,
The vehicle display device according to claim 2, wherein the warning image generation unit moves the warning image so as to go around an outer periphery of a region estimated as the central visual field. In the case where the risk determination unit determines that the third risk is higher than the second risk,
The vehicle display device according to claim 3, wherein the alarm image generation unit moves the alarm image within an area estimated as the central visual field. A line-of-sight detector that detects the driver's line of sight;
According to the driver's line of sight detected by the line-of-sight detection unit, a visual field estimation unit that changes the estimated values for the central visual field and the peripheral visual field,
A vehicle display device according to any one of claims 1 to 4. An alarm image perception unit for determining whether the driver has perceived the alarm image;
A warning image storage unit that stores a display state of the warning image when a driver perceives the warning image;
The vehicle display device according to claim 5, wherein the visual field estimation unit changes estimated values for the central visual field and the peripheral visual field based on the display state stored in the warning image storage unit.   The said visual field estimation part changes the estimated value with respect to the said central visual field and the said peripheral visual field according to at least any one information of a driving | running | working place, the time at the time of driving | running | working, driving speed, and a driver | operator's state. The vehicle display device described.   The vehicle warning display device according to any one of claims 1 to 7, wherein the warning image changing unit changes at least one of a shape, a color, a moving speed, and a display cycle of a display mode of the warning image.   The vehicular display device according to any one of claims 1 to 8, wherein the risk determination unit determines a risk based on information on at least one of a type, a position, and a travel environment of an object outside the vehicle. A control method for a vehicle display device comprising an image display unit for displaying an alarm image on a windshield,
Detecting an object outside the vehicle;
A risk determination step of determining the risk of an object outside the vehicle;
A warning image generation step of generating the warning image that changes toward the area estimated as the central visual field of the driver, starting from a warning point where the position of the object outside the vehicle is converted to a position on the windshield,
According to the determination result of the risk determination step, changing the display mode of the alarm image,
A control method for a display device for a vehicle, comprising: When it is determined as the first risk level in the risk level determination step,
The method for controlling a vehicle display device according to claim 10, wherein the warning image generation step moves the warning image within an area estimated as a peripheral visual field of the driver. In the risk determination step, when it is determined that the second risk is higher than the first risk,
The control method for a vehicle display device according to claim 11, wherein the warning image generation step moves the warning image so as to go around an outer periphery of a region estimated as the central visual field. In the risk determination step, when it is determined that the third risk is higher than the second risk,
The method of controlling a vehicle display device according to claim 12, wherein the warning image generation step moves the warning image within an area estimated as the central visual field. A line-of-sight detection step for detecting the driver's line of sight;
A visual field estimation step of changing the estimated values for the central visual field and the peripheral visual field according to the driver's line of sight;
The control method of the display apparatus for vehicles as described in any one of Claims 10 thru | or 13 containing these. Determining whether the driver has perceived the warning image;
A warning image storing step of storing a display state of the warning image when the driver perceives the warning image, and
15. The control method for a vehicular display device according to claim 14, wherein the visual field estimation step changes estimated values for the central visual field and the peripheral visual field based on the display state stored by the warning image storage step. A program for causing a computer to control a vehicle display device including an image display unit that displays an alarm image on a windshield,
Processing to detect objects outside the vehicle;
A risk determination process for determining the risk of an object outside the vehicle;
A warning image generation process for generating the warning image that changes toward an area estimated as a driver's central visual field, starting from a warning point where the position of the object outside the vehicle is converted to a position on the windshield;
According to the determination result of the risk determination process, a process of changing the display mode of the alarm image;
A program that executes. When it is determined as the first risk level by the risk level determination process,
The program according to claim 16, wherein the warning image generation process moves the warning image within a region estimated as a driver's peripheral visual field. When it is determined by the risk determination process that the second risk is higher than the first risk,
The program according to claim 17, wherein in the alarm image generation process, the alarm image is moved so as to go around an outer periphery of an area estimated as the central visual field. When it is determined by the risk determination process that the third risk is higher than the second risk,
The program according to claim 18, wherein the alarm image generation processing moves the alarm image within an area estimated as the central visual field. Gaze detection processing for detecting the driver's gaze;
Visual field estimation processing for changing the estimated values for the central visual field and the peripheral visual field according to the driver's line of sight;
The program according to claim 16, wherein the program is executed. A process of determining whether or not the driver has perceived the warning image;
When the driver perceives the warning image, the warning image storage process for storing the display state of the warning image is executed,
The program according to claim 20, wherein the visual field estimation process changes estimated values for the central visual field and the peripheral visual field based on the display state stored by the warning image storage process.

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