JP2005199892A - Periphery monitoring device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a periphery monitoring device for a vehicle displaying a camera picture, an image and information adjusting to circumference in a vehicle mounted with a photographing camera for photographing the periphery of the vehicle and a display for displaying the image and the information. <P>SOLUTION: The periphery monitoring device for the vehicle has a display part mounted on the vehicle and displaying the image or the information; the photographing camera mounted on the vehicle and photographing the periphery of the vehicle; a distance measurement means for measuring a distance with an obstacle at a side of the vehicle; and a switching determination means for switching display of the display part by monitoring the distance with the obstacle. When it is determined by the distance measurement means that the obstacle exists in a predetermined range at the side of the vehicle, the image by the photographing camera is displayed on the display part. When the vehicle is stopped, it is switched to the camera picture and when the vehicle is started, it can be switched to navigation information or the like. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a vehicle periphery monitoring device for monitoring the periphery of a vehicle with a monitoring camera mounted on the vehicle.

  In recent years, a camera is mounted on a vehicle such as an automobile, the periphery of the vehicle is monitored by the camera, and the image is displayed on a display inside the vehicle, thereby being used for driving the vehicle. According to this device, when the vehicle enters the intersection, the driver can be alerted by photographing the left and right situations that cannot be seen from the driver's seat with the camera and displaying them on the display. In addition, various types of so-called back monitors have been put into practical use, in which a video camera is attached to the rear of the vehicle, and images taken by the video camera are displayed on a monitor arranged at a predetermined position in the vehicle. Yes. This back monitor is mainly used to improve the safety at the time of reversing so that when the vehicle is moved backward, the rear that becomes a blind spot from the driver's seat can be confirmed on the monitor.

  The camera image display is often used in combination with a display (monitor) for displaying a road map in the vicinity of the current position of the car navigation device, and how to switch between the car navigation information and the camera image. It has been devised to do well.

  In Patent Document 1, when an intersection that requires confirmation of a side view is detected according to history information, navigation information, infrastructure information, or the like, a device that automatically activates a side view image display function is proposed. It is disclosed.

In Patent Document 2, the amount of change in the direction of the vehicle, that is, the deflection angle θ is detected based on the steering angle of the steering wheel and the vehicle speed, and switching from the side captured image to the front captured image is performed from this value. A device is disclosed. That is, after the display of the side captured image by the side camera on the display display is started, when the deflection angle θ reaches a predetermined value, the captured image displayed on the display display is changed from the side captured image by the side camera. Switch to the front image captured by the front camera.

JP-A-10-264722 JP 2003-146133 A

  However, in Patent Document 1, since the determination information for displaying the side view image is not real-time, it is impossible to detect a sudden situation such as during construction or when a large truck is traveling sideways. There's a problem.

  In Patent Document 2, the camera is switched in accordance with the driver's steering operation. In other words, it is a control that only projects the traveling direction regardless of the surrounding environment. Therefore, when there are obstacles on the left and right and the vehicle goes straight, a situation where the right and left angles cannot be seen occurs, and a situation that does not lead to improvement in safety occurs.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a camera equipped with a photographic camera for photographing the surroundings of a vehicle and a display for displaying video and information in accordance with the situation. It is to provide a vehicle periphery monitoring device for displaying.

Means for Solving the Problems and Effects of the Invention

The vehicle periphery monitoring device of the present invention for solving the above problems is
A display unit mounted on a vehicle and displaying video or information;
A camera for taking a picture of the surroundings of the vehicle mounted on the vehicle;
A distance measuring means for measuring a distance to an obstacle on the side of the vehicle;
Switching determination means for switching the display of the display unit by monitoring the distance to the obstacle,
When the distance measuring means determines that there is an obstacle within a predetermined range on the side of the vehicle, an image taken by the photographing camera is displayed on the display unit.

  According to the above configuration, the distance measuring unit can determine whether there is an obstacle in the vicinity of the vehicle, and when it is determined that the vehicle driver's field of view is blocked by the obstacle, the switching determining unit The display on the display unit can be switched to the camera image. The driver can confirm the direction invisible from the driver's seat by looking at the display unit, and can drive safely. In addition, since this switching is automatically performed at an appropriate time, no troublesome operation is required, and the driver's driving is not hindered. The display unit may be a display of a navigation device that displays an electronic map indicating the current position of the vehicle, or may be a television screen.

And the vehicle periphery monitoring device
Having a plurality of distance measuring means and a plurality of photographing cameras;
The switching determination means is for photographing the side where the obstacle in the vehicle traveling direction is present based on the signal indicating the distance from the obstacle from each distance measuring means and the gear signal indicating forward or reverse of the vehicle. Switch the display on the display to the camera image.

  By installing a plurality of distance measuring means and photographing cameras in this way, the driver's blind spot can be eliminated. Since a gear signal is also input, the switching determination means determines whether to display the image of the camera installed in the front or the image of the camera installed in the rear, and automatically switches the display. be able to.

  When it is determined that there is an obstacle within a predetermined range on the side of the vehicle, when the vehicle stops, an image taken by the photographing camera can be displayed on the display unit. When the vehicle stops, it is determined that the vehicle is an intersection, and by displaying the video of the camera for photographing, it is possible to confirm the left and right and start safely. And after a vehicle stops and a camera image | video is displayed on a display part by there being an obstruction on the side, when a vehicle starts, the display of a display part is switched with an electronic map or another image | video. If the vehicle starts again, it can be considered that the driver has confirmed the left and right with the camera image, so the display is returned to the map information or other images. It is not necessary to display the camera image even after confirming the left and right, and the information desired by the driver can be displayed.

  If the distance measuring means is installed at a location away from the driver's position, an error may occur in determining whether there is an obstacle on the side of the driver. Therefore, after the obstacle is detected by the distance measuring means and the vehicle has traveled and the obstacle disappears in the predetermined range of the distance measuring means, the distance between the installation position of the distance measuring means and the driver is taken into account. It is determined whether there is an obstacle at the side position of. In this way, by determining the distance between the installation position of the distance measuring means and the driver, it is possible to perform accurate video switching.

  For example, a corner sensor is used as the distance measuring means. The corner sensor includes an ultrasonic transmitter, an ultrasonic receiver, and a distance calculation circuit. Then, the distance calculation circuit calculates the distance between the corner sensor and the obstacle from the time difference between the transmission and reception of the ultrasonic wave. The distance measuring means can be installed at the bumper corner. For example, it can be determined whether there is an obstacle on the side of the vehicle by installing it on the left and right of the front and rear of the vehicle. Furthermore, when the distance measuring means is installed in the vehicle pillar portion, it is possible to more accurately determine whether the driver is obstructed by the obstacle.

  Cameras for photographing are installed on the left and right sides of the front of the vehicle and on the left and right of the rear of the vehicle. By installing in the front left and right in this way, the left and right can be confirmed when approaching the intersection. In addition, by installing the rear left and right, it is possible to check the left and right when traveling in the back.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the present invention. The vehicle monitoring device 100 is configured integrally with the navigation device 110. The navigation device 110 includes a position detector 1, a map data input device 6, an operation unit 7, an external storage device 12 that can use an external storage medium, a display unit 10, and a navigation processing unit 8 connected to them.

  Further, the navigation processing unit 8 is connected with photographing cameras 11, 12, 13, and 14 that are mounted on the vehicle and photograph the outside of the vehicle, and a vehicle speed pulse 15 that detects the vehicle speed, and a gear sensor 16 that detects the forward, backward, and stopped states. This signal is also input. A total of four shooting cameras are installed on the left and right sides of the front and rear of the vehicle. The video shot by the shooting camera is processed by the navigation processing unit 8, and the display unit 10 is switched by the navigation processing unit 8 and displayed. Is done. That is, the navigation processing unit 8 corresponds to a switching determination unit.

  The navigation processing unit 8 is connected to a vehicle periphery detection processing unit 20, and the vehicle periphery detection processing unit 20 is connected to sensors 21, 22, 23, and 24 for detecting obstacles and the like outside the vehicle. ing. The sensor is, for example, a corner sensor using ultrasonic waves and is installed at a bumper corner of the vehicle. Then, the distance to the obstacle around the vehicle is detected. The sensor is a distance measuring means.

  The position detector 1 has a well-known geomagnetic sensor, gyroscope, distance sensor, and GPS receiver for GPS (Global Positioning System) that detects the position of the vehicle based on radio waves from a satellite. Since these sensors have errors of different properties, they are configured to be used while being complemented by a plurality of sensors. Depending on the accuracy, a part of the sensors described above may be used, and further, a steering rotation sensor, a wheel sensor of each rolling wheel, or the like may be used.

  The map data input device 6 is a device for inputting various data including so-called map matching data and map data for improving the accuracy of position detection. As a medium, a CD-ROM or a DVD-ROM is generally used because of the amount of data, but a large-capacity storage medium such as a memory card or a hard disk may be used.

  For example, a touch switch or a mechanical switch integrated with the display unit 10 is used as the operation unit 7. The touch switch is composed of infrared sensors that are finely arranged vertically and horizontally on the screen of the display unit 10. For example, when the infrared ray is cut off with a finger or a touch pen, the cut-off position becomes a two-dimensional coordinate value (X, Y). It is possible to input various instructions using the operation unit 7.

  The display unit 10 is configured by a color CRT or a color liquid crystal display. The vehicle current position mark input from the position detector 1 and the map data input from the map data input unit 6 are displayed on the screen of the display unit 10. Further, additional data such as a guidance route to be displayed on the map is displayed in an overlapping manner, and buttons for setting route guidance, guidance during route guidance, and a screen switching operation are displayed on this screen.

  With the above configuration, a map showing the current position of the vehicle is displayed on the normal display unit while the vehicle is traveling. Then, when approaching an intersection or the like and the front side cannot be seen from the driver due to an obstacle, the sensor detects it, photographs the vehicle periphery with a camera, and displays a video outside the vehicle on the display unit instead of a map.

  With reference to FIG. 2, the installation positions of the photographing camera and sensor and their operations will be described. The photographing cameras are installed at four places on the left and right of the vehicle 41. In other words, the shooting camera 11 is installed on the left front side and performs shooting on the left front side of the vehicle 41. The photographing camera 12 is installed on the front right side and photographs the front right side of the vehicle 41. Similarly, the photographing camera 13 is installed on the rear left side and performs photographing on the rear left side of the vehicle 41. The photographing camera 14 is installed on the right rear side and performs photographing on the right rear side of the vehicle 41.

  Furthermore, sensors are also installed at four corners on the left and right sides of the vehicle 41. That is, the sensor 21 is installed on the front left side and measures whether there is an obstacle on the front left side of the vehicle 41. The sensor 22 is installed on the right front side, and measures the right front side of the vehicle 41. Similarly, the sensor 23 is installed on the left rear side and measures the left rear side of the vehicle 41. The sensor 24 is installed on the right rear side and performs measurement on the right rear side of the vehicle 41. If there is an obstacle in each sensor range 31, 32, 33, 34, the distance is detected.

  A sensor uses a corner sensor. The corner sensor includes an ultrasonic transmitter, an ultrasonic receiver, and a distance calculation circuit. The ultrasonic transmitter of the corner sensor transmits ultrasonic waves, and the ultrasonic waves reflected and returned by the obstacle are received by the ultrasonic receiver. The distance calculation circuit calculates the distance between the corner sensor and the obstacle from the time difference from transmission to reception of the ultrasonic wave. Then, the measurement distance is output to the vehicle periphery detection processing unit.

  As shown in FIG. 2, when there are obstacles (shields) 80, 81 on the left and right sides where the vehicle 41 travels, the sensors 21, 22, 23, 24 installed in the vehicle are respectively Monitor the distance to obstacles. Moreover, each camera 11, 12, 13, and 14 image | photographs the vehicle side. An obstacle represents a building, a wall, etc., for example. The sensor determines whether there is an obstacle around the sensor. Based on the determination of these sensors, the video of the camera is displayed. That is, from the driver's seat of the vehicle 41, the front left and right cannot be seen by the obstacles 80 and 81, but can be confirmed by the images of the photographing cameras 11 and 12.

  FIG. 3 shows changes in sensors and the like mounted on the vehicle when the vehicle travels on the left side with an obstacle and stops at the stop position. As shown at the top, the vehicle 41 travels on the side of the obstacle 81 and stops at the stop position (intersection). The obstacle 81 is on the left side of the vehicle 41. At this time, the sensor A installed on the left side in front of the vehicle detects that the obstacle has disappeared, and issues a signal. On the other hand, since there is no obstacle on the right side of the vehicle 41, the signal of the sensor B installed on the right side in front of the vehicle does not change. Even if the vehicle stops at the stop position, the sensor C installed on the rear left side of the vehicle has an obstacle on the side, so that the signal remains constant. The sensor D installed on the right rear side of the vehicle is the same as the sensor C. Further, since the vehicle 41 is moving forward and traveling, the gear remains forward. Further, since the vehicle speed sensor detects the rotation of the axle and generates a vehicle speed pulse corresponding to the rotation, the vehicle speed sensor outputs a rectangular signal while the vehicle is traveling. The vehicle speed signal is not output (generated) when the vehicle stops at the stop position. When the vehicle stops at the intersection from the above signals, the display on the display unit is switched from the map display to the left front camera image. If there are obstacles on both the left and right sides, the left and right camera images are displayed.

  The switching of the display screen will be described using the flowchart of FIG. In S1, it is determined whether the auto mode is set. The auto mode is a mode that automatically switches from map information displayed on the display screen of the navigation device to video captured by the camera when a predetermined condition is satisfied. If the auto mode is ON, the sensor signal is input in S2. Based on the sensor signal, it is monitored whether there is an obstacle on the side of the vehicle (S3). If it is determined that there is an obstacle, the distance count is set to 0 (S4). When there are no obstacles (S5), the process proceeds to S6 and distance counting is started. It is determined from the vehicle speed whether the vehicle has stopped (S7), and if it has stopped, the process proceeds to S8. If the vehicle does not stop, the process returns to S1.

  If the vehicle stops, the distance between the point where the obstacle disappears and the driver is obtained from the distance (distance count) from which the obstacle has moved and the distance between the sensor and the driver (S8). . As shown in FIG. 5, the distance between the sensors 21 and 22 and the driver 45 is a, and the distance from the point 85 where the obstacle disappears is b (the movement distance of the sensor position) is b. The distance c between 45 and the point 85 where the obstacle disappears is calculated. As shown in FIG. 5A, when the obstacle 81 is still on the side of the driver 45, for example, if c is 1 m or less (S9), the process proceeds to S10. As shown in FIG. 5B, when the moving distance b is larger than the distance a between the sensors 21 and 22 and the driver 45, there is no obstacle on the side of the driver, and the process returns to S1.

  Returning to FIG. 4, if there is an obstacle on the side of the driver at the point where the vehicle stops, the images of the left and right cameras are displayed in S <b> 10. In S11, the start of the car is monitored again. If the car starts, the screen is returned to the original map information (S12).

  When the vehicle is traveling in a location behind the obstacle, the obstacle is judged by the sensors 23 and 24 installed at the rear as shown in FIG. That is, the distance f from the point 86 where the obstacle disappears and the distance d between the sensors 23 and 24 and the driver 45 to the driver 86 and the point 86 where the obstacle disappears is obtained. The camera image installed in will be displayed.

  FIG. 6 shows an embodiment in which the upper sensor 26 is attached to the pillar 42. The sensor 22 attached to the front side of the vehicle has a low detection range in the height direction. That is, it is detected whether there is an obstacle in the range of the height X. Therefore, even when the side is visible from the driver's seat, if there is an obstacle with a low height, it is determined that there is an obstacle. Therefore, if the upper sensor 26 is attached at the position of the pillar 42 as shown in the figure, it is possible to determine whether there is an obstacle in the range of the height Y, and it is possible to switch the video display more accurately.

  FIG. 7 shows a vehicle traveling on a three-lane road. Large trucks 88 and 89 are running on both sides of the vehicle 41. In this case, even when the pedestrian 92 crosses the front pedestrian crossing 91, the driver of the vehicle cannot visually recognize the large truck 88. However, according to the vehicle periphery monitoring device of the present invention, it is possible to determine the large truck 88 as an obstacle and automatically switch the display unit of the navigation device to the camera image. This makes it possible to ensure safety. Furthermore, even when the road is under construction and construction fences are installed in place of the large trucks 88 and 89, and the front left and right cannot be confirmed, the presence or absence of the pedestrian 92 can be confirmed from the camera image.

The block diagram which shows the whole structure of the vehicle periphery monitoring apparatus of this invention. The figure which shows the position of the camera for imaging | photography, and a sensor. The figure which shows the change of signals, such as a sensor, when drive | working the side of an obstruction. The flowchart for demonstrating display part switching. The figure explaining the positional relationship with a sensor position, a driver's position, and the edge of an obstacle. The figure explaining the height range of a sensor. The figure explaining the case where it passes along the side of a large sized truck.

Explanation of symbols

DESCRIPTION OF SYMBOLS 8 Navi process part 10 Display part 11, 12, 13, 14 Camera for photography 20 Vehicle periphery detection process part 21, 22, 23, 24 Sensor 41 Vehicle 100 Monitoring device for vehicles

Claims (9)

A display unit mounted on a vehicle and displaying video or information;
A shooting camera mounted on the vehicle and shooting the surroundings of the vehicle;
Distance measuring means for measuring the distance to the obstacle on the side of the vehicle;
Switching determination means for switching the display of the display unit by monitoring the distance to the obstacle,
The vehicle periphery monitoring device, wherein when the distance measuring means determines that an obstacle is within a predetermined range on the side of the vehicle, an image from the photographing camera is displayed on the display unit. A plurality of the distance measuring means, and a plurality of the photographing cameras;
The switching determination means includes the obstacle in the vehicle traveling direction based on a signal indicating the distance from the obstacle from each of the distance measuring means and a gear signal indicating forward or reverse of the vehicle. The vehicle periphery monitoring device according to claim 1, wherein the display of the display unit is switched to an image of the shooting camera on the side where the image is taken.   3. The vehicle periphery monitoring according to claim 1, wherein when it is determined that there is an obstacle within a predetermined range on the side of the vehicle, when the vehicle stops, an image by the photographing camera is displayed on the display unit. apparatus.   After the vehicle stops and the camera image is displayed on the display unit due to an obstacle on the side, the vehicle starts, so that the display on the display unit is different from the camera image. The vehicle periphery monitoring device according to claim 3, wherein the vehicle periphery monitoring device is switched to information.   After the obstacle is detected by the distance measuring means, when the vehicle has traveled and the obstacle disappears in the predetermined range of the distance measuring means, the distance between the installation position of the distance measuring means and the driver is taken into account. The vehicle periphery monitoring according to any one of claims 1 to 4, wherein when it is determined that the obstacle is located at a side position of the driver, the display of the display unit is switched to an image by the photographing camera. apparatus.   6. The vehicle periphery monitoring device according to claim 1, wherein a corner sensor is used as the distance measuring means.   The vehicle periphery monitoring device according to claim 1, wherein the distance measuring unit is installed at a bumper corner.   The vehicle periphery monitoring device according to claim 1, wherein the distance measuring unit is installed in the vehicle pillar portion. The vehicle periphery monitoring device according to any one of claims 1 to 8, wherein the photographing cameras are installed on the front left and right of the vehicle and on the left and right of the rear of the vehicle.

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