JP2018177133A - Image display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image display device enabling intuitive risk recognition.SOLUTION: An image display device 1 includes image pick-up means 11, 12, and 13 which pick up the images of environments on a rear side and side parts of an own vehicle; and a display means 70 which indicates images picked up by the image pick-up means. The display means has a first area A1 which displays an image including an area of the rear side of the own vehicle, and a second area A2 which is displaced adjacent to the first area and displays images including areas of the side parts of the own vehicle. The display magnification of the display image displayed in the second area is shrunken in regard to that of the display image displayed in the first area.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an image display apparatus that displays an image obtained by capturing an image of the rear side of a vehicle, and more particularly to an apparatus that enables intuitive danger recognition.

  In vehicles such as automobiles, an image displaying an image captured by a camera provided on the side, rear, etc. of the vehicle body instead of or in combination with existing mirrors as rear side monitoring means of the vehicle It has been proposed to use a display device (camera monitoring system).

As a prior art related to such an image display device, for example, Patent Document 1 discloses vehicle left and right side images captured by CCD cameras attached near the left and right door mirrors and vehicle rear images captured by CCD cameras attached to the rear Is displayed on the liquid crystal panel installed in the instrument panel, and the infinity points of the three images on the left and right sides and the rear are combined to provide one infinity point, from one virtual viewpoint It has been described to image combine the left and right side and rear images as seen.
In Patent Document 2, a small color television camera is installed at or near the door mirror position of the car and at the center of and at the rear, and images captured by each television camera are projected on one image by trimming on the monitor television of the driver's seat. It is described.
Further, according to Patent Document 3, in a rear monitor device of a vehicle that displays to a driver an image captured by a camera provided on the left and right of the vehicle body, each image is displayed according to steering operation, turn signal operation, brake, transmission operation, etc. It is described that the display is enlarged or reduced.

Japanese Patent Application Laid-Open No. 10-257482 Japanese Utility Model 7-30149 Unexamined-Japanese-Patent No. 6-227318

In order to reduce the burden of monitoring on the user when displaying the images obtained by respectively imaging the rear side and the left and right rear sides of the own vehicle, display the respective images integrally or continuously on the same or adjacent display Is preferred.
However, in order to easily recognize another vehicle or the like trying to overtake the vehicle from the lane traveling adjacent to the traveling lane of the vehicle, visual information for the case of direct visual observation rather than the information of the object itself It is considered better to strengthen awareness of change in terms of danger awareness.
SUMMARY OF THE INVENTION In view of the above-mentioned problems, it is an object of the present invention to provide an image display device capable of intuitive danger recognition.

The present invention solves the above-mentioned problems by the following solutions.
The invention according to claim 1 displays, as a display image, an imaging unit that images the environment behind and on the side of the host vehicle, a captured image captured by the imaging unit, or a generated image generated based on the captured image An image display apparatus comprising: display means, wherein the display means is disposed adjacent to the first area for displaying the display image including the area behind the host vehicle, and the host area, and the host vehicle And a second area for displaying the display image including the side area, wherein the display image displayed in the second area is the display image displayed in the first area. An image display apparatus characterized in that a display magnification is reduced.
According to this, the image of the second area, which is the area on the side of the host vehicle where there is a risk of collision with another vehicle traveling in the adjacent lane due to the lane change of the host vehicle, etc. By reducing the display magnification with respect to the image, it is possible to intuitively recognize the front / rear position of the obstacle or the relative position with respect to the host vehicle by changing the image in which the discomfort is emphasized, and promote appropriate risk recognition. it can.

The invention according to claim 2 is characterized in that the display magnification of the display image displayed in the second area is smaller on the front side of the host vehicle than on the rear side of the host vehicle. It is an image display apparatus of a statement.
According to this, the above-mentioned effect can be further promoted.

The second aspect of the present invention is an area corresponding to the front side of the host vehicle relative to a reference point set on the vehicle body side as viewed from a virtual viewpoint set in the vehicle compartment of the host vehicle and at the rear of the vehicle body. It is an image display apparatus of Claim 1 or 2 characterized by displaying on an area | region.
The invention according to claim 4 is substantially along at least one of the front edge, the rear edge and the central axis of the pillar provided at the rearmost side of the vehicle when viewed from the virtual viewpoint set in the vehicle compartment of the host vehicle The image display apparatus according to claim 1 or 2, wherein an area corresponding to a front side of the vehicle relative to the disposed reference line is displayed in the second area.
According to each of the inventions, the second region may be appropriately set such that the region where contact with another vehicle or the like is concerned when the host vehicle changes lanes is included in the second region. it can.
Further, by using the specific part of the vehicle body as a reference, the user can intuitively recognize the boundary between the first region and the second region in association with the vehicle body size and the sense of the shape (vehicle distance).

The invention according to claim 5 comprises eye point detection means for detecting the eye point of the user, and the virtual viewpoint is set in the vicinity of the eye point of the user. It is an image display apparatus of a statement.
According to this, an image that can be intuitively recognized without a sense of incongruity can be generated by bringing the virtual viewpoint of the displayed image and the viewpoint position when the user views with the naked eye closer.

The invention according to claim 6 includes other vehicle detection means for detecting another vehicle approaching from the rear side of the own vehicle, and risk determination means for determining the contact risk of the other vehicle with the own vehicle, and the risk The present invention is characterized in that the degree of reduction of the display magnification with respect to the first area in the second area is made larger than that in a normal state when the determination means determines that the contact risk is a predetermined value or more. It is an image display device according to any one of claims 1 to 5.
According to this, it is possible to intuitively and quickly recognize that the risk of contact with another vehicle displayed in the second area is large.

The invention according to claim 7 is characterized in that the display means displays an index indicating the position of the pillar provided at the outer edge of the window glass in a superimposed manner on the display image. It is an image display apparatus of any one of these.
According to this, the user can intuitively recognize in which direction in the case where the object displayed in the image is visually observed with the naked eye.

  As described above, according to the present invention, it is possible to provide an image display device capable of intuitive danger recognition.

It is a block diagram showing composition of an embodiment of an image display device to which the present invention is applied. It is a typical perspective view showing arrangement of a back side camera etc. in an image display device of an embodiment. It is a figure which shows an example of the user view in the vehicle which has an image display apparatus of embodiment. It is an example of the display image in the image display apparatus of embodiment, Comprising: It is a figure which shows the case where another vehicle exists in the back of the own vehicle. It is another example of the display image in the image display apparatus of embodiment, Comprising: It is a figure which shows the case where another vehicle exists behind the own vehicle.

Hereinafter, an embodiment of an image display device to which the present invention is applied will be described.
The image display apparatus according to the embodiment is a camera monitoring system which is provided in an automobile such as a passenger car, for example, and presents, to a user such as a driver, an image obtained by imaging the rear side of the vehicle body by a camera.

FIG. 1 is a block diagram showing the configuration of the image display apparatus of the embodiment.
The image display device 1 includes a rear side image processing unit 10, a rear camera 11, a left rear side camera 12, a right rear side camera 13, a stereo camera processing unit 20, a left front camera 21, a right front camera 22, an environment recognition A unit 30, left rear side radar 31, right rear side radar 32, driver monitoring unit 40, driver monitoring camera 41, display image generation unit 50, display control unit 60, LCD 70 and the like are configured.

The rear side image processing unit 10 is a digital signal processing device that processes output signals of the rear camera 11, the left rear side camera 12, and the right rear side camera 13 and outputs the processed signals as image data.
The video signal output from the rear side image processing unit 10 is transmitted to the environment recognition unit 30 and the display image generation unit 50.
The rear camera 11, left rear side camera 12, and right rear side camera 13 are for moving image shooting of the situation around the vehicle and outputting video signals in real time, and are solid-state imaging devices such as CMOS and their driving devices and lenses Etc.

FIG. 2 is a schematic perspective view showing the arrangement of the rear side camera and the like in the image display device of the embodiment.
The rear camera 11 is disposed at the center in the vehicle width direction at the rear end of the vehicle body B, with the optical axis direction facing the rear of the vehicle.
The left rear side camera 12 is disposed on the left side surface portion of the vehicle body B so that the optical axis direction is directed rearward and outward in the vehicle width direction.
The left rear side camera 12 is disposed, for example, at a position adjacent to the side mirror 130.
The field of view (image captureable range) F12 of the left rear side camera 12 partially wraps with the field of view F11 of the rear camera 11, and the entire range from the rear to the left side of the host vehicle is substantially reduced by at least one camera. The image is taken so that there is no blind spot.
The right rear side camera 13 (not shown in FIG. 2) is disposed substantially symmetrically with the left rear side camera 12.

The stereo camera processing unit 20 performs known stereo camera processing on the images captured by the left front camera 21 and the right front camera 22, and detects an object ahead of the host vehicle and the distance from the host vehicle.
The output of the stereo camera processing unit 20 is transmitted to the environment recognition unit 30.
The left front camera 21 and the right front camera 22 capture moving images of the front of the vehicle and output a video signal in real time, and are provided with a solid-state image sensor such as a CMOS, a drive device thereof, a lens and the like.
The left front camera 21 and the right front camera 22 are disposed, for example, in the vicinity of the upper end portion of the front window glass in the vehicle compartment, in the left and right direction, separately from each other.

The environment recognition unit 30 recognizes the environment around the host vehicle based on information provided by the rear side image processing unit 10, the stereo camera processing unit 20, the left rear side radar 31, the right rear side radar 32, etc. It is
The environment recognition unit 30 cooperates with the left rear side radar 31 and the right rear side radar 32 to function as another vehicle detection means in the present invention.
Here, as the environment to be recognized, the lane shape of the traveling lane of the own vehicle where the own vehicle travels, the lane shape of the adjacent lane adjacent to the own traveling lane of the vehicle, other vehicles traveling around the own vehicle, pedestrians, buildings It includes obstacles (eg, buildings, guard rails, signs, traffic lights, bridges, tunnels, medians, roadsides, etc.) and the like.

The left rear side radar 31 and the right rear side radar 32 detect an object such as another vehicle present on the rear side of the host vehicle.
For example, millimeter wave radar can be used as the left rear side radar 31 and the right rear side radar 32.
The left rear side radar 31 and the right rear side radar 32 can detect the relative position of the other vehicle with respect to the host vehicle when the other vehicle is present, and based on the transition of the relative position, the other vehicle It is possible to calculate the relative velocity of the vehicle relative to its own vehicle.
The left rear side radar 31 and the right rear side radar 32 are disposed on the left and right (for example, inside the rear bumper) at the rear of the vehicle body.

The driver monitoring unit 40 detects an attitude, behavior, a gaze direction, and the like of a user (driver at the time of manual operation) based on an image captured by the driver monitoring camera 41.
The driver monitoring camera 41 is provided on the front side of the driver in the vehicle compartment.
The driver monitoring unit 40 functions as a viewpoint detection unit that detects a viewpoint position when the user looks back at the rear of the vehicle and directly looks at the situation on the rear side of the vehicle.

The display image generation unit 50 generates a display image to be displayed on the LCD 70 based on the input from the rear side image processing unit 10, the environment recognition unit 30, and the driver monitoring unit 40.
The function of the display image generation unit 50 and an example of the display image generated will be described in detail later.
The display image may be a photographed image (captured image) obtained by performing predetermined image processing on a video captured by the rear camera 11, the left rear side camera 12, and the right rear side camera 13. It may be computer graphics or the like (generated image generated based on a captured image) that displays information corresponding to an image. Also, a real shot image and computer graphics may be combined, for example, by being superimposed.

The display control unit 60 is a display drive device that causes the LCD 70 to display a display image generated by the display image generation unit 50.
The LCD 70 is a display means provided on the front side of a user (a passenger and a driver at the time of manual operation) and displaying a display image to the user.
The arrangement of the LCD 70 in the passenger compartment will be described in detail later.

FIG. 3 is a view showing an example of a user view in a vehicle having the image display device of the embodiment.
As shown in FIG. 3, the vehicle includes a windshield 110, a front door glass 120, a side mirror 130, an instrument panel 140, a steering wheel 150, an A-pillar 160, a roof 170, a rearview mirror 180 and the like.

The windshield 110 is disposed on the front side of the driver.
The windshield 110 is a quadrilateral curved glass which is formed in a substantially horizontally long rectangular shape and is curved in a direction in which the front is convex.
The windshield 110 is disposed so as to be inclined rearward such that the upper end portion is on the vehicle rear side with respect to the lower end portion.

The front door glass 120 is provided above the left and right front doors used for getting on and off the passenger, and is provided on the side of the driver.
The front door glass 120 has a vertically movable main body portion 121 and a fixed triangular window portion 122 provided at the front of the main body portion 121.

The side mirror 130 is for the driver to confirm the left and right rear view.
The side mirrors 130 project outward in the vehicle width direction from the outer panels of the left and right front doors.
In the user view, for example, the side mirror 130 is visible in the vicinity of the front end of the main body 121 of the front door glass 120.

The instrument panel 140 is an interior member provided below the windshield 110 in the vehicle compartment.
The instrument panel 140 also functions as a housing in which various instruments, displays, switches, an air conditioner, a passenger seat airbag device, a knee protection airbag device, and the like are accommodated.
The instrument panel 140 is provided with a combination meter 141, a multi-function display 142, a navigation device display 143, and the like.

The combination meter 141 is provided in front of the driver's seat, and is a unitization of various instruments such as a speedometer, an engine tachometer, and a distance meter.
The combination meter 141 incorporates an LCD 70.
The multi-function display 142 is an image display means such as an LCD provided at the upper part in the vehicle width direction center of the instrument panel 140.
The navigation device display 143 is provided at the lower portion in the vehicle width direction central portion of the instrument panel 140.

The steering wheel 150 is an annular operation member through which a driver inputs a steering operation during manual operation.
The steering wheel 150 is provided substantially in front of the driver.
The combination meter 141 is visible from the inside diameter side of the upper half of the steering wheel 150 in the user view.

The A-pillar 160 is a columnar vehicle body structural member disposed along the side end of the windshield 110 and the front end of the front door glass 120.
The surface of the A-pillar 160 on the vehicle interior side is covered with a resin-made pillar trim.

The roof 170 is formed to extend rearward from the upper end of the windshield 110.
The surface portion of the roof 170 on the vehicle interior side is covered with a resin roof trim.
At the front end of the roof 170 at the center in the vehicle width direction, a stereo camera housing portion 171 in which the left front camera 21 and the right front camera 22 are housed is provided.

The rear view mirror 180 is a rear confirmation mirror provided in the vehicle compartment.
The rearview mirror 180 is provided in the vicinity of the upper end portion in the vehicle width direction central portion of the windshield 110 via a stay (not shown).

Next, the display image of the LCD 70 in the present embodiment will be described.
The display image described below is generated by the display image generation unit 50.
FIG. 4 is an example of a display image in the image display device of the embodiment, and is a view showing the case where another vehicle is present behind the host vehicle.
FIG. 5 is a view showing another example of the display image in the image display device of the embodiment, in which another vehicle is present behind the host vehicle.
In the embodiment, a reference point P (see FIG. 2) is set at the vehicle body side and at the rear of the vehicle body, and a region corresponding to the vehicle rear side with respect to the reference point P viewed from the virtual viewpoint set in the vehicle compartment An area corresponding to the front side of the vehicle with respect to the reference point P is referred to as a second area A2.
The virtual viewpoint is set, for example, to the head position of the user (driver at the time of manual operation) detected by the driver monitoring unit 40.

As shown in FIGS. 4 and 5, the image of the first area A1 and the images of the second areas A2 on the left and right sides are continuously displayed on the same display images I1 and I2.
In the display images I1 and I2, a line Lg indicating a portion corresponding to the outer peripheral edge of each window glass when viewed from the virtual installation point is superimposed on the image outside the vehicle provided from the rear side image processing unit 10. Is displayed.
At this time, in the display images I1 and I2, it is an image of a state in which the pillar is seen through so that an object such as another vehicle can be seen even in a range corresponding to the pillar.
In addition, the display images I1 and I2 can be left and right reverse images so that there is no sense of incongruity with how to look at the rear side of the vehicle using mirrors.
That is, in the display images I1 and I2, the second area A2 displayed on the right side indicates the situation of the right rear side of the host vehicle, and the second area A2 displayed on the left side is the left rear of the host vehicle It shows the situation of the side.

In the present embodiment, the image displayed in the second area A2 is displayed as a deformed image in which the display magnification is converted such that the display magnification is reduced with respect to the image displayed in the first area A1. .
In FIG. 4, since the following vehicle FV exists on the rear side of the own vehicle and is included in the first area A1 on the display image I1, the image of the following vehicle FV is deformed to change the display magnification. Absent.
On the other hand, in FIG. 5, the following vehicle FV changes lanes to the adjacent lane and overtakes the host vehicle, and the following vehicle FV is located behind the host vehicle, and on the display image I2 It is included in the second area A2.
In this case, although the image of the following vehicle FV should actually look large by approaching the host vehicle, in the embodiment, the display magnification is deformed to be extremely small in order to give a sense of discomfort to the user. There is.
Here, the reduction degree of the display magnification is set to be larger (more reduced) on the vehicle front side with respect to the vehicle rear side.

In the present embodiment, the environment recognition unit 30 functions as a risk determination unit that determines the contact risk with the following vehicle FV.
The environment recognition unit 30 determines that the contact risk is high as the relative velocity of the following vehicle FV approaching the host vehicle is high and the estimated miracle when passing the host vehicle side is closer to the host vehicle.
The display image generation unit 50 increases the degree of reduction of the display magnification in the second area when the following vehicle FV having a predetermined or higher risk of contact is approaching, and the degree of deformation is intensified to make it stronger for the user. By giving a sense of discomfort, prompt recognition of danger.

According to the embodiment described above, the following effects can be obtained.
(1) The image of the second area A2, which is the area on the side of the host vehicle where there is a risk of collision with the following vehicle FV or the like traveling in the adjacent lane due to lane change of the host vehicle By displaying so that the display magnification is reduced with respect to the image, it is possible to intuitively recognize the front / rear position of the obstacle or the relative position with respect to the host vehicle by the change of the image in which the subject is deformed and the discomfort is emphasized. It can promote danger awareness.
(2) The image displayed in the second area A2 is further enhanced by the above-described effect by causing the reduction ratio of the display magnification to be larger on the front side of the host vehicle than on the rear side of the host vehicle. Can.
(3) The area on the vehicle front side of the reference point P set at the rear end of the rear bumper, viewed from the virtual viewpoint set based on the head position of the user detected by the driver monitoring unit 40, is a second area By displaying on A2, the second area A2 is appropriately set so that the second area A2 includes an area in which contact with the following vehicle FV or the like is concerned when the host vehicle changes lanes or the like. can do.
Also, by using the specific part of the vehicle body as a reference, the user intuitively recognizes the boundary between the first region and the second region in association with the user's sense (vehicle sense) regarding the vehicle size and shape. Can.
Further, by bringing the virtual viewpoint of the displayed image and the viewpoint position when the user views with naked eyes, the image can be generated intuitively and intuitively.
(4) When the risk of contact with the following vehicle FV or the like displayed in the second area A2 is high, the display magnification is displayed in the second area A2 by increasing the reduction degree of the display magnification in the second area A2. The user can intuitively and quickly recognize that the risk of contact with the following vehicle FV is large.
(5) In the display images I1 and I2, the objects displayed in the display images I1 and I2 are present in any direction in visual observation with the naked eye by displaying the line Lg at a position corresponding to the outer peripheral edge of the window glass The user can intuitively recognize.

(Modification)
The present invention is not limited to the embodiments described above, and various modifications and changes are possible, which are also within the technical scope of the present invention.
(1) The configuration of the image display device and the vehicle on which the image display device is mounted is not limited to the above-described embodiment, and can be changed as appropriate.
For example, the number and arrangement of cameras and radars can be changed as appropriate. In the embodiment, one rear camera and one left and right rear side cameras are provided, but a plurality of rear cameras may be provided. In addition, for example, a single wide-angle camera may be used to share the rear camera and the rear side camera.
(2) In the embodiment, the other side approaching from the rear side is detected using the rear side radar, but the invention is not limited to this. For example, the detection is performed by another method such as camera image or inter-vehicle communication. You may do so.
(3) In the embodiment, the reference point P is set at the rear end and the side end of the rear bumper, but the setting of the reference point can be changed as appropriate. For example, the reference point may be set at an arbitrary position such as a trunk lid upper surface portion, a rear end portion and a side end portion of the roof, or the vicinity of a rear combination lamp.
Also, instead of such a reference point, the front edge of a pillar (C-pillar in the case of a three-box car or the like, D-pillar in the case of a station wagon etc.) The second region may be on the front side of a reference line disposed substantially along the rear edge.
Also, the position of the virtual viewpoint is not limited to the position of the user's head, and can be changed as appropriate. For example, the position of the rearview mirror provided in the vehicle compartment may be a virtual viewpoint.

1 image display device 10 rear side image processing unit 11 rear camera 12 left rear side camera 13 right rear side camera 20 stereo camera processing unit 21 left front camera 22 right front camera 30 environment recognition unit 31 left rear side radar 32 Right rear side radar 40 driver monitoring unit 41 driver monitoring camera 50 display image generation unit 60 display control unit 70 LCD
DESCRIPTION OF SYMBOLS 110 Front glass 120 Front door glass 121 Main body part 122 Triangular window part 130 Side mirror 140 Instrument panel 141 Combination meter 142 Multifunction display 143 Navigation device display 150 Steering wheel 160 A pillar 170 Roof 171 Stereo camera housing part 180 Room mirror I1, I2 Display image A1 First area A2 Second area F11 Rear camera view F12 Left rear side camera view

Claims (7)

Imaging means for imaging the environment behind and to the side of the host vehicle;
An image display apparatus comprising: a display unit configured to display a captured image captured by the imaging unit or a generated image generated based on the captured image as a display image;
The display means displays a first area for displaying the display image including the area behind the host vehicle, and the display image disposed adjacent to the first area and including the area on the side of the host vehicle And a second region,
An image display apparatus characterized in that a display magnification of the display image displayed in the second area is reduced with respect to the display image displayed in the first area. The image display apparatus according to claim 1, wherein the display image displayed in the second area has a smaller display magnification on the front side of the host vehicle than on the rear side of the host vehicle. An area corresponding to the front side of the vehicle relative to a reference point set on the rear side of the vehicle body as viewed from a virtual viewpoint set in the vehicle compartment of the host vehicle is displayed in the second area. The image display apparatus according to claim 1 or 2. The self-vehicle is more than a reference line disposed substantially along at least one of the front edge, the rear edge, and the central axis of a pillar provided at the rear of the vehicle when viewed from a virtual viewpoint set in the vehicle compartment of the vehicle. The image display apparatus according to claim 1, wherein an area corresponding to a front side of the vehicle is displayed in the second area. It has eye point detection means for detecting the eye point of the user,
The image display apparatus according to claim 3, wherein the virtual viewpoint is set near an eye point of the user. Other vehicle detection means for detecting another vehicle approaching from the rear side of the own vehicle,
And risk determination means for determining the contact risk of the other vehicle with the vehicle.
When the risk determination means determines that the contact risk is equal to or greater than a predetermined value, the reduction degree of the display magnification with respect to the first area in the second area is made larger than that in a normal state. The image display apparatus according to any one of claims 1 to 5. The said display means superimposes and displays the parameter | index which shows the position of the pillar provided in the outer edge part of window glass with the said display image, It is characterized by the above-mentioned. Image display device.

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