JP2000339598A - Monitor device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate the front and back safety confirmation and operability of a driver at the time of vehicle forwarding and backwarding by displaying predicted traveling locus whose visibility is excellent at the time of displaying the predicted traveling locus of a vehicle by superimposing them on a front or rear picture at the time of vehicle forwarding or backwarding. SOLUTION: A predicted traveling locus calculating means 7 calculates the predicted traveling locus of the minimum turning part and maximum turning part of a vehicle at the time of vehicle forwarding or backwarding. A signal processing means 8 processes the superimposition of the predicted traveling locus of the minimum turning part and maximum turning part on a front or rear picture. A display means 3 simultaneously displays the predicted traveling locus of the minimum turning part and maximum turning part of the vehicle by superimposing them in the front or rear picture by an output from the signal processing means 8.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a monitor apparatus for a vehicle, which displays a predicted course of a vehicle according to a steering angle on a monitor superimposed on a front or rear image when the vehicle moves forward or backward.

[0002]

2. Description of the Related Art In recent years, back monitor devices for checking the rear of a vehicle have become widespread. The feature of this back monitor device is that the driver of the vehicle can easily confirm the rear (periphery) by monitoring the blind spot portion of the rearview mirror with a video camera. ) Is effective when the area right behind becomes blind spot. Some back monitor devices not only display images to a driver, but also refer to Japanese Patent Application Laid-Open No. 64-14700.
As in the case of a vehicle, there is even a device that improves the operability of the driver by superimposing and displaying the predicted course of the rear wheels according to the steering angle on the rear image of the monitor when the vehicle retreats.

[0003]

In the display of the predicted course of the rear wheels disclosed in the above prior art, the traveling direction and the vehicle width of the own vehicle can be known at a glance. It can be done easily. However, as shown in FIG. 11, when the vehicle 100 rotates rearward, for example, clockwise during rotation, the front wheel 101a, which is outside with respect to the rotation, becomes the outside rear wheel 102a.
It makes a big turn unlike the course of. Therefore, the driver
Attention is paid only to the predicted course locus 103 of the rear wheels 102a and 102b.
There is a possibility that the vehicle front body portion 100a or the like that makes a larger turn comes into contact with the obstacle 104.

Accordingly, an object of the present invention is to superimpose and display a predicted path trajectory of a vehicle according to a steering angle on a front or rear image taken by a video camera when the vehicle is moving forward or backward, so that the predicted path trajectory having excellent visibility is provided. It is an object of the present invention to provide a monitor device for a vehicle capable of facilitating the driver's forward or backward safety confirmation and operability when the vehicle moves forward or backward by displaying.

[0005]

SUMMARY OF THE INVENTION In view of the above-mentioned object, a vehicle monitoring apparatus according to the first aspect of the present invention, as shown in the basic configuration diagram of FIG. The predicted path trajectory of the vehicle is calculated by the predicted path trajectory calculation means 7, and the calculated predicted path trajectory data of the vehicle and the front or rear image data photographed by the imaging means 2 are superimposed by the signal processing means 8 and displayed by the display means 3. Wherein the predicted course trajectory calculating means 7 calculates a predicted course trajectory of the minimum turning part and a predicted course trajectory of the maximum turning part of the vehicle, and the signal processing means 8
The predicted path trajectory of the minimum turning section and the predicted path trajectory of the maximum turning section of the vehicle calculated by the predicted path trajectory calculating means 7 are processed so as to be superimposed on the front or rear image taken by the imaging means 2. The display means 3 receives the output signal from the signal processing means 8 and superimposes the predicted course trajectory of the minimum turning part and the predicted course trajectory of the maximum turning part of the vehicle on the front or rear image. It is displayed simultaneously.

In the vehicle monitoring apparatus according to the first aspect, when the predicted course trajectory calculating means 7 calculates the predicted course trajectory of the vehicle according to the steering angle when the vehicle is moving forward or backward, the predicted course trajectory calculation means 7 predicts the minimum turning portion of the vehicle. The path trajectory and the predicted path trajectory of the maximum turning section are calculated. The signal processing means 8 captures the predicted course trajectory of the minimum turning section and the predicted course trajectory of the maximum turning section of the vehicle calculated by the predicted course trajectory calculating section 7.
Is processed so as to be superimposed on the front image or the front or rear image photographed in. The display means simultaneously displays the predicted course trajectory of the minimum turning portion and the predicted course trajectory of the maximum turning part of the vehicle calculated by the predicted course trajectory calculating means 7 in a manner superimposed on the front or rear image.

In the vehicle monitor device according to the present invention, the minimum turning portion of the vehicle is an inner rear wheel, the maximum turning portion of the vehicle is a front corner of the outer shape of the vehicle,
The predicted path trajectory of the vehicle further includes a predicted path trajectory of the outer rear wheel.

According to the vehicle monitoring device of the second aspect, the predicted path trajectory of both rear wheels of the vehicle and the predicted path trajectory of the maximum turning portion are simultaneously displayed.

According to a third aspect of the present invention, in the vehicle monitor device, each of the predicted course trajectories is displayed in a display form that can be distinguished from each other.

According to the third aspect of the present invention, the predicted path trajectory of both rear wheels of the vehicle and the predicted path trajectory of the maximum turning portion, which are simultaneously displayed, are recognized as being different from each other due to the difference in the display form. Is done.

According to a fourth aspect of the present invention, in the vehicle monitor device, the identifiable display form comprises a line type, a display color, a line thickness, or a combination thereof.

According to the vehicle monitor device of the fourth aspect, the display form of the predicted path trajectory of both rear wheels of the vehicle and the display form of the predicted path trajectory of the maximum turning portion, which are simultaneously displayed, are determined by the type of line, A different display mode is formed by a display color, a line thickness, or a combination thereof.

Further, in the vehicle monitoring device according to the present invention, the turning radius of the predicted course locus of the maximum turning portion of the vehicle is given by the following equation:

(Equation 2) However, Rout is determined by the radius of rotation of the outer rear wheel when the vehicle rotates forward or backward, and L: the distance between the front corner on the outer wheel side of the outer shape of the vehicle and the rear wheel axle.

According to the vehicle monitor device of the fifth aspect, the turning radius of the predicted course locus of the maximum turning portion of the vehicle is the turning radius (Rout) of the outer rear wheel when the vehicle turns forward or backward. ) And the distance (L) between the front corner on the outer wheel side of the outer shape of the vehicle and the rear wheel axle.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vehicle monitor device according to the present invention will be described below with reference to FIGS.

FIG. 2 is a block diagram showing an embodiment of the vehicle monitor device according to the present invention. In FIG. 2, the vehicle monitor device includes a controller 1, a video camera 2 as an imaging unit, and a monitor 3 as a display unit. The controller 1 includes a steering sensor 4, a back sensor 5, a storage unit 6, a control unit 7 as a predicted course trajectory calculation unit, and a signal processing unit 8. The video camera 2 is attached to, for example, the outside of the vehicle, and inputs image data of a scene in front of or behind the vehicle to the controller 1. The monitor 3 outputs a forward or backward image from the video camera 2 output from the controller 1,
An image is displayed in which the predicted course of the vehicle at the time of forward or backward movement calculated by the control unit 7 is superimposed.

In the controller 1, the steering sensor 4 outputs a signal indicating a steering angle of the steering wheel, which is changed by operating the steering wheel when the vehicle is moving forward or backward, that is, turning information of the vehicle according to the steering angle. The back sensor 5 outputs an ON / OFF signal for determining whether the vehicle is moving backward. This back sensor 5
Is provided, for example, in a transmission mechanism (not shown) of the vehicle, and outputs an ON signal when the gear position of the transmission mechanism enters a back gear position used when the vehicle retreats, and the gear position is other than the back gear. When it enters the position, an OFF signal is output.

The storage unit 6 stores parameter values necessary for calculating the display position of the predicted course of the vehicle on the monitor screen of the monitor 3. In addition, the storage unit 6 stores a plurality of line types (for example, a solid line, a dotted line, etc.) and a plurality of display colors (white, black, red, etc.) for selecting a display form of the predicted course trajectory of the vehicle. A display form selection table including a plurality of line thicknesses is also stored. Further, the storage unit 6 is also a frame memory for temporarily storing image data captured from the video camera 2.

The control section 7 is constituted by a microcomputer or the like, and calculates a drawing position on the monitor screen of the monitor 3 of the predicted course of the vehicle according to the steering angle when the vehicle is moving forward or backward. The signal processing unit 8 superimposes the drawing position data of the predicted course of the vehicle calculated by the control unit 7 on the image signal output from the video camera 2, and
Output to

In the above configuration, an outline of the present invention will be described for a case where the vehicle moves backward. First, as shown in FIG. 3, when the vehicle 100 is running at low speed (when the slip of the tires can be ignored), the vehicle 100 turns at a certain point p on the extension of the rear wheel axle 102c when turning to rotate backward and retreating. Rotate around. The turning radius of the vehicle is determined by the distance between the center point p and each of the wheels 101a, 101b, 102a, 102b. Therefore, each wheel 101a, 10
1b, 102a, and 102b, predicted course trajectories 103a, 1
Rotation radii R1, R2, R of 03b, 103c, 103d
3, R4 differs for each wheel, and the innermost rear wheel 102b rotates on the innermost side. Similarly, the minimum turning radius of the vehicle body is near the inner side surface 100b of the inner rear wheel, and the maximum turning radius is near the front bumper corner 100a on the outer wheel side. That is, the vehicle 100 passes through the rear space limited by the minimum turning radius and the maximum turning radius. In other words, the driver does not come into contact with an obstacle if the video camera 2 monitors even the rear space.

Therefore, in the present invention, the rear wheels 102a, 10a
2b, a part of the vehicle body having the maximum turning radius (hereinafter, referred to as a maximum turning portion), that is, a front corner of the outer shape of the vehicle (in FIG. 3, a right front corner, (If the vehicle turns to the opposite side of FIG. 3 and retreats, it will be the left front corner.) The predicted path trajectory of 100 a is superimposed and displayed on the rear image from the video camera 2. As a result, the driver can confirm the traveling direction and the presence or absence of the vehicle entrance space by displaying the predicted course trajectories of the rear wheels 102a and 102b. Further, the driver can also grasp the monitoring range by displaying the predicted course trajectory of the maximum turning portion, that is, the front corner 100a of the outer shape of the vehicle.

At this time, if the predicted path trajectory of the rear wheel and the predicted path trajectory of the maximum turning portion are expressed by the same line, the driver may be confused. It can be identified by displaying it in different expression forms such as line type, color, and thickness. For example,
The predicted path trajectories of the rear wheels 102a and 102b are displayed by, for example, a solid line, and the predicted path trajectories of the maximum turning portion 100a are displayed by, for example, a dotted line. In addition, the predicted path trajectories of the rear wheels 102a and 102b are displayed in white, and the predicted path trajectory of the maximum turning portion 100a is displayed in red. In this way, the difference between the predicted course trajectories becomes clear, and the driver can easily check.

Next, the operation of the present invention when the vehicle is moving backward will be described in detail. When the vehicle is moving backward, the control unit 7 receives from the back sensor 5 an ON signal indicating that the vehicle is moving backward, and receives from the steering sensor 4 a signal indicating turning information of the vehicle according to the steering angle. Is done.

The control unit 7 controls the rear wheels 102a and 102b of the vehicle 100 based on a signal indicating the turning information of the vehicle according to the steering angle from the steering sensor 4 and the parameter value read from the storage unit 6. And the drawing position of the predicted course of the maximum turning section 100a on the monitor screen of the monitor 3 is calculated.

A method of calculating the drawing position of the predicted course locus will be described below. As shown in FIG. 4, the vehicle 100 is located at the point P (X
(r, 0). Then, the turning radius of the inner rear wheel 102b at that time is Rin, the turning radius of the outer rear wheel 102a is Rout, and the turning radius of the maximum turning portion 100a of the vehicle body is Rmax. In calculating the turning radius, a relational expression between the steering angle and the vehicle turning radius is derived in advance by an experiment, and the turning radius is calculated using the relational expression. When the vehicle is replaced with a tricycle, the turning radii Rin, Rout, and Rmax can be approximated as shown in the following Expressions 3, 4, 5, and 6.

[0026]

(Equation 3)

[0027]

(Equation 4)

[0028]

(Equation 5)

[0029]

(Equation 6)

Here, B: front wheel axle 101c and rear wheel axle 10
2c, θ: steering angle, W: vehicle width (width between left and right tire outer surfaces), L: front corner of vehicle outer shape (that is, front bumper corner on the outer rear wheel side in this example) and rear wheel axle. Distance to 102c.

The trajectory coordinates of the vehicle 100 turning with the radius of rotation R about the point P (Xr, 0) can be calculated from the following equation (Equation 7).

[0032]

(Equation 7)

Here, as shown in FIGS. 5A and 5B, the optical axis is set at a position deviated by dx in the x direction and dy in the y direction from the center of the rear part of the vehicle 100 in a direction in which the depression angle is φ. When the video camera 2 captures an image of the trajectory calculated by the above equation 7, the trajectory points (x, y) on the trajectory are converted from the spatial coordinates to the plane coordinates (imaging plate), as shown in FIGS.
The coordinates are converted to and calculated by the following equation. The coordinate reference point of the imaging plate 2a is the optical axis of the video camera 2 (see FIG. 8).

[0034]

(Equation 8)

[0035]

(Equation 9)

[0036]

(Equation 10)

[0037]

[Equation 11]

Here, Wx: horizontal field angle of the video camera 2, Wy: vertical field angle of the video camera 2, k: lens aberration coefficient of the video camera 2, f: lens focal length of the video camera 2, CPx: video camera 2, the number of horizontal pixels of the imaging plate 2a, CPy: the number of vertical pixels of the imaging plate 2a of the video camera 2,
E: distance between the rear part of the vehicle 100 and the rear wheel axle 102c, h:
The vehicle height of the vehicle 100.

Further, since the coordinates are converted from the image pickup plate 2a to the monitor 3, the image is finally displayed at the coordinates calculated by the following equation. Note that the coordinate reference point of the monitor is the optical axis of the video camera 2 (see FIG. 9).

[0040]

(Equation 12)

Here, CGx: the number of horizontal pixels of the monitor, CG
y: The number of vertical pixels of the monitor.

Therefore, according to the equations shown in Equations 3 to 12,
The predicted path trajectory of the vehicle rear wheels 102a and 102b according to the steering angle and the predicted path trajectory of the maximum turning portion 100a of the vehicle body can be displayed on the monitor 3.

Next, the control unit 7 calculates the predicted course locus of the rear wheels 102a and 102b according to the steering angle and the position data of the predicted course locus of the maximum turning part 100a of the vehicle body,
The type of line, the display color, the thickness of the line, or the display mode information composed of any combination of these, read from the display mode selection table of the storage unit 6, is output to the signal processing unit 8. The signal processing unit 8 superimposes the data of each predicted course trajectory with the display form selected as described above from the control unit 7 on the rear image signal output from the video camera 2 and outputs the data to the monitor 3. I do. The monitor 3 superimposes and displays the predicted path trajectories of the vehicle rear wheels 102a and 102b on the monitor screen with a white solid line, for example, and superimposes the predicted path trajectory of the maximum turning portion 100a with a red dotted line on the rear image. indicate.

Therefore, the driver can control the vehicle rear wheels 102 drawn in the rear image displayed on the screen of the monitor 3.
a, 102b and the maximum turning portion 100 of the vehicle body
By confirming the predicted path trajectory a, the space through which the vehicle passes can be grasped, and the rear safety confirmation and operability when the vehicle retreats are facilitated.

Next, the above-described operation at the time of vehicle retreat will be described with reference to the flowchart shown in FIG.

When the vehicle starts retreating (step S1),
The control unit 7 starts obtaining a signal corresponding to the steering angle from the steering sensor 2 (step S2). Next, the control unit 7 calculates predicted path trajectories of the vehicle rear wheels 102a and 102b in accordance with the turning information from the steering sensor 2, and indicates the calculated predicted path trajectories of the vehicle rear wheels 102a and 102b by, for example, a solid line. Signal processing unit 8
(Step S3).

Next, the signal processing section 8 controls the video camera 2
Rear image data from the control unit 7
The predicted course trajectory information of 2a and 102b is superimposed and the monitor 3
To supply. The monitor 3 displays the predicted path trajectories of the rear wheels 102a and 102b on the screen as solid lines, superimposed on the rear image (step S4). Next, the control unit 7 calculates a predicted path trajectory of the maximum turning unit 100a of the vehicle body and supplies the calculated predicted path trajectory of the maximum turning unit 100a of the vehicle body to the signal processing unit 8 as information represented by, for example, a dotted line (step S5). ).

Next, the signal processing section 8 controls the video camera 2
The control unit 7 superimposes the predicted course trajectory information of the maximum turning part 100a of the vehicle on the rear image data and supplies it to the monitor. The monitor 3 displays the predicted path trajectory of the maximum turning portion 100a of the vehicle with a dotted line on the screen, superimposed on the rear image and the predicted path trajectory of the vehicle rear wheels 102a and 102b (step S6).

Next, an outline of the present invention will be described when the vehicle is moving forward. First, as shown in FIG. 11, when the vehicle 100 is running at low speed (when the slip of the tires can be ignored), the vehicle 100 bends so as to rotate forward and moves forward, as in the case of the retreat described above. Rotate around a point on the extension of. Therefore, the predicted course locus 103 of each of the wheels 101a, 101b, 102a, 102b when the vehicle is moving forward is also the same as when the vehicle is moving backward.

Therefore, when the vehicle is moving forward, as shown in FIG. 12, the predicted course locus 103 of the rear wheels 102a and 102b is
a ', 103c' and a part of the vehicle body having a maximum turning radius (hereinafter referred to as a maximum turning portion), that is, a front corner of the outer shape of the vehicle (a left front corner in FIG. (If the vehicle turns backward on the opposite side, it becomes the right front corner) 100a 'is superimposed and displayed on the forward image from the video camera 2. As a result,
By displaying the predicted course trajectories of the rear wheels 102a and 102b, the driver can confirm the traveling direction and the presence or absence of the vehicle approach space. Further, the driver can also grasp the monitoring range by displaying the predicted course trajectory of the maximum turning portion, that is, the front corner 100a 'of the outer shape of the vehicle.

Next, the operation of the present invention when the vehicle is moving forward will be described in detail. When the vehicle is moving forward, the control unit 7 receives from the back sensor 5 an OFF signal indicating that the vehicle is not moving backward, and receives from the steering sensor 4 a signal indicating turning information of the vehicle according to the steering angle. Is done.

Then, the control unit 7 controls the rear wheels 102a and 102b of the vehicle 100 based on the signal indicating the turning information of the vehicle according to the steering angle from the steering sensor 4 and the parameter value read from the storage unit 6. And the drawing position of the predicted course of the maximum turning section 100a 'on the monitor screen of the monitor 3 is calculated.

The method of calculating the drawing position of the predicted course trajectory will be described below. As shown in FIG. 12, the vehicle 100 is located at the point P (X
(r, 0). The turning radius of the inner rear wheel 102a at that time is Rin, the turning radius of the outer rear wheel 102b is Rout, and the turning radius of the maximum turning portion 100a 'of the vehicle body is Rmax. In calculating the turning radius, a relational expression between the steering angle and the vehicle turning radius is derived in advance by an experiment, and the turning radius is calculated using the relational expression. If the vehicle is replaced with a tricycle, the turning radii Rin, Rout, and Rmax can be approximated as shown in Equations 3, 4, 5, and 6 above.

The trajectory coordinates of the vehicle 100 turning with the radius of rotation R around the point P (Xr, 0) can be calculated from the above equation (7).

Therefore, as shown in FIG. 13, the video camera 2 is moved to a position where a field of view in front of the vehicle 100 can be sufficiently secured, that is, a position where a field of view F at least equal to or more than the width of the vehicle can be ensured, for example, an upper front part of the vehicle 100. Install.

Here, as shown in FIGS. 14A and 14B, dx, y in the x direction from the center of the rear portion of the vehicle 100.
When the video camera 2 installed at a position shifted by dy in the direction and the optical axis has a depression angle φ captures the trajectory calculated by the above equation 7, each trajectory point (x, y) on the trajectory moves backward. Similarly to the case, as shown in FIGS. 6 and 7, the coordinates are converted from the spatial coordinates to the plane coordinates (imaging board), and are calculated by the following equation (Equation 13). The coordinate reference point of the imaging plate 2a is the optical axis of the video camera 2 (see FIG. 8).

[0057]

(Equation 13)

[0058]

[Equation 14]

[0059]

(Equation 15)

[0060]

(Equation 16)

Here, Wx: horizontal angle of view of the video camera 2, Wy: vertical angle of view of the video camera 2, k: lens aberration coefficient of the video camera 2, f: lens focal length of the video camera 2, CPx: video camera 2, the number of horizontal pixels of the imaging plate 2a, CPy: the number of vertical pixels of the imaging plate 2a of the video camera 2,
L: distance between the front part of the vehicle 100 and the rear wheel axle 102c, h:
The vehicle height of the vehicle 100.

Further, since the coordinates are converted from the imaging plate 2a to the monitor 3, the image is finally displayed at the coordinates calculated by the following equation. Note that the coordinate reference point of the monitor is the optical axis of the video camera 2 (see FIG. 9).

[0063]

[Equation 17]

Here, CGx: the number of horizontal pixels of the monitor, CG
y: The number of vertical pixels of the monitor.

Therefore, the rear wheels 102a, 102a corresponding to the steering angle are calculated by the equations shown in Equations 13 to 17.
The predicted path trajectory b and the predicted path trajectory of the maximum turning portion 100a 'of the vehicle body can be displayed on the monitor 3.

Next, the control unit 7 determines the predicted path of the rear wheels 102a and 102b according to the steering angle, the position data of the predicted path of the maximum turning part 100a 'of the vehicle body, and the display mode selection table of the storage unit 6. And outputs the line type, display color, line thickness, or display form information composed of any combination of the line types to the signal processing unit 8. The signal processing unit 8 superimposes the data of each predicted course trajectory with the display form selected as described above from the control unit 7 on the front image signal output from the video camera 2 and outputs the data to the monitor 3 I do. The monitor 3 superimposes and displays the predicted path trajectories of the vehicle rear wheels 102a and 102b on the monitor screen with, for example, a white solid line and the predicted path trajectory of the maximum turning portion 100a 'of the vehicle body with, for example, a red dotted line. Display superimposed.

Therefore, the driver can control the vehicle rear wheels 102 drawn in the front image displayed on the screen of the monitor 3.
a, 102b and the maximum turning portion 100 of the vehicle body
By confirming the predicted path trajectory of a ', it is possible to grasp the space through which the vehicle passes, thereby facilitating the confirmation of safety ahead and the operability when the vehicle is moving forward.

Next, the above-described operation at the time of forward movement of the vehicle will be described with reference to the flowchart shown in FIG.

First, the forward speed of the vehicle is low (for example,
10 km / h or less) (step S11). This is because the forward confirmation work at the time of forward traveling is inappropriate at a high speed, and is preferably limited to only at a low speed traveling. If the answer to step S11 is yes, the control unit 7 starts acquiring a signal corresponding to the steering angle from the steering sensor 2 (step S1).
2). Next, the control unit 7 calculates a maximum turning part, that is, a predicted path trajectory of the maximum turning part 100a ′ of the vehicle body, and a minimum turning part, that is, a predicted path trajectory of the vehicle rear wheel 102b according to the turning information from the steering sensor 2. Is calculated, and the calculated predicted path of the maximum turning section and the minimum turning section is supplied to the signal processing section 8 as information represented by, for example, a solid line (step S13).

Next, the signal processing unit 8 controls the video camera 2
Superimposed on the forward image data of the maximum turning section and the minimum turning section from the control section 7 on the front image data from the
To supply. The monitor 3 displays the predicted path trajectory of the maximum turning section by, for example, a dotted line and the predicted path trajectory of the minimum turning section by, for example, a solid line so as to overlap the front image on the screen (step S14).

As described above, the embodiment of the present invention has been described. However, the present invention is not limited to this, and various modifications and applications are possible.

For example, by combining the respective flow charts of FIGS. 10 and 15, an operation including both the backward operation and the forward operation as shown in FIG. 16 may be performed.

[0073]

As described above, according to the first aspect of the present invention, the predicted path trajectory of the minimum turning section and the predicted path trajectory of the maximum turning section of the vehicle calculated by the predicted path trajectory calculating means are: Since it is superimposed on the front or rear image and displayed at the same time, the predicted course direction and vehicle width of the vehicle can be known, and the front or rear confirmation range is clear, so that the driver's front or rear confirmation and operability are easy. Become.

According to the second aspect of the present invention, the predicted course of both rear wheels of the vehicle and the predicted course of the maximum turning portion are displayed at the same time. It is possible to confirm the traveling direction and the presence or absence of a vehicle entry space.

According to the third aspect of the present invention, the predicted path trajectory of both rear wheels and the predicted path trajectory of the maximum turning portion, which are simultaneously displayed, are recognized as being different due to the difference in the display form. Therefore, it is possible to display a predicted path trajectory with excellent visibility, and it is possible to identify the predicted path trajectory of the rear wheel of the vehicle and the predicted path trajectory of the maximum turning portion.

According to the fourth aspect of the present invention, the display form of the predicted path trajectory of both rear wheels of the vehicle and the display form of the predicted path trajectory of the maximum turning portion are displayed simultaneously.
Since different display forms are formed by the display colors, line thicknesses, and combinations thereof, the differences between the predicted course trajectories are clear, and the driver can easily confirm them.

According to the fifth aspect of the present invention, the radius of gyration of the predicted course trajectory of the maximum turning portion of the vehicle is determined by the radius of gyration (Rout) of the outer rear wheel when the vehicle rotates forward or backward. And the distance (L) between the front corner on the outer wheel side of the outer shape of the vehicle and the rear wheel axis (L), it is possible to display the predicted course trajectory of the maximum turning portion of the vehicle using the calculated turning radius. it can.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a basic configuration of a vehicle monitor device according to the present invention.

FIG. 2 is a block diagram showing one embodiment of a vehicle monitor device according to the present invention.

FIG. 3 is a schematic diagram for explaining a state of rotation of front and rear wheels of the vehicle at the time of retreat and a radius of rotation thereof.

FIG. 4 is a schematic diagram for explaining a method of calculating a predicted course trajectory.

FIGS. 5A and 5B are schematic views for explaining a mounting state of the video camera to a vehicle, wherein FIG. 5A is a plan view and FIG. 5B is a side view.

FIG. 6 is a schematic diagram for explaining coordinate conversion from spatial coordinates to an image pickup plate of a video camera.

FIG. 7 is a schematic diagram for explaining coordinate conversion from spatial coordinates to an image pickup plate of a video camera.

FIG. 8 is a schematic diagram for explaining a coordinate reference point of an imaging plate of a video camera.

FIG. 9 is a schematic diagram for explaining a coordinate reference point on a screen of a monitor.

FIG. 10 is a flowchart showing an operation when the vehicle retreats in the block diagram of FIG. 2;

FIG. 11 is a schematic diagram for explaining a state of rotation of front and rear wheels of the vehicle during forward movement and a radius of rotation thereof.

FIG. 12 is a schematic diagram for explaining a method of calculating a predicted course trajectory.

FIGS. 13A and 13B are schematic diagrams for explaining the field of view of a video camera attached to a vehicle, where FIG. 13A is a plan view and FIG. 13B is a side view.

14A and 14B are schematic diagrams for explaining a specific mounting state of the video camera to a vehicle, where FIG. 14A is a plan view and FIG. 14B is a side view.

FIG. 15 is a flowchart showing an operation at the time of vehicle forward movement in the block diagram of FIG. 2;

16 is another example of the flowchart showing the operation of the block diagram of FIG. 2, and is a flowchart showing the operation at the time of forward and backward movement of the vehicle.

FIG. 17 is a schematic diagram illustrating a predicted course trajectory of a conventional vehicle back monitor device.

[Explanation of symbols]

 2 imaging means 3 display means 7 predicted course trajectory calculation means 8 signal processing means

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat ゛ (Reference) B62D 125: 00

Claims (5)

[Claims] 1. A predicted path trajectory calculating means for calculating a predicted path trajectory of a vehicle according to a steering angle when the vehicle moves forward or backward, and the calculated predicted path trajectory data of the vehicle and a front or rear image taken by an image pickup means. A vehicle monitor device that superimposes data by a signal processing unit and displays the data on a display unit, wherein the predicted course trajectory calculation unit calculates a predicted course trajectory of a minimum turning part and a predicted course trajectory of a maximum turning part of the vehicle. The signal processing means calculates the predicted course trajectory of the minimum turning part and the predicted course trajectory of the maximum turning part of the vehicle calculated by the predicted course trajectory calculating means, and a forward or rearward image taken by the imaging means. The display means receives the output signal from the signal processing means, and displays the predicted course trajectory of the minimum turning part and the predicted course trajectory of the maximum turning part of the vehicle. A vehicle monitor device, which is superimposed on the front or rear image and displayed simultaneously. 2. The minimum turning portion of the vehicle is an inner rear wheel; the maximum turning portion of the vehicle is a front corner of the outer shape of the vehicle; The vehicle monitor device according to claim 1, further comprising a predicted path trajectory of a wheel. 3. The vehicle monitor device according to claim 1, wherein each of the predicted course trajectories is displayed in a display form that can be distinguished from each other. 4. The identifiable display form includes a line type,
4. The vehicle monitor device according to claim 3, wherein the monitor color is a display color, a line thickness, or a combination thereof. 5. The vehicle monitor device according to claim 2, wherein the turning radius of the predicted course locus of the maximum turning portion of the vehicle is obtained by the following equation. (Equation 1) Rout: radius of rotation of the outer rear wheel when the vehicle rotates rearward, L: distance between the front corner on the outer wheel side of the outer shape of the vehicle and the rear wheel axle