JP3968271B2 - Vehicle periphery visual recognition device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle periphery visual recognition device for visually recognizing the periphery of a vehicle so as to prevent the vehicle from colliding with another obstacle.
[0002]
[Prior art]
For example, in a parking lot or the like, for the purpose of providing parking assistance to the driver so as to prevent the corner of the vehicle from colliding with other obstacles, conventionally, images of a plurality of cameras are combined, A technology (Japanese Patent Laid-Open No. 2001-315603: Prior Art 1) that displays and guides the situation around the vehicle including the blind spot range of the driver in an easily understandable manner is disclosed.
[0003]
In this prior art 1, as shown in FIG. 11, when the front, rear or side situation around the host vehicle is shot as a moving image with a plurality of cameras 1, the obtained image is subdivided by the virtual viewpoint conversion means 2. Then, the viewpoint is converted from the viewpoint of the camera 1 to an arbitrary viewpoint and line-of-sight video by enlarging, reducing, deforming or rotating each of the images, and the image information from the virtual viewpoint conversion means 2 is synthesized by the image synthesis means 3. At the same time, the obstacle detection means 4 such as an ultrasonic sensor or a millimeter wave radar measures the presence / absence of the obstacle and the distance to the obstacle, and based on the measurement result, the safety area estimation means 5 to estimate a safe area free of obstacles. Then, the safety area superimposing means 6 superimposes and displays the composite image obtained by the plurality of cameras 1 and the safety area estimated by the safety area estimating means 5. As a result, a display that is easy for the driver to recognize is performed.
[0004]
[Problems to be solved by the invention]
However, the above-described prior art 1 has problems that the processing is complicated and the cost of the apparatus is high.
[0005]
Accordingly, an object of the present invention is to provide a vehicle periphery visual recognition device that allows an occupant to easily recognize obstacles around the vehicle with a simple configuration.
[0006]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the invention according to claim 1 is arranged in the vicinity of the obstacle detection means for detecting whether or not the obstacle is approaching in the outward direction of the vehicle, and the obstacle detection means. And at least the camera, in which the central axis of the imaging field of view range is set to substantially coincide with the center line of the detection range in the obstacle detection means, and images the landscape of the vehicle in the outward direction. A display device for displaying a captured image and a control unit that controls to display the captured image provided from the camera on the display device when the obstacle detection unit detects the obstacle. And the camera is configured so that a part of the vehicle is reflected within the imaging field angle range. The camera has an imaging element and a corner of the bumper of the vehicle is along the lower end of the captured image. The outward landscape Optical means for condensing the image pickup device, and the optical means reflects the light while concentrating the outward landscape of the vehicle and the image of the corner of the bumper toward the image pickup device side. The obstacle detecting means and the camera, which are disposed at positions close to each other, are housed in the same housing and incorporated in the vehicle, and the convex curved reflector is disposed in the housing. A predetermined metal is vapor-deposited on an inner circumferential curved surface formed in a part of a storage space for storing the camera .
[0007]
Invention of Claim 2 is the vehicle periphery visual recognition apparatus of Claim 1, Comprising: The said obstacle detection means is provided with two or more, Each said obstacle detection means is each arrange | positioned in the multiple places of the said vehicle, A plurality of the cameras are provided so as to be arranged in the vicinity of each of the obstacle detection means, and the control unit detects the obstacle when the obstacle detection means detects the obstacle. Only a captured image from the camera corresponding to the obstacle detection means is displayed on the display device.
[0008]
Invention of Claim 3 is the vehicle periphery visual recognition apparatus of Claim 2, Comprising: Each said obstacle detection means and each said camera are installed in each corner of the said vehicle, Each said camera is The respective corners of the vehicle are reflected in the imaging field angle range.
[0014]
Invention of Claim 4 is a vehicle periphery visual recognition apparatus in any one of Claim 1 thru | or 3 , Comprising: When the said obstacle detection means detects the said obstacle, in said control part The apparatus further includes sound blowing means that is blown by the control.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a sectional view showing an internal configuration of a vehicle periphery visual recognition device 11 according to an embodiment of the present invention, and FIGS. 2 and 3 show a state in which the vehicle periphery visual recognition device 11 is attached to a vehicle and used. FIG.
[0016]
As shown in FIGS. 2 and 3, the vehicle periphery visual recognition device 11 visually recognizes obstacles approaching the left and right corners (corner portions) 10 of both bumpers before and after the vehicle. A distance measuring sensor (obstacle detection means) 12 for detecting whether an obstacle is approaching the host vehicle by measuring the distance between the host vehicle and the obstacle, and a vehicle installed near the distance measuring sensor 12 2 includes a camera 13 that captures a surrounding landscape in a predetermined direction, a display device 14 that displays an image of the camera 13, and a control unit 15 that controls the display of the display device 14. In particular, as shown in FIG. The center axis 101 of the thirteen imaging angle-of-view range 100 is installed substantially coincident with the center line of the detection range 102 of the distance measuring sensor 12 in plan view.
[0017]
As the distance measuring sensor 12, for example, an ultrasonic sensor using a piezoelectric ceramic or the like is used, similar to that used in the prior art 1, and the light is emitted around the normal direction of the detection surface of the distance measuring sensor 12. The reflected ultrasonic wave reflected by the obstacle is received and the approaching of the obstacle is detected when the received wave level exceeds a predetermined reference level. The detection range 102 (FIG. 2) of the distance measuring sensor 12 is set to such an extent that an obstacle can be detected, for example, when an obstacle approaches about 50 cm.
[0018]
The camera 13 has an imaging element 21 such as a CCD having a predetermined number of imaging pixels, an imaging lens 22 for condensing the imaging element 21, and condenses light taken from outside on the imaging lens 22 side. And a reflecting mirror portion 23 for reflecting. Here, the imaging lens 22 and the reflecting mirror unit 23 are optical means for condensing an outward landscape onto the imaging element 21 so that the corner 10 of the bumper of the vehicle 41 is reflected along the lower end of the captured image. Function as. Specifically, the reflecting mirror unit 23 is disposed above the image sensor 21, and the imaging lens 22 is disposed between the reflecting mirror unit 23 and the image sensor 21 so as to be inclined slightly outward rather than upward. Thereby, after an external landscape is reflected and collected by the upper reflecting mirror unit 23, the image is collected by the central imaging lens 22 and incident on the imaging device 21, thereby imaging the imaging device 21. The corner 10 of the bumper of the vehicle 41 is displayed at the lower end of the video.
[0019]
Here, the camera 13 has an imaging field angle range 100 (FIG. 2) of, for example, about 120 degrees in the horizontal plane by the action of the imaging field angle of the imaging device 21 and the condensing angles of the imaging lens 22 and the reflecting mirror unit 23. Is set to have.
[0020]
The distance measuring sensor 12 and the camera 13 are accommodated in predetermined storage spaces 25 and 26 of a housing 24 as a waterproof case. The casing 24 is embedded and installed in the four corners 10 on the left and right and front and rear sides of the bumper of the vehicle 41 so that the camera 13 and the distance measuring sensor 12 are not visible from the outside. 24, the camera 13 and the distance measuring sensor 12 are housed together, thereby facilitating assembly to the vehicle 41.
[0021]
In the housing 24, the camera 13 is arranged so as to be positioned above the distance measuring sensor 12, and the center line of the imaging optical axis of the camera 13 is substantially the center of the detection range of the distance measuring sensor 12 in plan view. It is fixed in the respective storage spaces 25 and 26 of the housing 24 so as to look for a line, and these are embedded together with the housing 24 in the corners of the bumper of the vehicle.
[0022]
The reflecting mirror portion 23 of the camera 13 has an aluminum, an antioxidant protective film, and an anti-oxidation protective film on the inner peripheral surface of the top portion formed in a convex shape of the storage space 25 that stores the imaging element 21 and the imaging lens 22 in the housing 24. Are formed by vapor deposition such that the reflecting mirror part 23 is a convex curved reflecting mirror. The reflecting mirror portion 23 is arranged so that a part of the corner portion 10 of the vehicle bumper is reflected in a shape along the lower end of the display device within the imaging field angle range 100 of the camera 13.
[0023]
The display device 14 is installed in the vehicle interior, and also serves as a liquid crystal display for displaying the screen of the car navigation device, for example. The control unit 15 captures the screen of the car navigation device and the captured image captured by the camera 13. And can be switched.
[0024]
The control unit 15 selects a captured image captured by a plurality of cameras 13 and a screen of a car navigation device (not shown), for example, and displays the selected image on the display device 14. Specifically, the control unit 15 is arranged immediately above the distance measuring sensor 12 in conjunction with the detection timing when any of the plurality of distance measuring sensors 12 detects an approach with an obstacle. In the case where any of the distance measuring sensors 12 detects an approach to an obstacle within the left side, the screen of the car navigation device is displayed on the display device 14. The display is controlled.
[0025]
Note that reference numeral 30 in FIG. 1 indicates a buzzer (sound blowing means), and the control unit 15 intermittently pushes the buzzer 30 while the distance measuring sensor 12 detects an approach with an obstacle. Or it is designed to sound continuously. Further, reference numeral 31 in FIG. 1 indicates an external connection connector for electrically connecting the image sensor 21 and the distance measuring sensor 12 to the control unit 15, and reference numeral 32 in FIG. 3 indicates a headlamp.
[0026]
An operation example of the vehicle periphery visual recognition device 11 when the left front corner of the vehicle 41 equipped with the vehicle periphery visual recognition device 11 passes close to the right rear corner of another parked vehicle 42 will be described. .
[0027]
First, as shown in FIG. 4, the vehicle 41 equipped with the vehicle periphery visual recognition device 11 is approaching at a low speed toward the vehicle 42 already parked ahead. At this point, since the vehicle 42 in front is not yet approached, none of the distance measuring sensors 12 detects the approach of the obstacle, and therefore the display device 14 in the vehicle 41 has no control. The screen of the car navigation device (not shown) is displayed by the selection in the unit 15.
[0028]
Next, the vehicle 41 travels, and as shown in FIG. 5, the right rear corner 43 of the front vehicle 42 enters the detection range 102 of the distance measuring sensor 12 installed at the left front corner 10 of the traveling vehicle. At this time, a signal from the distance measuring sensor 12 is transmitted to the control unit 15, and the control unit 15 starts to sound the buzzer 30, and the vehicle 41 in front of the vehicle 41 as an obstacle is in progress for the passenger of the vehicle 41. Warning that you are approaching. At the same time, the control unit 15 selects and displays the captured image provided from the camera 13 disposed immediately above the distance measuring sensor 12 on the display device 14.
[0029]
A display screen on the display device 14 at this time is shown in FIG. As described above, since the center axis 101 of the imaging field angle range 100 of the camera 13 is installed substantially coincident with the center line of the detection range 102 of the distance measuring sensor 12 in plan view, the camera 13 captures an image. As shown in the display screen of FIG. 6, the captured image is displayed on the right rear corner of the vehicle 42 ahead of the center point 105 with reference to the arrangement position of the distance measuring sensor 12 in the left front corner 10 of the vehicle 41. 43 is displayed at the right front position on the screen reflecting the actual relative position.
[0030]
Further, FIG. 8 shows a display screen of the display device 14 when the vehicle 41 travels as shown in FIG. Here, the right rear corner 43 of the front vehicle 42 is shown in FIG. 6 with respect to the center point based on the arrangement position of the distance measuring sensor 12 provided at the left front corner 10 of both bumpers before and after the vehicle 41. It has moved compared to it, and is displayed at the center position on the screen. In this case, the occupant of the vehicle 41 can recognize that the vehicle 41 is very close to the vehicle 42 ahead by looking at the screen of the display device 14.
[0031]
Further, FIG. 10 shows a display screen of the display device 14 when the vehicle 41 travels as shown in FIG. Here, the right rear corner 43 of the front vehicle 42 is shown in FIG. 8 with respect to the center point based on the arrangement position of the distance measuring sensor 12 provided at the left front corner 10 of both bumpers before and after the vehicle 41. It has moved further and is displayed at the left front position on the screen. In this case, the occupant of the vehicle 41 can recognize that the corner 43 of the vehicle 42 ahead of the vehicle 41 is left in the left direction by looking at the screen of the display device 14.
[0032]
When the vehicle 41 further advances and changes to a state in which the distance measuring sensor 12 does not detect an obstacle, the control unit 15 uses an image captured from the camera 13 as an image to be displayed on the display device 14 from the screen of the car navigation device. While switching to the image, the sounding of the buzzer 30 is stopped.
[0033]
In this way, the display image of the display device 14 is switched to the captured image of the camera 13 corresponding to the distance measuring sensor 12 in conjunction with the detection of the obstacle by the distance measuring sensor 12, so that the occupant of the vehicle 41 can The display device 14 can easily confirm that the traveling vehicle 41 is approaching the obstacle.
[0034]
Moreover, since the approach to the obstacle is warned not only by the display on the display device 14 but also by the sound of the buzzer 30, the occupant can easily recognize the approach to the obstacle.
[0035]
The center axis 101 of the imaging field angle range 100 of the camera 13 is installed so as to be substantially coincident with the center line of the detection range 102 of the distance measuring sensor 12 in plan view, and the reflecting mirror unit 23 is provided with a convex curved surface. By using the reflecting mirror, a part of the corner 10 of the vehicle bumper is reflected on the display device within the imaging field angle range 100 of the camera 13. The occupant can easily recognize the relative position of the obstacle (in the above operation example, the right rear corner 43 of the front vehicle 42) with respect to the distance measuring sensor 12 and the vehicle 41.
[0036]
Further, by installing the camera 13 and the distance measuring sensor 12 in a single casing 24, when these are mounted on the vehicle 41, they are assembled in an integrated state including the casing 24. And the assembly work becomes easy.
[0037]
In the above embodiment, the distance measuring sensor as the ultrasonic sensor is applied as the obstacle detecting means. However, it is possible to detect whether the obstacle is approaching, such as using electromagnetic waves or infrared rays. Any sensor can be used.
[0038]
【The invention's effect】
According to the first aspect of the present invention, whether or not an obstacle is approaching in the outward direction of the vehicle is detected by the obstacle detection means, and the obstacle is detected when the obstacle detection means detects the obstacle. Since the captured image provided from the camera arranged in the vicinity of the object detection means is displayed on the display device, the vehicle occupant can easily confirm that the vehicle is approaching the obstacle with the display device. A vehicle as set forth in claim 3, for example, wherein the center axis of the imaging field angle range is substantially coincident with the center line of the detection range in the obstacle detection means, and is within the imaging field angle range of the camera. In addition, a part of the vehicle such as the corner of the bumper as in claim 4 is reflected in the corner of the vehicle, so that it is not necessary to perform complicated processing such as combining images as in the prior art 1. From the captured image captured by the camera, the occupant can easily recognize the relative position of the vehicle and the obstacle with the distance measuring sensor and the vehicle.
[0039]
According to the second aspect of the present invention, a plurality of obstacle detection means are provided, each of the obstacle detection means is arranged at a plurality of locations of the vehicle, and a camera corresponds to each of the obstacle detection means and its vicinity. When an obstacle is detected by the obstacle detection means, only a captured image from the camera corresponding to the detected obstacle detection means is displayed on the display device. Even if an obstacle approaches, the image captured by the camera can be displayed on the display device without any trouble.
[0040]
Moreover, according to the invention described in claim 1, mosquitoes by optical means such as a convex curved reflector in camera, vehicle bumper corners imaging element outwardly landscape as being reflected along the lower end of the video image Therefore, the bumper can be easily taken into the captured image.
[0041]
According to the first aspect of the present invention, the obstacle detection means and the camera arranged at positions close to each other can be assembled in an integrated state including the housing , so that the assembling work is facilitated.
[0042]
According to the invention described in claim 1 , since the convex curved reflector is formed by vapor-depositing a predetermined metal on an inner circumferential curved surface formed in a part of the storage space for storing the camera of the housing, With an extremely simple configuration, an outward landscape can be condensed on the image sensor so that the corner of the bumper of the vehicle is reflected along the lower end of the captured image.
[0043]
According to the invention described in claim 4 , when the obstacle detecting means detects an obstacle, it is further provided with a sound blowing means that is blown by the control of the control unit, so that the occupant can easily approach the obstacle. Can be recognized.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a vehicle periphery visual recognition apparatus according to an embodiment of the present invention.
FIG. 2 is a plan view showing a state in which the vehicle periphery visual recognition device according to one embodiment of the present invention is assembled to a vehicle and an obstacle is detected.
FIG. 3 is a perspective view showing a state in which the vehicle periphery visual confirmation device according to one embodiment of the present invention is assembled in the vehicle.
FIG. 4 is a plan view showing an operation in which the vehicle periphery visual confirmation device according to one embodiment of the present invention is assembled to a vehicle to perform obstacle detection.
FIG. 5 is a plan view showing a state in which the vehicle periphery visual recognition device according to one embodiment of the present invention is assembled to a vehicle and an obstacle is detected.
FIG. 6 is a diagram illustrating an example of a captured image displayed on a display device.
FIG. 7 is a plan view showing a state in which the vehicle periphery visual recognition device according to one embodiment of the present invention is assembled to a vehicle and an obstacle is detected.
FIG. 8 is a diagram illustrating an example of a captured image displayed on a display device.
FIG. 9 is a plan view showing a state in which the vehicle periphery visual recognition device according to one embodiment of the present invention is assembled to a vehicle and an obstacle is detected.
FIG. 10 is a diagram illustrating an example of a captured image displayed on a display device.
FIG. 11 is a block diagram showing a vehicle periphery visual recognition device according to prior art 1;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Corner part 11 Vehicle periphery visual recognition apparatus 12 Distance sensor 13 Camera 14 Display apparatus 15 Control part 21 Image pick-up element 22 Imaging lens 23 Reflective mirror part 24 Housing | casing 25,26 Storage space 30 Buzzer 41 Vehicle 100 Imaging field angle range 101 Center axis 102 Detection range

Claims (4)

Obstacle detection means for detecting whether or not an obstacle is approaching the outside of the vehicle;
It is arranged in the vicinity of the obstacle detection means, and the center axis of the imaging angle of view range is substantially coincident with the center line of the detection range of the obstacle detection means, A camera that captures the landscape;
A display device for displaying at least a captured image captured by the camera;
A control unit that controls to display a captured image provided from the camera on the display device when the obstacle is detected by the obstacle detection unit;
A part of the vehicle is reflected within the imaging field angle range of the camera ;
The camera is
An image sensor;
Optical means for condensing an outward landscape with respect to the image sensor so that the corner of the bumper of the vehicle is reflected along the lower end of the captured image;
With
The optical means includes a convex curved reflector that reflects the outer landscape of the vehicle and the corner image of the bumper while condensing the image toward the image sensor side,
The obstacle detection means and the camera arranged at positions close to each other are housed in the same casing and incorporated in the vehicle,
The vehicle periphery visual recognition device, wherein the convex curved reflector is formed by depositing a predetermined metal on an inner peripheral curved surface formed in a part of a storage space for storing the camera of the casing . The vehicle periphery visual recognition device according to claim 1,
A plurality of the obstacle detection means are provided, and the respective obstacle detection means are respectively arranged at a plurality of locations of the vehicle,
A plurality of the cameras are provided so as to be arranged in the vicinity thereof corresponding to each of the obstacle detection means,
When the obstacle is detected by the obstacle detection unit, the control unit displays only a captured image from the camera corresponding to the detected obstacle detection unit on the display device. Vehicle periphery visual recognition device. The vehicle periphery visual recognition device according to claim 2,
Each obstacle detection means and each camera are installed at each corner of the vehicle,
A vehicle periphery visual recognition device, wherein each of the cameras is configured so that each corner of the vehicle is reflected in the imaging field angle range. The vehicle periphery visual recognition device according to any one of claims 1 to 3,
The vehicle periphery visual recognition apparatus further provided with the sound blowing means sounded by control by the said control part, when the said obstacle detection means detects the said obstacle .

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