JP2019067018A - Display device for vehicle - Google Patents

Abstract

To provide a display device for a vehicle capable of displaying (reporting) existence of a frozen road surface by detecting the frozen road surface during traveling of the vehicle.SOLUTION: A display device for a vehicle includes: a control section 306 having a frozen road surface area detection section 318 that receives an input of first detection information from an infrared thermography 200, receives an input of second detection information from a radar or a sonar 206 for detecting that a road surface of a road is a flat road surface, and detects existence of a frozen road surface area not to be easily recognized by a driver when a frozen area having a size equal to or more than a predetermined size is detected on the basis of the first detection information and also a frozen area exists on a flat road surface detected based on the second detection information; a display control section 340; and a display section 100 for displaying information related to the frozen road surface area.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a display device for a vehicle mounted on a vehicle such as a car.

  For example, in Patent Document 1, “At the low temperature after snowfall in winter, it is detected by imaging data by the imaging means and The display apparatus for vehicles which can display the part (running road surface) which has a possibility of freezing in a different color, for example in the runway shape displayed on a display based on the temperature data which were displayed is described.

  Further, for example, in Patent Document 2, “A pillar is erected on the side of the road, a pole protruding from the pillar in the width direction of the road is provided, and an irradiation unit for irradiating light to the pole 6 and An image pickup unit for measuring the distribution of the light source is provided, and a configuration for detecting the degree of specularization of a snowy road surface or a frozen road surface based on the light distribution state is described.

JP, 2006-243888, A JP, 2004-157073, A

  Patent document 1 displays a road surface covered entirely with snow at low temperatures after snowfall in winter. Here, the road surface covered with snow is relatively easy to be viewed by the driver of the vehicle, and its detection is also relatively easy.

  However, for example, it is difficult to detect a frozen road surface which is hard to notice the road surface freezing just by the driver's glance, such as a road surface which is black ice burn, while the vehicle is traveling. In addition, "Black ice burn" is a frozen road surface that is frozen to have a thin ice film on the road surface and looks black just like a wet road surface, also called black burn, and it freezes at first glance There are many things that you do not notice, and it is considered to be particularly dangerous at night.

  Patent Document 2 is to project light from a pole located at a high position projecting on a road and measure the distribution of light on the road surface. Such a configuration can not be employed when detecting a road surface freeze using a detection device mounted on a traveling vehicle.

  One object of the present invention is to realize a vehicle display device capable of detecting a frozen road surface while the vehicle is traveling and displaying (notifying) the presence of the frozen road surface. Other objects of the present invention will become apparent to those skilled in the art by referring to the following exemplified aspects and best embodiments, as well as the attached drawings.

  In the following, in order to facilitate an understanding of the summary of the invention, an embodiment according to the invention is illustrated.

In the first aspect, the display device for vehicle
A display device for a vehicle mounted on a vehicle,
First detection information obtained based on an infrared thermography detection signal capable of analyzing infrared radiation emitted from an object and imaging a temperature distribution is input, and the vehicle travels or will travel A road surface of a road is obtained based on a detection signal of a radar unit or a sonar unit that detects that the road surface is flat, or detects that the road surface of the road is flat. For this purpose, second detection information obtained based on a detection signal of a road surface detection unit that performs image processing of a captured image by a camera is input, and a frozen area having a predetermined area or more is input based on the first detection information. Is detected, and when the frozen area is present on the road surface having the flatness detected based on the second detection information, the frozen road area which the driver hardly notices exists A control unit including a frozen road area detecting unit, for detecting that,
A display control unit that controls display on the vehicle display device;
A display unit controlled by the display control unit to display information on the frozen road surface area;
Have.

  In the first aspect, the road surface on which the vehicle travels or intends to travel is flat (for example, a road surface on which the vehicle travels) based on the detection signal of the radar unit or the sonar unit (or the detection signal of the road surface detection unit) Flatness to the extent that it is judged that there are no obstacles on the road surface and there is no three-dimensional structure (for example, snow, ice, etc.) or local bumps or slopes on the road surface. Control is detected when it is detected that the surface is frozen, and a frozen area of a predetermined area or more is detected based on the detection signal of infrared The frozen road surface area detection unit included in the unit detects that there is a frozen road surface area that the driver hardly notices.

  In other words, even if the road surface is flat, if a continuous frozen area of a predetermined area or more is observed on the road surface, the frozen area may be, for example, an even thin ice on the flat road surface. The frozen road surface area detection unit detects a frozen road surface area that the driver does not easily notice based on this knowledge, since it can be estimated that there is a high possibility that the area is covered (black ice burn area) or the like. . Then, display control by the display control unit is performed, and information on the frozen road surface area is appropriately displayed on the display unit. Therefore, it is possible to realize a vehicle display device capable of detecting a frozen road surface while the vehicle is traveling and displaying (notifying) the presence of the frozen road surface.

In addition, in a second aspect dependent on the first aspect,
At least a head-up display (HUD) device for causing the driver to visually recognize a virtual image of the image by projecting the image onto a projection target member provided on the vehicle.
The control unit
A start position detection unit for a frozen road surface area that detects a position at which the frozen road surface area is started;
A display range determination unit of the frozen road surface region that determines the display range of the frozen road surface region;
Have
The display control unit
In the head-up display device, the external shape of the display area of the frozen road surface area determined by the display area determination unit of the frozen road surface area is superimposed and displayed on the road surface as a real view.
Or
In the head-up display device, the external shape of the display area of the frozen road surface area determined by the display area determination unit of the frozen road surface area is superimposed on the road surface as a real view, or the external shape is not displayed. In the display range of the frozen road surface area, display may be performed by at least one of a pattern, a color, a symbol, an icon, a character for notification, a moving image, and an image blinking.

  In the second aspect, the position where the frozen road surface area is started (in other words, the position of the frozen road surface area closest to the vehicle) is detected, and the display area of the frozen road surface area (in other words, the frozen road surface area) The outline or outline of the image is determined and displayed (notified) in an appropriate display form on the head-up display (HUD) device.

  The display form includes displaying the outline of the display area of the frozen road surface area determined by the display area determination unit of the frozen road surface area superimposed on the road surface as a real scene. In other words, by displaying the outline (outline) of the frozen area in the area of the frozen road area having the detected start position as an end, the driver can start from which point the frozen road area is started, And, it is possible to intuitively know how the frozen road surface area is expanded. Therefore, the driver can quickly take measures such as, for example, sufficiently decelerating and changing the course so as to avoid the frozen road surface area, thereby further securing the safety of the operation of the vehicle. Can.

  Further, as the display form, in the HUD device, the external shape of the display range of the frozen road surface area is displayed superimposed on the road surface which is a real view, or the external shape is not displayed. The display range includes display by at least one of a pattern, a color, a symbol, an icon, a character for notification, a moving image, and an image blinking. Even when the outline of the frozen road surface area is not displayed, it is possible to show the driver the existence of the frozen road area by adding a pattern or a color even if the outline is not displayed. It is possible to show the driver the existence of the frozen road surface area by adjusting the size of (for example, to a certain size), such as symbols, icons, characters, images of moving pictures, flashing images, etc. In consideration of In addition, when displaying by a said symbol etc. after displaying an external shape (outline), generally, the display by a symbol etc. is performed inside the external shape (outline). In addition, the outline (outline) does not necessarily mean a closed figure, and it is an incomplete outline (outline) if it can be displayed to the driver in an easy-to-understand manner from which position the frozen road surface area starts. The accuracy of the contour may be sufficient to some extent.

In addition, in a third aspect dependent on the first or second aspect,
The frozen area more than the predetermined area used for detection in the frozen road surface area detection unit is:
Each of the two front wheels, or each of the two rear wheels, of the four-wheeled vehicle is a continuous freezing area that can potentially ride together.
Or
The left or right pair of front and rear wheels of the four-wheeled vehicle may each be a continuous freezing area that may ride on together.

  In the third aspect, a specific example of the frozen area having a predetermined area or more is illustrated. In the present invention, it is preferable to detect a frozen road surface area (frozen road surface state), for example, called an ice burn, which is likely to cause the vehicle to lose appropriate braking. From this point of view, for example, each of the two front wheels of the four-wheeled vehicle, or each of the two rear wheels, can assume a continuous freezing area on which they can ride together, and also for the four-wheeled vehicle Each of a pair of front and rear wheels, left or right, can assume a continuous freezing area that can ride together.

In addition, in a fourth aspect dependent on the second aspect,
The start position detection unit for the frozen road surface area has a frozen area equal to or larger than the predetermined area, and is closer to the frozen area on the side closer to the vehicle than the frozen area, If an area exists, the adjacent at least one freezing-like frozen area is collectively regarded as one continuous freezing area, and the position of the one continuous freezing area closest to the vehicle is the frozen road surface It may be the start position of the area.

  In the fourth aspect, as an example in the case where the boundary where the frozen area having a predetermined area or more is started is not clear, the frozen area having a certain size positioned in the vicinity of the frozen area like a stepping stone (in other words, It is assumed that there exists a frozen area which exists discretely, not continuously, and has a size equal to or larger than the minimum size to be detected. In such a case, it is considered from the point of the stepping stone-like frozen region that the risk of slip of the vehicle is already increased. In this embodiment, therefore, one of the stone-like freezing regions is also included. It detects as a continuous frozen area | region, sets it as a frozen road surface area | region, and determines the start position. Therefore, the driver of the vehicle can know in advance the point at which the danger increases more accurately, and can take appropriate measures at an earlier timing.

Further, in a fifth aspect dependent on any one of the first to fourth aspects,
The frozen road surface area may be a black ice burn area.

  In the fifth aspect, for example, the detected frozen road surface area can be regarded as a black ice burn area, and information on the frozen road surface area can be presented to the driver of the vehicle with a more accurate expression. In other words, the display device for a vehicle according to this aspect can detect black ice burn and its accurate display (notification), which has not been possible conventionally.

  Those skilled in the art will readily understand that the illustrated embodiments of the present invention can be further modified without departing from the spirit of the present invention.

FIG. 1 shows an example of display in a vehicle display device according to the present invention (an example of a head-up display (HUD) device that displays frozen road surface area information superimposed on a road surface that is a real view, and displays a warning display on other displays. FIG. FIG. 2 is a view showing another example of display in the vehicle display device of the present invention (an example in which a color and a pattern are superimposed and displayed on a range indicating a frozen road surface area of a road surface by a HUD device). FIG. 3 is a view showing still another example of the display in the vehicle display device of the present invention (an example in which an outline and an icon are superimposed and displayed in a range showing a frozen road surface area of a road surface by a HUD device). FIG. 4 is a view showing still another example of the display in the vehicle display device of the present invention (an example in which a warning by an outline and characters is superimposed and displayed in a range showing a frozen road surface area of a road surface by a HUD device). FIG. 5 is a view showing still another example of the display in the vehicle display device of the present invention (an example in which an outline is superimposed and displayed on a range indicating a frozen road surface area of a road surface by a HUD device). 6 (A) to 6 (C) show still another example of the display in the display device for a vehicle according to the present invention (HUD device superimposes a moving image that the vehicle spins in a range showing a frozen road surface area of the road surface. Example) is shown. 7 (A) to 7 (C) show still another example of the display on the vehicle display device according to the present invention (in the HUD device, an image in which a warning mark flashes in a range showing a frozen road surface area of the road surface) (Example of superimposed display) It is a figure which shows the structural example of the principal part of the display apparatus for vehicles (display system for vehicles) of this invention. FIG. 9 is a diagram for explaining an example of the frozen area having a predetermined area or more. FIGS. 10A to 10C are diagrams for explaining an example of detection of the start position of the frozen road surface area. FIG. 11 (A) is a view showing a setting example of a virtual image display surface in a HUD device capable of switching and displaying a plurality of virtual image display surfaces, and FIG. 11 (B) is a view showing a configuration example of main parts of the HUD device is there. FIG. 12 is a view showing an example of the entire configuration of a display device for a vehicle according to the present invention, which includes at least the HUD device shown in FIGS. 11 (A) and 11 (B). FIG. 13 is a flowchart showing an example of the main operation procedure of the vehicle display device of the present invention.

  The preferred embodiments described below are used to easily understand the present invention. Accordingly, one of ordinary skill in the art should note that the present invention is not unduly limited by the embodiments described below.

  The display apparatus for vehicles of the present invention, for example, projects (projects) an image (in other words, display light for displaying an image) onto a projection target member (light transmitting member) provided on the vehicle, thereby providing the driver with an image. It has at least a head-up display (HUD) device (not shown in FIG. 1, FIG. 11 (A), FIG. 11 (B), reference numeral 100 in FIG. 12) for visually recognizing a virtual image.

  Here, FIG. 1 is referred to. FIG. 1 is a view showing an example of display in a vehicle display device according to the present invention (an example in which information of a frozen road surface area is superimposed on a road surface 2 which is a real view and warning is displayed on other displays). It is. In the example of FIG. 1, the windshield (front glass) 3 of the vehicle 1 functions as a projection target (light transmission member). A driver (not shown in FIG. 1, reference numeral 15 in FIG. 11A) can visually recognize the real scene in front of the vehicle 1 through the windshield 3.

  In the driving scene in the example of FIG. 1, the vehicle 1 travels at a speed of 60 km per hour on a straight road. In this illustrative example, a pair of roadway outer lines (hereinafter simply referred to as white lines) E1 and E3 drawn on the road surface of the road, for example, around the vehicle 1 (here, to the front) are A line E2 and a power pole E4 and a tree E5 located in the distance are visible. In addition, there is a flat road surface area (black ice burn, etc.) QP2 that is difficult to visually identify in front. Here, some of the black ice burns are flat, and some of the snow bream is black ice burnt, which is diverse, and this makes detection by the prior art difficult. However, in the present embodiment, as shown in FIG. 1, for example, “in front of the vehicle 1, flush with the road surface 2 of a flat road, there is a possibility that the braking of the tire may be lost. It is limited to the situation where there is a thin ice film, and such a frozen road surface is quickly detected so that it can be superimposed and displayed by a HUD device or the like. Flat and seemingly indistinguishable from a normal road surface, for example, when driving on a freeway, it is considered to be one of the most dangerous situations, and such an ice burn should be detected. By narrowing down, detection is facilitated, and it is possible to present information on iceburn which could not be achieved conventionally.

  Further, in the example of FIG. 1, the frozen road surface area QP2 (here, a trapezoidal area here) is indicated by a "pattern" surrounded by the highlight display frame QP1 (this may not be displayed). It is done. Here, although the external shape (outline) itself of the trapezoid may be displayed together, the driver can visually recognize the external shape (outline) of the area without any particular problem by the patterned area In the case of), it is not necessary to display in particular. In addition, the detection method of a frozen road surface area | region and the variation of the display aspect are mentioned later.

  Further, in the example of FIG. 1, a rectangular virtual image display area 5 indicated by a broken line is set on the surface of the windshield 3, and a virtual image can be displayed by the HUD device 100 inside the virtual image display area 5. In other words, when viewed from the driver, the virtual image by the HUD device (reference numeral 100 in FIG. 11 and FIG. 12) is displayed in this virtual image display area 5. The virtual image can, for example, be superimposed on the object to be alerted. Such “virtual image superimposed on the object” is, in other words, “a virtual image of a superimposed image”. In the present specification, “display of a superimposed image by a virtual image” may be referred to as “virtual display of superimposed image” or simply “superimposed display”.

  Further, in the example of FIG. 1, in addition to the HUD device 100, the vehicle 1 is provided with a display unit (display) 13 configured of a liquid crystal display device or the like. The display unit (display) 13 is provided, for example, at the center of the instrument panel 11. Further, a mode selection switch (operation unit) 9 is provided on the steering wheel (for example, steering wheel) 7 of the vehicle 1, and the driver turns on the HUD device 100 by operating the mode selection switch (operation unit) 9. Whether to display / off or to display information about frozen road surface area on / off, or to display information on the HUD device, the display unit (display unit) 13, or both of them The mode switching (selection) or the like can be appropriately performed on display modes such as.

  Information on the frozen road surface area can be provided in a manner that is easy for the driver to see by superimposing the information as a virtual image using the HUD device 100. Furthermore, the alerting effect can be further enhanced by displaying a warning or the like in combination with another display unit (display) 13 (which may be an electronic mirror or the like) different from the HUD device 100.

  When the display unit (display) 13 is used in combination, the display unit (display) 13 displays information in an easy-to-understand manner in a mode different from the display mode by the HUD device 100, and the driver's convenience May be improved. In addition, the captured image of the road surface is reduced and displayed on the display unit (display) 13 and superimposed thereon to display the frozen road surface area (in other words, the same display as the superimposed display in the HUD device 100 is displayed (Display)) is also possible.

  Next, FIG. 2 will be referred to. FIG. 2 is a view showing another example of display in the vehicle display device of the present invention (an example in which a color and a pattern are superimposed and displayed on a range indicating a frozen road surface area of a road surface by a HUD device). In FIG. 2, the same reference numerals are given to the parts common to FIG. 1.

  In the example of FIG. 2, the frozen road surface area QP3 (here, a trapezoidal area here) is shown by color and pattern surrounded by a highlight display frame QP1 (which may not be displayed). There is. Here, although the external shape (outline) itself of the trapezoid may be displayed together, the driver can visually recognize the external shape (outline) of the area without any particular problem by the area to which “color and pattern” is attached ( If it can be known), there is no need to display it. In this example, it is possible to clearly show that the road surface is frozen and the range thereof by color and pattern.

  Next, FIG. 3 will be referred to. FIG. 3 is a view showing still another example of the display in the vehicle display device of the present invention (an example in which the outline and the icon QP4 are superimposedly displayed in the range indicating the frozen road surface area of the road surface by the HUD device). In FIG. 3, the same reference numerals are given to parts common to the above-mentioned drawings. This point is the same as in the following figures.

  In the example of FIG. 3, the frozen road surface area QP3 (here, a trapezoidal shape area) is surrounded by the highlight display frame QP1 (which may not be displayed), but the “outline (outline) and ice” The icon (which is a kind of symbol in a broad sense) QP4 that simulates the crystal of is displayed. The outer shape (outline) is indicated by a broken line. In this example, it is possible to show that the road surface is frozen and its range in an easy-to-understand manner by "outline (outline) and icon (symbol) QP4".

  Next, FIG. 4 will be referred to. FIG. 4 is a view showing still another example of the display in the vehicle display device of the present invention (an example in which the warning by the outline and the character QP5 is superimposed and displayed in the range indicating the frozen road surface area of the road surface by the HUD device) .

  In the example of FIG. 4, the frozen road surface area QP3 (here, a trapezoidal shape area) is surrounded by the highlight display frame QP1 (which may not be displayed), and the “outline (outline) and It is displayed by the warning of the character "Q5 with freeze warning". The outer shape (outline) is indicated by a broken line. In this example, it is possible to indicate that the road surface is frozen and the range thereof in an easy-to-understand manner by the “outline (outline) and characters QP5”.

  Next, FIG. 5 will be referred to. FIG. 5 is a view showing still another example of the display in the vehicle display device of the present invention (an example in which an outline is superimposed and displayed on a range indicating a frozen road surface area of a road surface by a HUD device).

  In the example of FIG. 5, the frozen road surface area QP3 (here, a trapezoidal shape area) is surrounded by the highlight display frame QP1 (this may not be displayed), but only the "outline (outline)". Is displayed by. The outer shape (outline) is indicated by a broken line. In this example, it is possible to show that the road surface is frozen and the range thereof in an easy-to-understand manner by the "outline (outline)".

  Next, FIG. 6 will be referred to. 6 (A) to 6 (C) show still another example of the display in the display device for a vehicle according to the present invention (HUD device superimposes a moving image that the vehicle spins in a range showing a frozen road surface area of the road surface. Example) is shown.

In the example of FIG. 6, the frozen road surface area QP3 (here, a trapezoidal area here) is surrounded by the highlight display frame QP1 (which may not be displayed), and the “outline (outline), and ,
It is displayed by the vehicle icons QP6a, QP6b, QP6c (in other words, a moving image of the vehicle icon) whose appearance changes as time passes. The icons QP6a, QP6b, and QP6c of the vehicle whose appearance changes with the passage of time show that the vehicle spins on the frozen road surface area QP3. The outer shape (outline) is indicated by a broken line. In this example, it is possible to indicate that the road surface is frozen and its range more intuitively and easily by "outline (outline) and animation".

  Next, FIG. 7 will be referred to. 7 (A) to 7 (C) show still another example of the display in the display device for a vehicle according to the present invention (in the HUD device, the warning mark QP7 blinks in the range indicating the frozen road surface area of the road surface) Is an example of superimposed display).

In the example of FIG. 7, the frozen road surface area QP3 (here, a trapezoidal shape area) is surrounded by the highlight display frame QP1 (which may not be displayed), and the “outline (outline), and ,
It is displayed by the reminder mark QP7 which blinks with the passage of time (in other words, the display of the image and the non-display of the image are repeated at short intervals). The blinking warning mark QP7 is an example of a blinking image. The outer shape (outline) is indicated by a broken line. In this example, it is possible to indicate that the road surface is frozen and its range more intuitively and intuitively by "outline (outline) and blinking image".

  The display as described above (however, these are exemplifications and not limited thereto) allows the driver to determine from which point the frozen road surface area is started and which frozen road surface area is You can intuitively know how it is spreading. Therefore, the driver can quickly take measures such as, for example, sufficiently decelerating and changing the course so as to avoid the frozen road surface area, thereby further securing the safety of the operation of the vehicle. Can.

  Next, FIG. 8 is referred to. FIG. 8 is a view showing a configuration example of a main part of a display device for a vehicle (display system for a vehicle) of the present invention. In the example of FIG. 8, an infrared thermography (infrared thermography camera) 200 capable of analyzing infrared radiation emitted from an object and imaging a temperature distribution, an optical camera or an infrared camera (including a stereo camera) 202, and A radar unit or a sonar unit (which may be used in combination), a control unit 306, a display control unit 340, and a display unit (here, the HUD device 100) are provided. As the radar unit or sonar unit 206, for example, an imaging radar capable of irradiating a radio wave such as a millimeter wave, receiving a reflected wave or the like to image an object, irradiating a sound wave, receiving a reflected wave or the like to image an object It is possible to use an imaging sonar etc. However, it is not limited to these.

  The radar unit or sonar unit 206 can emit, for example, radio waves such as millimeter waves or sound waves (not limited to these) in front of the vehicle 1. Here, when there is an obstacle, a three-dimensional object with a step, a slope of a road surface, snow or ice haze, etc. in front, radio waves or sound waves such as millimeter waves are obstacles, three-dimensional objects, etc. In order to be reflected on the vehicle 1 side and to return to the side of the vehicle 1, it is possible to detect the presence of an object as, for example, a two-dimensional or three-dimensional image by receiving the reflected wave.

  Here, conversely speaking, when the object can not be detected, the road surface is "a flat (in other words, flat) area without obstacles or steps". . In the example of FIG. 8, based on the above-described findings, the radar unit or sonar unit 206 (in other words, at least one of the radar unit and the sonar unit 206) is “a flat area without obstacles or steps”. Used for detection of

  Further, the control unit 306 is provided in a display device for a vehicle mounted on the vehicle 1. The control unit 306 has a road surface detection unit 308. The road surface detection unit 308 has a function of acquiring road surface coordinate information. Further, the road surface detection unit 308 further captures an image by a camera (in other words, an optical camera or an infrared camera (including a stereo camera) 202) in order to detect that the road surface of the road is a flat road surface. It may have a function of performing image processing of an image. The control unit 306 further includes a driving scene determination unit 310, a frozen area detection unit 312 for the road surface, a flat area detection unit 314 without obstacles or steps (with few steps), and a continuation of the flat frozen area on the flat road surface. It detects the position where the frozen road surface area is started and the frozen road surface area detection unit (hereinafter simply referred to as “freezed road surface area detection unit”) 318 having the function of judging the nature, shape, size etc. And a start position detection unit 320 of a frozen road surface area (an area such as black ice burn) and a display area determination unit 322 of the frozen road surface area that determines the display area of the frozen road surface area.

  Here, the frozen road surface area detection unit 318 analyzes the infrared radiation emitted from the object, and generates first detection information obtained based on the detection signal D1 of the infrared thermography camera 200 capable of imaging the temperature distribution. (Specifically, the information on the frozen area of the road surface output from the frozen area detection unit 312 of the road surface) D3 is input.

  Furthermore, based on the detection signal D2 of the radar unit or the sonar unit 206, the frozen road surface area detection unit 318 detects that the road surface on which the vehicle 1 travels or intends to travel is a road surface having flatness. In order to detect that the obtained road surface is flat or flat, the image processing of the captured image by a camera (in other words, an optical camera or an infrared camera (including a stereo camera) 202) is performed. The second detection information D4 obtained based on the detection signal of the road surface detection unit 308 is input. Here, specifically, the second detection information D4 is output from the flat area detection unit 314 without (small) obstacles or steps, or from the road detection unit 308. Information on the "flat area" of

  Then, the frozen road surface area detection unit 318 detects a frozen area having a predetermined area or more based on the first detection information D3 (it may be detected by itself or may be detected by the flat area detection unit 314 or the like) And when the frozen area is present on the road surface having the flatness detected based on the second detection information D4, it is detected that the frozen road area is hard to be noticed by the driver. In addition, when a flat road surface is detected from one image and continuous frozen areas of a predetermined area or more are detected from other images obtained by imaging the same area, the respective images are superimposed based on the coordinates. As a result, it can be determined whether or not there is a continuous freezing area on a flat road surface.

  In other words, even if the road surface is flat, if a continuous frozen area of a predetermined area or more is observed on the road surface, the frozen area may be, for example, an even thin ice on the flat road surface. The frozen road surface area detection unit 318 detects a frozen road surface area that the driver does not easily notice based on this knowledge, since it can be estimated that the covered area (black ice burn area) or the like is highly likely. Do.

  Then, the start position determination unit of the frozen road surface area detects the position where the frozen road surface area is started (in other words, the position of the frozen road surface area closest to the vehicle), and determines the display area of the frozen road surface area. Unit 322 determines the display range of the frozen road surface area (in other words, the outer shape or contour of the frozen road surface area), and under the control of display control unit 340, the display unit such as HUD device 100 has information on the frozen road surface. , Displayed (notified) in an appropriate display form.

  As described above, the display form includes displaying the external shape of the display area of the frozen road surface area determined by the display area determination unit 322 of the frozen road surface area superimposed on the road surface as a real scene. In other words, by displaying the outline (outline) of the frozen area in the area of the frozen road area having the detected start position as an end, the driver can start from which point the frozen road area is started, And, it is possible to intuitively know how the frozen road surface area is expanded. Therefore, the driver can quickly take measures such as, for example, sufficiently decelerating and changing the course so as to avoid the frozen road surface area, thereby further securing the safety of the operation of the vehicle. Can.

  In addition, as the display form, as described above, in the HUD device 100, the outer shape of the display range of the frozen road surface area is displayed superimposed on the road surface which is a real view, or the outer shape is not displayed. In addition, display of at least one of a pattern, a color, a symbol, an icon, a character for notification, a moving image, and a blinking of an image is included in the display range of the frozen road surface area. Even when the outline of the frozen road surface area is not displayed, it is possible to show the driver the existence of the frozen road area by adding a pattern or a color even if the outline is not displayed. It is possible to show the driver the existence of the frozen road surface area by adjusting the size of (for example, to a certain size), such as symbols, icons, characters, images of moving pictures, flashing images, etc. In consideration of

  In addition, when displaying by the above-mentioned symbol etc. after displaying an outline (outline), generally, the display by a symbol etc. is performed inside the outline (outline) (FIG. 3, FIG. 4, Refer to the display example of FIG. 6, FIG. 7). In addition, the outline (outline) does not necessarily mean a closed figure, and it is an incomplete outline (outline) if it can be displayed to the driver in an easy-to-understand manner from which position the frozen road surface area starts. The accuracy of the contour may be sufficient to some extent.

  Further, in the configuration of FIG. 8, the frozen road surface area detection unit 318 detects the frozen road surface area using the information obtained based on each detection signal of the infrared thermography camera 200 and the radar unit or the sonar unit 206 or the like. . Here, both the infrared thermography camera 200 and the radar unit or sonar unit 206 can detect with high accuracy even at night, and the detection range can also be wide. In addition, high-speed detection is possible because analysis by advanced image processing is not required. Also, the infrared thermography camera 200 can accurately measure the temperature of an object in a wide temperature range ranging from a temperature below freezing to a considerable high temperature. By taking advantage of these features, according to the configuration of FIG. 8, it is possible to detect black ice burn and the like, which has conventionally been difficult to detect, with high accuracy that can withstand practical use.

  Next, FIG. 9 is referred to. FIG. 9 is a diagram for explaining an example of the frozen area having a predetermined area or more. FIG. 9 is a plan view of the vehicle 1 as viewed from above. The vehicle 1 includes a pair of front wheels 213a and 213b, and also includes a pair of rear wheels 215a and 215b. The vehicle 1 also has an imaging unit (of the type housed in an integral housing) in which an infrared thermography camera 200, an optical camera or an infrared camera (including a stereo camera) 202 is integrated. For example, the imaging unit is fixed to the roof of the vehicle 1 so as to face the lower front of the front, and the cameras 200 and 202 can image a common area. Since the angle of view of each camera is the same, by overlapping the information in the same coordinate area of each captured image, for example, there is a continuous freezing (freezing) area over a predetermined area in a flat area of the road surface , Etc. can be easily detected. Reference numeral 204 denotes a headlight (headlight).

  The frozen road surface area detection unit 318 in FIG. 8 preferably has a function of detecting a frozen area having a predetermined area or more. In other words, the frozen road surface area detection unit 318 preferably detects a frozen road surface area (freezed road surface state) such as an ice burn which is likely to cause the vehicle 1 to lose appropriate braking.

  From this point of view, in the example of FIG. 9, each of the two front wheels 213a and 213b of the four-wheeled vehicle 1 or each of the two rear wheels 215a and 215b may run together as a frozen area of a predetermined area or more. It can be assumed that there is a continuous freezing area (area Z.alpha. Indicated by hatching in FIG. 9), and a pair of front and rear wheels (213a and Each of 215a, 213b and 215b) may assume a continuous frozen area (area Zβ shown hatched in FIG. 9), which may run together. For example, based on the area Zα and the area Zβ, it can be determined whether or not it is a frozen area having a predetermined area or more.

  In the region Zα, the longitudinal length (length along the traveling direction of the vehicle) is L1 slightly longer than the diameter of the front wheel (rear wheel), and the lateral width (length in the direction orthogonal to the longitudinal direction) is And a rectangular area having a width L2 slightly wider than the distance between the front wheels (the distance between the rear wheels). Region Zβ is a rectangular region having a vertical length L3 slightly longer than the distance between the front wheel and the rear wheel, and a horizontal width L4 slightly wider than the width of the front wheel (rear wheel) .

  Next, FIG. 10 is referred to. FIGS. 10A to 10C are diagrams for explaining an example of detection of the start position of the frozen road surface area. In the example of FIG. 10, the frozen road surface area detection unit 318 (see FIG. 8) has a frozen area equal to or larger than a predetermined area on the road surface where the vehicle travels or intends to travel. If at least one freezing area in the form of a stepping stone is present in the vicinity of the freezing area on the side close to the vehicle 1, the at least one freezing area in the form of stepping stone is put together to form one continuous freezing area. The position of the one continuous frozen area considered closest to the vehicle 1 can be detected as the start position of the frozen road area.

  In other words, in the example of FIG. 10, as an example in the case where the boundary where the frozen area of a predetermined area or more is started is not clear, the frozen area having a certain size positioned like a stepping stone near the frozen area (In other words, it is assumed that there is a discrete region, not continuous, and a frozen region having a size equal to or larger than the minimum size to be detected).

  Here, FIG. 10A is referred to. The frozen area W1 in FIG. 10A is a frozen area having a predetermined area or more. Moreover, although each freezing area | region of W2-W5 has not reached the predetermined area, it exists in proximity | contact mutually. Moreover, although frozen area W6 is a little small in area, it exists in the position near each frozen area of W2-W5. The frozen areas T1 to T4 are excluded from the detection targets because they are considered to be very small in area and unlikely to affect the operation of the vehicle 1.

  Next, FIG. 10B will be referred to. In FIG. 10B, the outlines (outlines) R1, R2, and R3 are determined for each of the freezing area W1, the group of freezing areas W2 to W5, and the freezing area W6. In FIG. 10 (B), each outline (outline) is indicated by a thick line polygon. The outlines (contours) R2 and R3 can be regarded as at least one freezing area in the shape of a stepping stone that is close to the freezing area W1 on the side closer to the vehicle 1 than the freezing area R1 having a predetermined area or more. This stepping stone-like frozen area may be estimated to have the possibility of affecting the operation of the vehicle 1 regardless of whether the area is equal to or more than the above-mentioned predetermined area. In other words, it is considered that the risk of the slip of the vehicle 1 has already increased from the point of the stone-like frozen area.

  Next, FIG. 10C is referred to. Assuming that the area surrounded by each of the outer shapes (contours) R1, R2, and R3 is Z1, Z2, and Z3, in FIG. 10C, the respective areas Z1 to Z3 are put together to form one continuous area (in other words, Connection area) ZA. In FIG. 10C, the connection area ZA is indicated by a thick broken line. For example, the connection area ZA can be obtained by enclosing each area with a line segment in contact with each outer shape of each area Z1 to Z3 and minimizing the enclosed area.

  The start position detection unit 320 (see FIG. 8) of the frozen road surface area sets the connection area ZA as the frozen road surface area, and sets the position T1 of the frozen road surface area ZA closest to the vehicle 1 as the start position of the frozen road surface area ZA. It can be detected. Further, the display area determination unit 322 for the frozen road surface area (see FIG. 8) sets the outer shape of the frozen road area ZA (indicated by a thick broken line in FIG. 10C) as the display area for the frozen road surface area. be able to.

  As a result, the driver of the vehicle 1 can know in advance the point at which the danger increases more accurately, and can take an appropriate response at an earlier timing.

  As described above, the frozen road surface area ZA can be detected as, for example, a black ice burn (or simply an ice burn area). In other words, according to the display device for a vehicle according to the present embodiment, the frozen road surface area ZA detected is regarded as a black ice burn area, and the frozen road surface area is more accurately expressed to the driver of the vehicle 1 Information can be presented. In other words, the display device for a vehicle according to the present embodiment can detect black ice burn and its accurate display (notification), which can not be achieved conventionally.

  Next, FIG. 11 is referred to. FIG. 11 (A) is a view showing a setting example of virtual image display surfaces in the HUD device which can be used by switching a plurality of virtual image display surfaces, and FIG. 11 (B) is a view showing a configuration example of main parts of the HUD device. is there. As can be understood from the example of FIG. 1 described above, the frozen road surface area to be displayed may be at a position relatively far from the vehicle 1 or at a relatively close position, and the frozen road surface area It is preferable to be able to change the position of the virtual image in the depth direction (direction along the traveling direction of the vehicle), considering that superimposing the virtual image as accurately as possible, and displaying (but limited to this) Not be done). Therefore, in the example of FIG. 11, a HUD device that can be used by switching a plurality of virtual image display surfaces is used as the HUD device 100.

  In the example of FIG. 11A, the HUD device 100 is installed, for example, inside the dashboard of the vehicle 1 and emits display light K1 and K2 for displaying an image from the lower side to the upper side, for example. An image is projected on a windshield 3 as a projection target member (light transmitting member). In addition, the to-be-projected member (light transmission member) 3 is not limited to a windshield, You may be other members, such as a combiner.

  In the example of FIG. 11A, as a virtual image display surface, when viewed from the driver 15, the virtual image display surface PS1 (a) at a distant position (virtual image display distance L100) is closer to the virtual image display surface PS1 (a) (virtual image display distances L101 and L101 < The virtual image display surface PS1 (b) of L100 and the virtual image display surface PS2 of the closest position (virtual image display distance L102, L102 <L101 <L100) can be used. The virtual image display surface PS2 is a surface on which the vehicle speed display SP and the like are displayed. For example, the virtual image display distance L102 is fixed.

  The virtual image display surfaces PS1 (a) and PS1 (b) are surfaces on which the superimposed display is displayed, and depending on whether the distance to the object to be superimposed is far from or close to the vehicle 1, PS1 (a), PS1 (b) can be selectively switched. According to the distance to the object, by selectively switching the two surfaces, it is possible to superimpose superimposed display (emphasis display frame, etc.) on the object three-dimensionally with high accuracy without losing the sense of depth. it can. The virtual image display surfaces PS1 (a), PS1 (b), PS2 may be erected perpendicular to the road surface 2, or inclined at a predetermined angle with respect to the road surface 2, or It may be inclined so as to be superimposed on two.

  Next, FIG. 11B will be referred to. As illustrated in FIG. 11B, the HUD device 100 includes a light source unit 31 (an image generation unit 33, and a light emission control unit 35 that divides a laser beam into two to generate and output two beams). And a mirror 39, a lens 44, and screens 46a and 46b (image display surfaces 47a and 47b are provided as image display units, and the images Ma and Mb are formed on the image display surfaces 47a and 47b). And a virtual image display distance control unit 24 (including a lens drive unit 51 and a screen drive unit 53), a mirror 71, a reflecting mirror (concave mirror) 72, a housing 81, and a light emitting window 83. In FIG. 11B, the entire optical system (region surrounded by an ellipse of a broken line) that processes the light output from the light source unit 31 is referred to as a projection optical system 37.

  The display light K1 is generated by the emitted light of the image Ma displayed on the image display surface 47 of the screen 46a, and the display light K2 is generated by the emitted light of the image Mb displayed on the image display surface 47 of the screen 46b. The positions of the lens 44 and the screen 46a are along the optical path, in other words, in the direction along the optical axis of the lens 44 (and the screen 46a) by the virtual image display distance control unit 24 (lens drive unit 51, screen drive unit 53). By moving, the virtual image display surface PS1 (a), (b) can be switched as appropriate. The screen 46b is fixed in position, and the display light K2 is used to display the vehicle speed indication SP and the like.

  Next, FIG. 12 will be referred to. FIG. 12 is a view showing an example of the entire configuration of a display device for a vehicle according to the present invention, which includes at least the HUD device shown in FIGS. 11 (A) and 11 (B). In FIG. 12, the same reference numerals are attached to the parts common to the above-mentioned drawings.

  The display device for a vehicle includes at least a head-up display (HUD) device 100 mounted on the vehicle 1 and causing the driver to visually recognize a virtual image of the image by projecting the image onto a projection target member provided on the vehicle.

  The display device for vehicle includes the display unit (display) 13 such as a liquid crystal panel shown in the example of FIG. 1 and the HUD device 100 (virtual image display distance control unit 24, image generation unit 33, light projection control described in FIG. And the projection optical system 37).

  Further, as described above with reference to FIG. 8, the display device for vehicle includes an infrared thermography (infrared thermography camera) 200, an optical camera or infrared camera (including a stereo camera) 202, a radar unit or a sonar unit (They may be used in combination. In FIG. 12, they are described as "radar (sonar)") 206, control unit 306, display control unit 340, display unit (HUD device 100 and display unit And (display unit) 13).

  Further, as described above with reference to FIG. 8, the control unit 306 includes a road surface detection unit (having a function of acquiring road surface coordinate information) 308, a driving scene determination unit 310, and a road surface frozen area detection unit. And a frozen road surface area detection unit 318 having a function of determining the continuity, shape, size, etc. of a flat frozen area on a flat road surface. , A start position detection unit 320 for the frozen road surface area, and a display range determination unit 322 for the frozen road surface area. The control unit 306, as hardware, is configured by a storage unit such as a CPU (MPU), a ROM, and a RAM.

  In addition, the display device for vehicle may be a broadcasting system 400, an information communication system (for example, a system capable of transmitting road traffic information to an on-vehicle device (car navigation system etc.) of a vehicle using radio beacons and light beacons) 402, or a wireless communication unit 302 capable of wirelessly communicating with a road-vehicle communication system 404 or the like to exchange information, an electronic control unit (ECU) 300, a bus BUS1, and a vehicle information acquisition unit (vehicle Information interface 304). The electronic control unit (ECU) 300 can collect various data (for example, vehicle speed information, direction indicator information, etc.) indicating the driving condition of the vehicle 1. In addition, various data received by the wireless communication unit are also collected by the electronic control unit (ECU) 300.

  A noncontact road surface temperature measurement unit 211 is provided in the vicinity of the front wheel of the vehicle 1, and the measured road surface temperature information is supplied to an electronic control unit (ECU) 300. The road surface temperature information is used as reference information in the detection process of the road surface freezing area detection unit 312 or the like. In addition, information on lighting of the headlight 204 from the headlight control unit 205 is also supplied to the electronic control unit (ECU) 300. Various data collected by the ECU 300 are supplied to the vehicle information acquisition unit 304 via the bus BUS1.

  In addition, whether the display control unit 340 performs display of an image for notifying the driver using the HUD device 100 or the display unit (display) 13 (or both of them) Judgment unit 342 of HUD display / indicator display to determine the mode and format of display for superimposed display or notification (for example, using frame display as superimposed display, using reminder mark, or for notification) And a notification format / display format determination unit 344 that determines a logo mark, character information, and the like as the display of

  The display control unit 340 can control the operations of the image generation unit 33 and the virtual image display distance control unit 24 of the HUD device 100 via the bus BUS2, and an image for the display unit (display) 13 The operation of the generation unit 350 can be controlled. The image generated by the image generation unit 350 is supplied to the display control unit 352, and the display control unit 352 controls the display of the display unit (display) 13 such as a liquid crystal display device.

  Next, FIG. 13 is referred to. FIG. 13 is a flowchart showing an example of the main operation procedure of the vehicle display device of the present invention. First, the frozen area of the road surface is detected by the infrared thermography camera 200 (step S1), and a flat area without obstacles or steps (less) by the radar unit or sonar unit (imaging radar, imaging sonar, etc.) 206 Detection is performed (step S2).

  Next, for example, the frozen road surface area detection unit 318 determines whether the frozen area is present on the road surface and whether the frozen area is present on the flat area of the road surface (step S3). Subsequently, the continuity, shape, size, etc. of the flat frozen area on the flat road surface are detected (step S4). In the case of No at step S3, the process returns to step S1. Next, it is determined whether a continuous freezing area (area such as black ice burn) having an area of a predetermined size or more is started from a point in front of the vehicle (step S5).

  In the case of Yes in step S5, the start position detection unit 320 of the frozen road surface area detects the start position of the frozen road surface area (step S6). If No in step S5, the process returns to step S1. Next, the display area determination unit 322 for the frozen road surface area extracts (determines) the outer shape or the like of the frozen road surface area to be notified (step S7). Next, information such as coordinates of the extracted frozen road surface area is acquired (step S8). Next, the notification mode is determined by the display control unit 340 (step S9), and then notification (display) is performed by the HUD device 100 or the like (step S10). In this notification, not only visual notification (display) but also sound notification can be used in combination.

  The invention is not limited to the above-described exemplary embodiments, and one of ordinary skill in the art could easily modify the above-described exemplary embodiments to the extent that they are included in the claims. . For example, “a flat frozen area” is a road surface with high flatness where it is recognized that there is hardly any level difference etc. For example, although there is some level difference due to the influence of snowfall etc, the level difference is relatively small. It can include something that can be considered flat.

  In addition, when detecting a "flat frozen area", etc., the driving scene determined from various driving situations obtained by the ECU etc. and an image taken by an optical camera (CCD camera etc.) are analyzed by image analysis. Information indicating the obtained road condition can be used (applied) as appropriate.

  In addition, detection of a flat area without obstacles or steps (less) may be performed by image processing based on a captured image of an optical camera, or obtained by detection information by a radar unit or a sonar unit and image processing. It may be performed in combination with the

  Further, although the case of switching the two surfaces of the virtual image display surfaces PS1 (a) and PS1 (b) has been exemplified, it is also possible to perform switching display on a plurality of continuous virtual image display surfaces.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle (vehicle), 2 ... road surface, 3 ... member to be projected (wind shield etc.), 4 ... dashboard, 5 ... virtual image display area on a windshield, 7 ... · Steering wheel (steering wheel), 9 · · · Mode switch (operation unit), 13 · · · Display unit with liquid crystal etc. (display unit), 15 · · · Driver (user), 100 · · · HUD device, 200: infrared thermography (infrared thermography camera) 202: optical camera or infrared camera (including stereo camera) 206: radar unit or sonar unit 211: noncontact road surface temperature measurement unit 300: electronic control unit (ECU), 302: wireless communication unit, 304: vehicle information acquisition unit, 306: control unit, 308: road surface detection unit, 310. Driving scene determination unit, 312 ... frozen area detection unit of road surface 314 ... flat area detection unit without obstacles or steps (less), 318 ... frozen road surface area detection unit difficult to see (freeze road surface Region detection unit) 320 ... Start position determination unit of frozen road surface region, 322 ... Display range determination unit of frozen road surface, 340 ... Display control unit.

Claims (5)

A display device for a vehicle mounted on a vehicle,
First detection information obtained based on an infrared thermography detection signal capable of analyzing infrared radiation emitted from an object and imaging a temperature distribution is input, and the vehicle travels or will travel A road surface of a road is obtained based on a detection signal of a radar unit or a sonar unit that detects that the road surface is flat, or detects that the road surface of the road is flat. For this purpose, second detection information obtained based on a detection signal of a road surface detection unit that performs image processing of a captured image by a camera is input, and a frozen area having a predetermined area or more is input based on the first detection information. Is detected, and when the frozen area is present on the road surface having the flatness detected based on the second detection information, the frozen road area which the driver hardly notices exists A control unit including a frozen road area detecting unit, for detecting that,
A display control unit that controls display on the vehicle display device;
A display unit controlled by the display control unit to display information on the frozen road surface area;
A display device for a vehicle, comprising: At least a head-up display (HUD) device for causing the driver to visually recognize a virtual image of the image by projecting the image onto a projection target member provided on the vehicle.
The control unit
A start position detection unit for a frozen road surface area that detects a position at which the frozen road surface area is started;
A display range determination unit of the frozen road surface region that determines the display range of the frozen road surface region;
Have
The display control unit
In the head-up display device, the external shape of the display area of the frozen road surface area determined by the display area determination unit of the frozen road surface area is superimposed and displayed on the road surface as a real view.
Or
In the head-up display device, the external shape of the display area of the frozen road surface area determined by the display area determination unit of the frozen road surface area is superimposed on the road surface as a real view, or the external shape is not displayed. A display according to at least one of a pattern, a color, a symbol, an icon, a character for notification, a moving image, and a flicker of an image is performed in the display range of the frozen road surface area. Vehicle display device. The frozen area more than the predetermined area used for detection in the frozen road surface area detection unit is:
Each of the two front wheels, or each of the two rear wheels, of the four-wheeled vehicle is a continuous freezing area that can potentially ride together.
Or
Each of a pair of left and right front wheels and rear wheels of the four-wheeled vehicle is a continuous freezing area that may ride on together.
The display device for vehicles according to claim 1 or 2 characterized by things.   The start position detection unit for the frozen road surface area has a frozen area equal to or larger than the predetermined area, and is closer to the frozen area on the side closer to the vehicle than the frozen area, If an area exists, the adjacent at least one freezing-like frozen area is collectively regarded as one continuous freezing area, and the position of the one continuous freezing area closest to the vehicle is the frozen road surface The display device for a vehicle according to claim 2, wherein the display position is a start position of the region.   The display apparatus for a vehicle according to any one of claims 1 to 4, wherein the frozen road surface area is a black ice burn area.

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