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WO2013114617A1 - Dispositif d'affichage d'image, procédé pour l'affichage d'image et programme pour l'affichage d'image - Google Patents

Dispositif d'affichage d'image, procédé pour l'affichage d'image et programme pour l'affichage d'image Download PDF

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Publication number
WO2013114617A1
WO2013114617A1 PCT/JP2012/052510 JP2012052510W WO2013114617A1 WO 2013114617 A1 WO2013114617 A1 WO 2013114617A1 JP 2012052510 W JP2012052510 W JP 2012052510W WO 2013114617 A1 WO2013114617 A1 WO 2013114617A1
Authority
WO
WIPO (PCT)
Prior art keywords
display
image
guidance information
information
image display
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2012/052510
Other languages
English (en)
Japanese (ja)
Inventor
稔樹 藤原
誠二 後藤
卓也 塚田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pioneer Corp
Original Assignee
Pioneer Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pioneer Corp filed Critical Pioneer Corp
Priority to PCT/JP2012/052510 priority Critical patent/WO2013114617A1/fr
Priority to JP2013556168A priority patent/JP5964332B2/ja
Publication of WO2013114617A1 publication Critical patent/WO2013114617A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3647—Guidance involving output of stored or live camera images or video streams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/22—Display screens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/23—Head-up displays [HUD]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/60—Instruments characterised by their location or relative disposition in or on vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/365—Guidance using head up displays or projectors, e.g. virtual vehicles or arrows projected on the windscreen or on the road itself
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/166—Navigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/20—Optical features of instruments
    • B60K2360/33—Illumination features
    • B60K2360/334—Projection means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/77—Instrument locations other than the dashboard
    • B60K2360/771—Instrument locations other than the dashboard on the ceiling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/77—Instrument locations other than the dashboard
    • B60K2360/785—Instrument locations other than the dashboard on or in relation to the windshield or windows
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver

Definitions

  • the present invention relates to a technical field in which guidance information and the like are displayed in a superimposed manner on a real scene in a moving direction of a moving body and a real image obtained by photographing the real scene.
  • Patent Document 1 describes a technique for superimposing and displaying a guidance route on a real image acquired by a camera. Specifically, Patent Document 1 describes that, when it is difficult to see route guidance display using such a photographed image, switching to a guidance screen using a virtual image (CG image) generated based on map data or the like is described. Has been.
  • CG image virtual image
  • AR display includes a technique for displaying guidance information and the like superimposed on an actual scenery in the traveling direction of the vehicle using a device such as a head-up display.
  • Patent Document 1 does not describe a technique for dealing with such a problem.
  • the main object of the present invention is to provide an image display device, an image display method, and an image display program capable of appropriately controlling the display of guidance information in accordance with the traveling state of a moving body.
  • the image display device superimposes the actual scenery in the traveling direction of the moving object or the actual image obtained by photographing the actual scenery, and guide information is displayed on the actual scenery, or Display control means for displaying the guidance target included in the actual photographed image at a predetermined position or angle, and control for restricting display of the guidance information by the display control means according to the traveling state of the moving body. Limiting means.
  • the image display method executed by the image display device is guided by superimposing on a real scene in a moving direction of a moving body or a real photograph image obtained by photographing the real scene.
  • a display control step for displaying information at a predetermined position or angle with respect to the guidance object included in the actual scene or the first-half live-action image, and the guidance information of the guidance control step according to the traveling state of the moving body.
  • a limiting step for performing control for limiting display.
  • the image display program executed by the image display apparatus having a computer captures the actual scene in the traveling direction of the moving object or the actual scene obtained by photographing the actual scene.
  • FIG. 1 shows a schematic configuration of a navigation device. 1 shows a schematic configuration of a head-up display. An example of display deviation is shown. The example of a display by 1st Example is shown. The processing flow which concerns on 1st Example is shown. The processing flow concerning 2nd Example is shown.
  • the image display device superimposes on a real scene in a moving direction of a moving body or a real image obtained by photographing the real scene, and guide information is displayed on the real scene or the Display control means for displaying the guidance target included in the photographed image at a predetermined position or angle, and restriction for performing control for restricting the display of the guidance information by the display control means according to the traveling state of the moving body Means.
  • the above-described image display device displays guidance information superimposed on a real scene in the traveling direction of a moving object or a real image obtained by photographing a real scene.
  • the guidance information is a route to the destination (guidance route), information indicating a predetermined facility or place, and the like, and is displayed for a guidance target such as a road or a facility included in a real scene or a live-action image.
  • the restricting means performs control for restricting display of the guidance information in accordance with the traveling state of the moving body.
  • the restricting means hides the guide information. In this way, by restricting the display of the guidance information according to the traveling state, it is possible to prevent the guidance information from being displayed in a shifted manner with respect to the guidance target included in the actual scenery or the photographed image.
  • the restricting unit is configured to display the guidance information when the guidance information is displayed in a shifted state with respect to the guidance target in the actual scene or the photographed image.
  • the running state includes a running state that causes a change in a real scene or a photographed image of a predetermined amount or more.
  • the “predetermined amount” corresponds to an amount of change in a real scene or a photographed image that causes a phenomenon that the guidance information is displayed with a shift, and is determined by the communication speed of the image display device, the drawing processing capability, and the like.
  • the restriction unit performs control to restrict display of the guidance information based on an output of a sensor that detects the traveling state. According to this aspect, based on the output of the sensor, it is determined whether or not the driving state is such that the guidance information is displayed with a deviation from the guidance target, and the guidance information is displayed. Can be limited.
  • the restricting means can restrict the display of the guidance information when the azimuth change amount per unit time in the traveling direction of the moving body is a predetermined value or more. For example, the restricting means, when the direction change amount per unit time in the traveling direction is equal to or greater than the predetermined value, information indicating a predetermined facility and point, and a guide route to the destination set as the guide information Is hidden.
  • the restricting means restricts the display of the guidance information when the speed of the moving body is equal to or higher than a predetermined value. For example, when the speed is equal to or higher than the predetermined value, the restricting unit hides information indicating a predetermined facility and point.
  • the restricting unit performs a control to determine the travel state based on map data and restrict the display of the guidance information. According to this aspect, it is possible to limit the display of the guidance information by determining whether or not the traveling state is such that a phenomenon that the guidance information is displayed with a shift is generated based on the map data. In a preferred example, when the distance to the predetermined point is less than a predetermined value, the limiting means determines that the display of the guidance information is to be limited and displays the guidance information. Restrict. For example, the restricting unit hides the guide route to the destination set as the guide information when the distance is less than the predetermined value.
  • the image display method executed by the image display device is superposed on a real scene in a moving direction of a moving object or a real image obtained by photographing the real scene, and guide information
  • a limiting step for performing control for limiting is
  • an image display program executed by an image display device having a computer is an actual photograph obtained by photographing the actual scenery in the traveling direction of the moving object or the actual scenery.
  • FIG. 1 shows a configuration example of a system according to the present embodiment.
  • the system includes a navigation device 1 and a head-up display 2.
  • the system is mounted on a vehicle.
  • the navigation device 1 has a function of performing route guidance from the departure point to the destination.
  • the navigation device 1 can be, for example, a stationary navigation device installed in a vehicle, a PND (Portable Navigation Device), or a mobile phone such as a smartphone.
  • PND Portable Navigation Device
  • mobile phone such as a smartphone.
  • the head-up display 2 generates an image that displays map information including the current position, route guidance information, travel speed, and other information that assists driving, and the image is converted into a virtual image from the position (eye point) of the driver's eyes. It is a device for visual recognition.
  • the head-up display 2 is supplied from the navigation device 1 with various information such as the current position of the vehicle, the traveling speed of the vehicle, map information, and facility data.
  • the head-up display 2 is an example of the “image display device” in the present invention.
  • the navigation device 1 may be held by a cradle or the like. In this case, the navigation device 1 may exchange information with the head-up display 2 via a cradle or the like.
  • FIG. 2 shows the configuration of the navigation device 1.
  • the navigation device 1 includes a self-supporting positioning device 10, a GPS receiver 18, a system controller 20, a disk drive 31, a data storage unit 36, a communication interface 37, a communication device 38, an interface 39, and a display unit 40.
  • the self-supporting positioning device 10 includes an acceleration sensor 11, an angular velocity sensor 12, and a distance sensor 13.
  • the acceleration sensor 11 is made of, for example, a piezoelectric element, detects vehicle acceleration, and outputs acceleration data.
  • the angular velocity sensor 12 is composed of, for example, a vibrating gyroscope, detects the angular velocity of the vehicle when the direction of the vehicle is changed, and outputs angular velocity data and relative azimuth data.
  • the distance sensor 13 measures a vehicle speed pulse composed of a pulse signal generated with the rotation of the vehicle wheel.
  • the GPS receiver 18 receives radio waves 19 carrying downlink data including positioning data from a plurality of GPS satellites.
  • the positioning data is used to detect the absolute position of the vehicle (hereinafter referred to as “current position”) from latitude and longitude information.
  • the system controller 20 includes an interface 21, a CPU (Central Processing Unit) 22, a ROM (Read Only Memory) 23, and a RAM (Random Access Memory) 24, and controls the entire navigation device 1.
  • a CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the interface 21 performs an interface operation with the acceleration sensor 11, the angular velocity sensor 12, the distance sensor 13, and the GPS receiver 18. From these, vehicle speed pulses, acceleration data, relative azimuth data, angular velocity data, GPS positioning data, absolute azimuth data, and the like are input to the system controller 20.
  • the CPU 22 controls the entire system controller 20.
  • the ROM 23 includes a nonvolatile memory (not shown) in which a control program for controlling the system controller 20 is stored.
  • the RAM 24 stores various data such as route data preset by the user via the input device 60 so as to be readable, and provides a working area to the CPU 22.
  • a system controller 20 a disk drive 31 such as a CD-ROM drive or a DVD-ROM drive, a data storage unit 36, a communication interface 37, a display unit 40, an audio output unit 50 and an input device 60 are mutually connected via a bus line 30. It is connected to the.
  • the disk drive 31 reads and outputs content data such as music data and video data from a disk 33 such as a CD or DVD under the control of the system controller 20.
  • the disk drive 31 may be either a CD-ROM drive or a DVD-ROM drive, or may be a CD and DVD compatible drive.
  • the data storage unit 36 is configured by, for example, an HDD and stores various data used for navigation processing such as map data.
  • the communication device 38 includes, for example, an FM tuner, a beacon receiver, a mobile phone, a dedicated communication card, and the like, and information distributed from a VICS (Vehicle Information Communication System) center or the like (“VICS” is a registered trademark). Is acquired from the radio wave 39.
  • the interface 37 performs an interface operation of the communication device 38 and inputs the VICS information to the system controller 20 or the like. Further, the communication device 38 transmits information on the current position acquired from the GPS receiver 18 to the head-up display 2.
  • the display unit 40 displays various display data on a display device such as a display under the control of the system controller 20. Specifically, the system controller 20 reads map data from the data storage unit 36. The display unit 40 displays the map data read from the data storage unit 36 by the system controller 20 on the display screen.
  • the display unit 40 includes a graphic controller 41 that controls the entire display unit 40 based on control data sent from the CPU 22 via the bus line 30, and image information that can be displayed immediately, such as a VRAM (Video) RAM) memory.
  • a buffer memory 42 that temporarily stores, a display control unit 43 that controls display of a display 44 such as a liquid crystal based on image data output from the graphic controller 41, and a display 44 are provided.
  • the display 44 functions as an image display unit, and includes, for example, a liquid crystal display device having a diagonal size of about 5 to 10 inches and is mounted near the front panel in the vehicle.
  • the audio output unit 50 performs D / A (Digital-to-Analog) conversion of audio digital data sent from the CD-ROM drive 31, DVD-ROM 32, RAM 24, or the like via the bus line 30 under the control of the system controller 20.
  • a D / A converter 51 to perform an amplifier (AMP) 52 that amplifies the audio analog signal output from the D / A converter 51, and a speaker 53 that converts the amplified audio analog signal into sound and outputs the sound into the vehicle. It is prepared for.
  • AMP amplifier
  • the input device 60 includes keys, switches, buttons, a remote controller, a voice input device, and the like for inputting various commands and data.
  • the input device 60 is disposed around the front panel and the display 44 of the main body of the in-vehicle electronic system mounted in the vehicle.
  • the display 44 is a touch panel system
  • the touch panel provided on the display screen of the display 44 also functions as the input device 60.
  • the navigation device 1 generates guidance information for guiding the user based on the current position of the vehicle and transmits the guidance information to the head-up display 2.
  • the guidance information is a route to the destination (guidance route), information indicating a predetermined facility or place, and the like, and is displayed for a predetermined guidance target such as a road or a facility.
  • the route is obtained by the navigation device 1 based on the map data stored in the data storage unit 36.
  • the information indicating a predetermined facility or place is information on a landmark, information indicating a facility or place registered by the user, and is stored in the data storage unit 36 as map data, for example.
  • FIG. 3 is a schematic configuration diagram of the head-up display 2.
  • the head-up display 2 includes a light source unit 3 and a combiner 9, and is attached to a vehicle including a front window 25, a ceiling portion 27, a hood 28, a dashboard 29, and the like. It is done.
  • the light source unit 3 is installed on the ceiling portion 27 in the passenger compartment via the support members 5a and 5b, and emits light constituting an image indicating information for assisting driving toward the combiner 9. Specifically, the light source unit 3 generates an original image (real image) of the display image in the light source unit 3 based on the control of the control unit 4, and emits light constituting the image to the combiner 9.
  • the virtual image “Iv” is visually recognized by the driver via the combiner 9.
  • the light source unit 3 has a light source such as a laser light source or an LCD light source, and emits light from the light source.
  • the combiner 9 projects the display image emitted from the light source unit 3 and reflects the display image to the driver's eye point Pe to display the display image as a virtual image Iv. And the combiner 9 has the support shaft part 8 installed in the ceiling part 27, and rotates the support shaft part 8 as a spindle.
  • the support shaft portion 8 is installed, for example, in the vicinity of the ceiling portion 27 in the vicinity of the upper end of the front window 25, in other words, the position where a sun visor (not shown) for the driver is installed.
  • the support shaft portion 8 may be installed instead of the above-described sun visor.
  • the control unit 4 includes a CPU, RAM, ROM, and the like (not shown), and performs general control of the head-up display 2.
  • the control unit 4 can communicate with the navigation device 1 and receives the guide information as described above from the navigation device 1. Then, the control unit 4 performs control to display the guidance information so as to be superimposed on the actual scenery observed through the combiner 9. That is, control for AR display is performed.
  • the control unit 4 performs control so that the virtual image corresponding to the route as the guidance information is visually recognized by being superimposed on the position corresponding to the road corresponding to the route in the actual scenery observed through the combiner 9. Do.
  • control unit 4 visually superimposes a virtual image corresponding to information indicating a facility or place as guidance information at a position corresponding to the facility or the place in the actual scene observed through the combiner 9. Control to be done.
  • the control unit 4 is an example of “display control means” and “limitation means” in the present invention.
  • FIG. 3 it is not limited to displaying an image using the combiner 9, You may display an image using a windshield instead of the combiner 9.
  • FIG. The light source unit 3 is not limited to being installed on the ceiling portion 27, and the light source unit 3 may be installed inside the dashboard 29 instead of the ceiling portion 27.
  • the control unit 4 performs control to limit the display of guidance information according to the traveling state of the vehicle. Specifically, the control unit 4 restricts the display of the guidance information when the driving information is displayed so that the guidance information is displayed with a deviation from the actual scenery (the actual scenery observed through the combiner 9).
  • the phenomenon that the guidance information is displayed in a shifted manner with respect to the actual scenery can occur, for example, in a traveling state where the actual scenery in the traveling direction of the vehicle changes greatly. In such a traveling state, the control unit 4 performs control to hide a part of the guidance information (display the remaining guidance information) or to hide the entire guidance information.
  • FIG. 4A shows a diagram in which the vehicle is traveling straight toward the front guide point (intersection).
  • the set route 70a, an arrow 70b indicating that a left turn should be made at the guide point, and a flag 70c indicating the guide point are displayed as guide information (route 70a, arrow 70b and flag 70c).
  • route 70a, arrow 70b, and flag 70c are appropriately displayed with respect to the actual landscape.
  • the route 70a is displayed at a position corresponding to the corresponding road and matches the shape of the road.
  • the arrow 70b and the flag 70c are appropriately displayed at the position of the intersection as the guide point.
  • FIG. 4B is a diagram for explaining a case where a display deviation occurs while the vehicle is turning around the guide point (intersection) shown in FIG.
  • the route 71a, the arrow 71b, and the flag 71c are displayed as the guidance information during the turn), and the route 71a, the arrow 71b, and the flag 71c are displayed with being shifted from the actual scenery.
  • a route indicating that the road should be straight forward is displayed
  • a route 71a indicating that the vehicle should turn left is displayed.
  • An arrow 71b and a flag 71c are also displayed. That is, it can be said that the guidance information displayed immediately before turning is displayed as it is. In other words, it can be said that the guidance information is displayed with a delay.
  • the phenomenon shown in FIG. 4B (hereinafter simply referred to as “display displacement”) is caused by a communication delay between the navigation device 1 and the head-up display 2, a drawing process delay in the head-up display 2, or the like. Can occur. In particular, since there are many objects to be displayed during turning at an intersection, there may be a display shift. When such a display shift occurs, the user may feel uncomfortable or misrecognize the guidance information. There is a possibility of letting you. For example, when a display shift as shown in FIG. 4B occurs, there is a possibility that the user will be misunderstood that the road is guided in a direction in which no road exists (left direction).
  • the display of the guidance information is limited in a traveling state in which a display deviation occurs.
  • the control unit 4 determines that the driving state is such that a display shift occurs when the driving state is such that the actual scenery in the traveling direction of the vehicle changes greatly, and restricts the display of guidance information. To do.
  • the control unit 4 obtains an output from the self-supporting positioning device 10 in the navigation device 1, determines a traveling state based on the output, and performs control to limit the display of guidance information.
  • the display of guidance information is limited.
  • the control unit 4 restricts the display of guidance information when the amount of change in azimuth of the vehicle (in other words, the turning speed) is equal to or greater than a predetermined value.
  • the control unit 4 hides the route as the guidance information when the azimuth change amount per unit time with respect to the traveling direction of the vehicle is a predetermined value or more.
  • FIG. 5 shows a display example according to the first embodiment. That is, the display example in the case where the display of the guidance information is limited because the azimuth change amount per unit time is a predetermined value or more is shown.
  • 5 (a) and 5 (b) show images that the driver sees through the combiner 9 while the vehicle is turning around the guide point (intersection) shown in FIG. 4 (a). Yes.
  • the part of the real scenery in FIG. 5 (a) and (b) is the same as that of FIG.4 (b).
  • FIG. 5A shows a first display example in the first embodiment.
  • the control unit 4 hides all guidance information. Specifically, the control unit 4 hides all of the route 71a, the arrow 71b, and the flag 71c shown in FIG. Thereby, a display shift as described above can be appropriately suppressed. Therefore, it is possible to appropriately suppress a sense of incongruity or misrecognition due to display deviation.
  • FIG. 5B shows a second display example in the first embodiment.
  • the control unit 4 hides only a part of the guidance information. Specifically, the control unit 4 displays only the flag 71c similar to that shown in FIG. 4B, and hides the route 71a and the arrow 71b shown in FIG. 4B.
  • the second display example when the route 71a and the arrow 71b are displayed, there is a possibility that a discomfort or a misrecognition may occur due to a display deviation. Therefore, these are not displayed, and the flag 71c has a discomfort due to a display deviation. It is displayed as it is, assuming that it is unlikely to cause misrecognition.
  • Such a second display example can also appropriately suppress a sense of incongruity or misrecognition due to a display shift.
  • FIG. 6 shows a processing flow according to the first embodiment. This processing flow is repeatedly executed by the control unit 4 in the head-up display 2.
  • step S101 the control unit 4 acquires the azimuth change [deg] detected by the autonomous positioning device 10 (specifically, the angular velocity sensor 12) in the navigation device 1, and the azimuth change [deg]. Is accumulated for a predetermined time. For example, the azimuth change amount is acquired from the navigation device 1 every 100 [msec], and the azimuth change amount is integrated for 0.1 to 0.5 [sec]. Then, the process proceeds to step S102.
  • the autonomous positioning device 10 specifically, the angular velocity sensor 12
  • step S102 the control unit 4 calculates an azimuth change amount [deg / sec] per unit time, specifically, per second from the azimuth change amount accumulated in step S101. Then, the process proceeds to step S103.
  • step S103 the control unit 4 determines whether or not the azimuth change amount per second calculated in step S102 is greater than or equal to a predetermined value.
  • the predetermined value used for the determination is determined based on an azimuth change amount that may cause a display shift due to a large change in the actual scenery in the traveling direction of the vehicle. For example, 30 [deg / sec] is used as the predetermined value.
  • step S103 If the azimuth change amount per second is equal to or greater than the predetermined value (step S103: Yes), the process proceeds to step S104.
  • the control unit 4 determines that the driving state is likely to cause a display shift, and hides the route as the guidance information (step S104). Then, the process ends.
  • step S103 when the azimuth change amount per second is less than the predetermined value (step S103: No), the process proceeds to step S105.
  • the control unit 4 determines that the traveling state does not cause a display shift and displays a route as guidance information (step S105). Then, the process ends.
  • the guidance information is determined based on the direction change amount per unit time in the traveling direction of the vehicle to determine whether or not the driving state is such that a display deviation occurs with respect to the guidance target. Can be appropriately restricted. Thereby, it is possible to appropriately suppress a sense of incongruity or misrecognition due to display deviation. Further, according to the first embodiment, it is possible to appropriately secure the field of view during turning by hiding the guide information.
  • the second embodiment is the same as the first embodiment in that the display of the guidance information is limited based on the idea that a display shift may occur when the vehicle is turning.
  • the turning of the vehicle is determined based on the actual direction change amount (the amount corresponding to the output of the angular velocity sensor 12 in the navigation device 1).
  • Judgment on turning of the vehicle is made based on the map data without using a large amount of change in direction. That is, in the second embodiment, based on the map data, it is determined whether or not a traveling state such as turning of the vehicle occurs, and control for limiting the display of the guidance information is performed.
  • the control unit 4 acquires map data from the navigation device 1, and based on the map data, there is a possibility of turning that exists in the traveling direction of the vehicle.
  • a point is specified, and the display of guidance information is restricted at the point.
  • the control unit 4 restricts the display of guidance information when the distance to the identified point becomes less than a predetermined value. For example, the control unit 4 specifies an intersection as a point where a turn may occur based on the map data, and when the distance to the intersection becomes less than a predetermined value, a route as guidance information is determined. Hide.
  • FIG. 7 shows a processing flow according to the second embodiment. This processing flow is repeatedly executed by the control unit 4 in the head-up display 2.
  • step S201 the control unit 4 acquires map data in the vicinity of the current position stored in the data storage unit 36 in the navigation device 1, and specifies an intersection existing in the traveling direction of the vehicle. Then, the control unit 4 obtains the distance to the intersection based on the current position and the position coordinates of the intersection (included in the map data). For example, the control unit 4 obtains the distance every 100 [msec]. Then, the process proceeds to step S202.
  • step S202 the control unit 4 determines whether or not the distance obtained in step S201 is less than a predetermined value.
  • the predetermined value used in the determination is the distance from the position before the intersection to the intersection with a certain margin from the viewpoint of reliably suppressing the display deviation. By using such a predetermined value, it is determined a state of shifting to a traveling state in which a display shift may occur. For example, 20 [m] is used as the predetermined value.
  • step S202 If the distance to the intersection is less than the predetermined value (step S202: Yes), the process proceeds to step S203. In this case, the control unit 4 determines that the travel state is likely to cause a display shift, and hides the route as the guide information (step S203). Then, the process ends.
  • step S202 when the distance to the intersection is not less than the predetermined value (step S202: No), the process proceeds to step S204.
  • the control unit 4 determines that the vehicle does not shift to a traveling state in which a display deviation may occur, and displays a route as guidance information (step S204). Then, the process ends.
  • the second embodiment described above it is possible to appropriately limit the display of the guidance information by making a determination on the driving state that causes a display shift based on the map data. This also makes it possible to appropriately suppress uncomfortable feelings and misrecognition due to display misalignment. Further, according to the second embodiment, it is possible to appropriately secure the field of view during the turn by hiding the guide information.
  • control for restricting display of guidance information is performed at all intersections existing in the traveling direction of the vehicle.
  • the display of guidance information is also limited at intersections that go straight without turning right or left (that is, at intersections where the vehicle does not turn).
  • an intersection that makes a right turn or a left turn that is, an intersection where a vehicle turns
  • Control can be performed to limit the display of guidance information only for intersections.
  • the control part 4 restrict
  • Modification 1 In the above, the example of restricting the display of the route, the arrow, and the flag is shown as the restriction on the display of the guidance information (see FIG. 4), but as the restriction on the display of the guidance information, the information on the information indicating the predetermined facility or place is shown.
  • the display may be limited.
  • display can be limited for landmarks and registered points (hereinafter referred to as “registered points”).
  • registered points Also for such landmarks and registration points, the control unit 4 restricts display by the same method as in the above-described embodiment. For example, the control unit 4 hides the landmark and the registration point when the azimuth change amount is equal to or greater than a predetermined value. Note that landmarks and registered points may be hidden when the distance to the intersection is less than a predetermined value.
  • the route and other guidance information (see FIG. 4) is displayed when the route is set, the display of these is limited only when the route is set. Become.
  • guidance information such as landmarks and registration points is displayed even when a route is not set, and therefore, display restriction is performed regardless of whether or not a route is set. Become.
  • Modification 2 In the above, an example in which the display of guidance information is limited when it is determined that a display shift may occur due to a large change in the actual scenery in the traveling direction of the vehicle when the vehicle is turning (first implementation). See example). That is, the state in which the vehicle is turning is treated as a traveling state in which display deviation can occur. In another example, the display of the guidance information can be limited by treating a state where the vehicle is traveling at a relatively high speed as a traveling state in which a display shift may occur. This is because even when the vehicle is traveling at a relatively high speed, the actual scenery in the traveling direction of the vehicle changes greatly, so that the guide information may be displayed with a delay.
  • the control unit 4 determines that the vehicle speed (a value detected by the self-supporting positioning device 10 (specifically, the distance sensor 13) in the navigation device 1) is equal to or higher than a predetermined value, for example, the vehicle speed. Is limited to 80 [Km / h] or more, the display of guidance information is restricted.
  • the control unit 4 hides all landmarks and registration points when the vehicle speed is equal to or higher than a predetermined value.
  • the control unit 4 hides only the landmarks and registered points about a place relatively close to the own vehicle position, and about a place some distance from the own vehicle position. The landmarks and registration points are displayed. Note that the route and the like may be hidden when the vehicle speed is equal to or higher than a predetermined value.
  • Modification 3 In the above, an example is shown in which the display of guidance information is limited when the vehicle is turning or the vehicle is traveling at a relatively high speed (see the first embodiment and the second modification).
  • the display of guidance information can be limited by treating a state in which the vehicle is traveling on a sloped road (that is, a slope) as a traveling state in which a display shift may occur.
  • the guide information may not be displayed at an appropriate position.
  • information indicating a facility or place located ahead of an uphill or downhill may be displayed at a place away from the road (such as in the air or on the ground). In such a case, the user may feel uncomfortable or misrecognized.
  • the control unit 4 restricts the display of the guidance information when the vehicle is traveling on a sloped road.
  • the control unit 4 stores the inclination angle of the road being traveled (the value detected by the self-supporting positioning device 10 (specifically, the acceleration sensor 11) in the navigation device 1 or the data storage unit 36 in the navigation device 1).
  • the landmarks and registered points are not displayed when the inclination data of the map data is greater than a predetermined angle. Note that the route or the like may be hidden when the inclination angle is equal to or greater than a predetermined angle.
  • the head-up display 2 receives the guide information from the navigation device 1 and performs control to limit the display of the guide information.
  • the configuration to which the present invention is applicable is not limited to this.
  • the navigation device 1 performs control for restricting the display of guidance information in the same manner as the head-up display 2 described above, and transmits the guidance information after the control to the head-up display 2 (guidance information). If all information is to be hidden, the guidance information is not transmitted to the head-up display 2).
  • the head-up display 2 can display the received guidance information.
  • the system controller 20 of the navigation device 1 performs part or all of the processing performed by the control unit 4 of the head-up display 2.
  • the navigation device 1 and the head-up display 2 are examples of the “image display device” in the present invention.
  • the head-up display 2 can generate guidance information without performing communication with the navigation device 1 and can control to limit the display of the guidance information.
  • the head-up display 2 is provided with a self-supporting positioning device such as a GPS receiver and a distance sensor, and map data is stored in a memory, the head-up display 2 generates guidance information.
  • a self-supporting positioning device such as a GPS receiver and a distance sensor
  • map data is stored in a memory
  • the head-up display 2 generates guidance information.
  • the present invention captures a real scene in the traveling direction of a vehicle with a camera and superimposes it on a real image (captured image) obtained by the image capture so that guidance information is displayed at a predetermined position with respect to the guidance target included in the real image.
  • the present invention can be applied to a device that displays an angle.
  • the present invention can be applied to a smartphone or the like that performs navigation by AR display using a live-action image of a built-in camera. Even when the present invention is applied to such an apparatus, it is possible to perform control for restricting the display of guidance information according to the traveling state of the vehicle by the same method as in the above-described embodiments and modifications.
  • the present invention is not limited to application to the above-described devices (such as the navigation device 1 and the head-up display 2).
  • the present invention can be applied to various devices capable of realizing AR display.
  • the present invention can be applied to a head mounted display.
  • the present invention can be applied to a head-up display, a navigation device (including a mobile phone such as a smartphone), and the like.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Navigation (AREA)
  • Instrument Panels (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un dispositif d'affichage d'image qui comporte : un moyen de contrôle d'affichage pour l'affichage d'informations de guidage superpositionnées sur le paysage réel dans la direction de déplacement d'un véhicule en mouvement ou une image photographiée obtenue par photographie du paysage réel, dans une position ou angle prédéterminé en relation avec une cible de guidage incluse dans le paysage réel ou dans l'image photographiée ; et un moyen de limitation pour réaliser un contrôle pour limiter l'affichage d'informations de guidage par le moyen de contrôle d'affichage, en réponse à l'état de conduite du véhicule en mouvement. L'affichage mal aligné des informations de guidage en relation avec le paysage réel ou l'image photographiée peut par conséquent être supprimé.
PCT/JP2012/052510 2012-02-03 2012-02-03 Dispositif d'affichage d'image, procédé pour l'affichage d'image et programme pour l'affichage d'image Ceased WO2013114617A1 (fr)

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JP2013556168A JP5964332B2 (ja) 2012-02-03 2012-02-03 画像表示装置、画像表示方法及び画像表示プログラム

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JP7390436B2 (ja) 2021-06-29 2023-12-01 阿波▲羅▼智▲聯▼（北京）科技有限公司 ナビゲーション方法、装置、電子機器、コンピュータ読取可能な記憶媒体及びコンピュータプログラム
CN113465611B (zh) * 2021-06-29 2024-03-26 阿波罗智联(北京)科技有限公司 导航方法、装置、电子设备及可读存储介质
CN113465611A (zh) * 2021-06-29 2021-10-01 阿波罗智联(北京)科技有限公司 导航方法、装置、电子设备及可读存储介质
US12209878B2 (en) 2021-06-29 2025-01-28 Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd. Navigation method, electronic device and readable storage medium
CN118968799A (zh) * 2024-08-01 2024-11-15 常熟理工学院 一种基于大数据的智能监督控制管理系统及方法

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