JP4021662B2 - Driving support device, image output device, and rod with camera - Google Patents

Driving support device, image output device, and rod with camera Download PDF

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JP4021662B2
JP4021662B2 JP2001399607A JP2001399607A JP4021662B2 JP 4021662 B2 JP4021662 B2 JP 4021662B2 JP 2001399607 A JP2001399607 A JP 2001399607A JP 2001399607 A JP2001399607 A JP 2001399607A JP 4021662 B2 JP4021662 B2 JP 4021662B2
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vehicle
image
driving support
camera
displayed
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JP2003199093A (en
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毅 岡田
和史 水澤
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Panasonic Corp
Panasonic Holdings Corp
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Panasonic Corp
Matsushita Electric Industrial Co Ltd
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Priority to JP2001399607A priority Critical patent/JP4021662B2/en
Priority to DE10297590.6T priority patent/DE10297590B4/en
Priority to PCT/JP2002/012831 priority patent/WO2003058970A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/48—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for parking purposes
    • B60Q1/484—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for parking purposes for showing outline of vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
    • B60Q9/005—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a video camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/28—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with an adjustable field of view
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
    • B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Human Computer Interaction (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)

Description

【０００１】
【発明の属する技術分野】
本発明は車載カメラ等で撮影した画像を運転者に提示して運転の支援を行う運転支援装置に係り、更に詳細には、車両を駐車させる時に駐車しやすい画像を運転者に提示する運転支援装置及び画像出力装置並びにカメラ付きロッドに関するものである。
【０００２】
【従来の技術】
自動車等の車両にカメラ等の撮像手段を搭載し、この撮像手段による撮影画面を運転席付近に設置したモニタ画面に表示する運転支援装置が普及する様になってきている。例えば、車両後方を１つのカメラで撮像してモニタ表示する従来技術として、特開２０００−１３４６０８号公報記載のものがあり、また、車両の後方を３つのカメラで撮像し合成して表示する従来技術として、ＷＯ９６−３８３１９号公報記載のものがある。図１３は、この３つのカメラを備える従来技術の説明図である。
【０００３】
車両１０１には、自車両１０１の真後ろを撮像する後方カメラ１０２と、自車両１０１の右後側方を撮像する右後側方カメラ１０３と、自車両１０１の左後側方を撮像する左後側方カメラ１０４とが搭載されている。そして、運転者が車両１０１を後退させながら、後壁１０、左壁１１、右壁１２で囲まれたコの字状の駐車スペース１０５に駐車させるとき、運転席近傍に設置されたモニタ画面２０に合成表示された３つの画像、即ち、左後側方カメラ１０４の撮像画像２１と、後方カメラ１０２の撮像画像２２と、右後側方カメラ１０３の撮像画像２３とを見て、駐車操作を行うことができるようになっている。
【０００４】
この従来技術では、後方を撮像した撮像画像２２において、運転者が車両１０１の後方への距離感や車幅を撮像画像２２上で容易に視認できるように、案内軌跡ガイド２５を重畳表示し、駐車運転操作の参考となるようにしている。
【０００５】
【発明が解決しようとする課題】
しかしながら、上記のような従来の運転支援装置では、モニタ画面２０に表示された撮像画像と、運転者がこれから行おうとする駐車方法との対応関係が明確でないため、練習によりある程度の車幅感覚を習得したり、表示される駐車スペースの画像と自車両位置との相対位置関係を理解した上でなければ、この運転支援装置を使いこなすことが困難であるという問題がある。また、車両を後退させて並列駐車する場合、実は車両の前方にも注意を払わなければならないのであるが、従来の運転支援装置はその点に対する配慮に欠けるという問題がある。
【０００６】
本発明の目的は、モニタ画面に表示する画像と駐車方法とを対応付けることができ、運転初心者でもモニタ画面を見ることで容易に駐車操作を行うことが可能な運転支援装置及び画像出力装置を提供し、また、この運転支援装置に搭載するのに好適なカメラ付きロッドを提供することにある。
【０００７】
【課題を解決するための手段】
上記目的を達成する運転支援装置は、車両の後方を撮像する撮像手段と、前記撮像手段により撮像された画像を表示する表示手段とを備え、前記表示手段は、前記車両の外側に地面に対して鉛直方向に伸びる目安を前記画像に重畳して表示することを特徴とする。この構成により、運転者は表示手段に表示された前記目安によって、自車両を容易に操作して駐車スペースに駐車させることができる。
【０００８】
好適には、本発明の運転支援装置の前記表示手段は、前記車両を寄せる方向を示す矢印を前記画像に重畳表示することを特徴とする。この構成により、運転者は矢印の方向に自車両を寄せることで、容易に駐車させることが可能となる。
【０００９】
好適には、本発明の運転支援装置の前記撮像手段は、前記車両の後側方を前記車両の後部タイヤが一部映るような画角で撮像し、前記表示手段は、前記車両を寄せる方向とその逆の方向とで前記目安と前記車両との距離を変えて表示することを特徴とする。これにより、自車両に対して駐車スペースが右側にあっても、左側にあっても、同様に駐車操作を行うことができる。
【００１０】
更に好適には、本発明の運転支援装置は、駐車の意思を運転支援装置に伝える信号を出力する駐車意思指示手段を備え、前記表示手段は、前記出力に応じて、前記車両の遠方を撮像する画像と前記車両の後部タイヤが一部映るような画像とを切り替えて表示することを特徴とする。この構成により、前方走行時と駐車操作時とで最適な画面を切り換え表示可能となる。
【００１１】
更に好適には、本発明の運転支援装置の駐車の意思を運転支援装置に伝える駐車意思指示手段が前記車両の左右どちら側に駐車するかの指示を与える駐車意思指示手段を備え、前記指示に応じて、前記表示手段で表示する画像に重畳する前記車両を寄せる方向を示す矢印の方向を切り替えることを特徴とする。この構成により、自車両に対して駐車スペースが右側にあっても、左側にあっても、容易に駐車操作を行うことができる。
【００１２】
更に好適には、本発明の運転支援装置の前記表示手段は、前記車両の左後側方画像を前記表示手段の向かって右側に、前記車両の右後側方画像を前記表示手段の向かって左側にそれぞれ表示し、前記それぞれの画像を鏡像としない画像として表示することを特徴とする。この構成により、運転者の慣れた方向感覚での操作を可能とし、運転者の個人差に応じた使い勝手の優れた運転支援装置を提供できる。
【００１３】
更に好適には、上記の運転支援装置において、前記車両の後退時には、前記車両の操舵手段の操舵方向と前記車両の車輪の曲がる方向とを通常の走行時とは逆転するように制御する制御部を備えたことを特徴とする。この構成により、運転初心者であっても、ステアリングを切る方向が間違うことがなくなる。
【００１４】
更に好適には、前記車両の前方の車端に装着され、鉛直方向に伸縮可能なカメラ付ロッドを有し、前記車両の駐車時には、前記ロッドを伸ばし、前記車端のほぼ真上からの画像を取得し、前記表示手段で表示することを特徴とする。この構成により、車両端部の直下の情報が運転者に提供され、運転操作の安全性が一層高まる。
【００１５】
また、上述した本発明の運転支援装置で用いるカメラ付ロッドは、通常時はカメラ部とロッド部とが一体となり、使用時は前記カメラ部を所定の支点または所定の支軸を中心に回動するか、前記カメラ部を平行移動することで、車端のほぼ真上からの画像を取得することを特徴とする。このカメラ付ロッドを搭載することで、運転操作の一層の安全性を図ることが可能となる。
【００１６】
上述した本発明の運転支援装置で用いる画像出力装置は、撮像された車両後方の画像を画面に表示するに際し、車両画像の外側に、地面に対して鉛直方向に伸びる目安を重畳表示する手段を備えたことを特徴とする。この構成により、運転者は画面に表示された前記目安によって、自車両を容易に操作して駐車スペースに駐車させることができる。
【００１７】
【発明の実施の形態】
以下、本発明の一実施の形態について、図面を参照して説明する。
【００１８】
（第１の実施の形態）
図１は、本発明の第１の実施の形態に係る運転支援装置の説明図である。本実施の形態に係る運転支援装置は、車両２０１に搭載された３つの広角カメラ２０２、２０３、２０４と、車両２０１の運転席近傍に設置された表示手段としてのモニタ装置（図示せず）と、３つの広角カメラ２０２、２０３、２０４の各撮像画像を画像処理してモニタ装置のモニタ画面３０に表示させる表示制御手段（図示せず）とから成る。
【００１９】
図２は、本発明の第１の実施の形態に係る運転支援装置の構成を示すブロック図である。本実施の形態に係る運転支援装置は車両に搭載された複数のＣＭＯＳカメラ、ＣＣＤカメラ等からなり車両周辺の画像を撮像する撮像手段１０００、１００１、１００２と、撮像手段１０００、１００１、１００２のそれぞれから出力される撮像画像を入力し、撮像画像の補正を行う画像補正手段１００３、１００４、１００５と、画像補正手段１００３、１００４、１００５から出力される補正画像を合成する画像合成手段１００７と、画像合成手段１００７から出力される合成画像に駐車時の目安となる画像を重畳する画像重畳手段１００９と、画像重畳手段１００９から出力される画像信号を基に画像を表示する表示手段１０１１と、運転者などの駐車意思を運転支援装置に伝える駐車意思指示手段１０１０からの操作信号に応じて撮像手段１０００、１００１、１００２、画像補正手段１００３、１００４、１００５、画像合成手段１００７、画像重畳手段１００９、表示手段１０１１をそれぞれ制御する制御手段１００６とを備えている。
【００２０】
広角カメラ２０２は、車両２０１の後部に搭載され、その撮影範囲２０２ａは車両２０１の真後ろ方向の広い範囲に設定される。以下、広角カメラ２０２を、後方カメラ２０２という。
【００２１】
広角カメラ２０３は、車両２０１の右側ドアミラー付近に設置され、その撮影範囲２０３ａは車両２０１の右後側方の範囲であって自車両２０１の右側後輪が映り込む範囲に設定される。以下、広角カメラ２０３を、右後側方カメラ２０３という。
【００２２】
広角カメラ２０４は、車両２０１の左側ドアミラー付近に設置され、その撮影範囲２０４ａは車両２０１の左後側方の範囲であって自車両２０１の左側後輪が映り込む範囲に設定される。以下、広角カメラ２０４を、左後側方カメラ２０４という。
【００２３】
図１に図示するモニタ画面３０には、後壁１０、左壁１１、右壁１２によってコの字状に囲まれた駐車スペース１０５の撮像画像を表示している。そして、モニタ画面３０の中央に、後方カメラ２０２の撮像画像３１を撮影した状態そのままに表示し、左側に左後側方カメラ２０４の撮像画像３２を撮影した状態そのままに表示し、右側に右後側方カメラ２０３の撮像画像３３を撮影した状態そのままに表示している。
【００２４】
撮像画像３２中には、左壁画像１１ａと、左後輪画像４０ａを含む車両２０１の画像２０１ａとが映っており、撮像画像３１中には、後壁画像１０ａと、右壁画像１２ａと、左壁画像１１ａとが映っており、また、撮像画像３３中には、右壁画像１２ａと、右後輪画像４０ｂを含む車両２０１の画像２０１ａが映っている。
【００２５】
しかし、図１に示すモニタ画面３０の表示では、運転初心者に左右方向の錯覚を起こさせる虞がある。それは、中央の撮像画像３１中では、左側（撮像画像３２寄り）に右壁画像１２ａが来て、右側（撮像画像３３寄り）に左壁画像１１ａが来るのに対し、撮像画像３２では、左壁画像１１ａが車両画像２０１ａに比べて右寄り即ち撮像画像３１寄りになり、撮像画像３３では右壁画像１２ａが左寄り即ち撮像画像３１寄りになっているためである。
【００２６】
更に、図１に図示する状態で車両２０１を後退させて駐車する場合、運転者は、撮像画像３２中の左壁画像１１ａの端部１１ｂに自車両画像２０１ａの後端部が接触しないようにステアリング操作し、また、撮像画像３３中の右壁画像１２ａの端部１２ｂに自車両画像２０１ａの後端部が接触しないようにステアリング操作する必要があるが、カメラの撮像画像のみをモニタ画面３０に表示しただけでは、運転初心者にとって位置合わせする目安が何処にあり、どちら方向に車両を寄せればよいかの判断が容易でない。
【００２７】
そこで、本実施の形態では、撮像画像３１、３２、３３をそのまま図１の様に表示するのではなく、運転支援装置の表示制御手段が、各カメラの撮像画像３１、３２、３３の各々を、鏡像関係をもって夫々左右反転させて表示すると共に、駐車操作支援のためのガイド画像を重畳表示することにしている。
【００２８】
図３は、本発明の第１の実施の形態に係るモニタ画面３０の表示例を示す図であり、車両２０１の前進方向に対して、後壁１０、左壁１１、右壁１２によってコの字状に囲まれた左側の駐車スペース１０５に車両２０１を入れる場合におけるモニタ画面の表示例を示した図である。このモニタ画面３０には、後述するように、左後側方カメラ２０４による撮像画像と、後方カメラ２０２による撮像画像と、右後側方カメラ２０３による撮像画像とが画像処理されて表示される。
【００２９】
この実施の形態における表示画像３２ａは、図１に示す撮像画像３２の左右を反転させた画像とし、図３の表示画像３１ａは、図１に示す撮像画像３１の左右を反転させた画像とし、図３の表示画像３３ａは、図１に示す撮像画像３３の左右を反転させた画像としている。これにより、３つの表示画像３１ａ、３２ａ、３３ａの左右方向が全て同一となり、運転者が左右方向を誤認する虞がなくなる。
【００３０】
また、図３の表示画像３２ａ（左端寄せ支援画面）には、車両２０１の左側で一番側方の外側となる部分であって且つ後部タイヤ付近に、地面に対して鉛直方向となるポール状のガイド線（駐車時目安線）４０を画像に重畳表示する。更に、この例では車両２０１から離れる方向（車両２０１を寄せるべき方向）に向けた案内矢印４１を、ガイド線４０を起点として重畳表示する。表示画像３１ａには、車両２０１の車幅を示すと共に車両２０１を真っ直ぐ後進させたときの進行軌跡を示すガイド線４２と、車両後端部からの距離を示すガイド線４３とを重畳表示する。
【００３１】
表示画像３３ａ（右側衝突確認画面）には、例えば、後述する駐車方法で、典型的な駐車スペース１０５に車両２０１を入れることができるかどうかを、駐車スペース１０５の角との位置関係で判断できるように仕組んだ（詳細は後述）ポール状のガイド線（駐車時目安線）４４を画像に重畳表示する。更に、車両２０１を寄せる方向が分かるように、この例では車両画像２０１ａに向けた案内矢印４５を重畳表示する。上述した各ガイド線４０、４２、４３、４４や案内矢印４１、４５は、輝線表示や色別表示、あるいは点滅表示するなどして強調する。
【００３２】
尚、案内矢印４１、４５の形状は、円弧状等の曲線とすることでもよい。円弧状の曲線で表示すれば、ハンドルの回転方向とのイメージが一致し、より容易に操作できる。
【００３３】
次に、図３の表示画像（右側衝突確認画面）３３ａにおける駐車時目安線４４の引き方について、図４を用いて説明する。図４において、典型的な駐車スペース１０５が予め決められている、あるいは、分かっているとする。この場合に、車両２０１がステアリング（操舵手段）を左一杯に切って、すなわち最小走行半径Ｒｍｉｎで後退し、最終的に姿勢Ａで駐車スペース１０５内に入ったとする。また、このとき、直進後退後にステアリングを左一杯に切り始める瞬間における車両２０１の姿勢をＢとする。
【００３４】
車両２０１の姿勢Ｂの状態において、ちょうど左後輪が駐車スペース１０５の左壁１１の先端角部Ｐと重なるとするならば、車両２０１の大きさや形状が予め分かっているのであるから、姿勢Ｂにおける車両２０１の位置や姿勢は一意に定まる。そこで、その位置、姿勢Ｂにおける車両２０１の右後側方カメラ２０３の取付位置Ｑから、駐車スペース１０５の右端Ｒ（例えば、右壁１２の先端角部）を望めば、それはほぼ地面に対して鉛直の線分（点Ｒより地面に対して鉛直方向へ向かう線分、これを線分Ｇとする。）で表すことが出来る。取付位置Ｑに取り付けた右後側方カメラ２０３の撮像画像の中で、線分Ｇに相当する位置に、駐車時目安線４４を描く。
【００３５】
次に、上述したガイド線４０、４２、４３、４４と案内矢印４１、４５を用いて行う駐車方法の手順について図５を参照しながら説明する。
【００３６】
（１） 先ず、図５の状態ａに示す様に、停めたい駐車スペース１０５をかすめるように横切り、駐車スペース１０５を運転席横から見ることができたら、駐車スペース１０５から離れる方向にステアリングを右に切り、しばらく進んで止まる。この状態ａの最終段階における車両２０１の位置は、点線で示す位置となる。
【００３７】
（２） 次に、図５の状態ｂに示す様に、モニタ画面３０で、駐車スペース１０５側の後方画面、つまり図５では左後側方画面（左端寄せ支援画面）３２ａに特に注目し、案内矢印４１に沿って、駐車時目安線４０を駐車スペース１０５の内側（左壁画像１１ａの内側）になるべく近づけるようにバックする。
【００３８】
（３） 次に、図５の状態ｃに示す様に、左後側方画面（左端寄せ支援画面）３２ａにおいて、駐車時目安線４０と地面とが接する点Ｔ（左後輪タイヤと地面との接点）が最も駐車スペースの端Ｐに近づいたところで、右後側方画面（右側衝突確認画面）３３ａにて、駐車時目安線４４が、駐車スペース１０５の端より内側（右壁画像１２ａの内側）つまり車両側にあることを確認する。駐車時目安線４４が右壁画像１２ａより車両側に入っているならば、ステアリングを左に一杯に切る。駐車時目安線４４が右壁画像１２ａより車両側に入っていないならば、ステアリングを若干右に切りながら前進し、案内矢印４５の方向に車両２０１を移動させながら、駐車時目安線４４が右壁画像１２ａより車両側に入るまで、上記の手順（１）（２）（３）を繰り返す。
【００３９】
（４） 最後に、後方確認画面（図３の表示画像３１ａ）で、車両２０１の真後ろに障害物がないことを確認する。更に、図５の状態ｄに示す様に、目視にて車両右前方の点線で示す領域９に障害物がないことを確認し、駐車スペース１０５の右壁１２の面と車両側面とが平行になるまで後退し、その後、ステアリングを真っ直ぐに戻し、駐車スペース１０５に車両２０１が完全に入るまで後退する。
【００４０】
このように、本実施の形態では、駐車スペース１０５に車両２０１を接近させる時の目安を知る画面として、左後側方カメラ２０４による撮像画像にガイド線４０と案内矢印４１を重畳表示した表示画像３２ａを使用し、次の段階で、駐車スペース１０５に車両２０１の後端部を入れようとする状態での干渉チェックを行う画面として、右後側方カメラ２０３の撮像画像にガイド線４４と案内矢印４５を重畳表示した表示画像３３ａを使用し、最後の段階で、後方死角の障害物確認のための画面として、後方カメラ２０２の撮像画像にガイド線４２、４３を重畳表示した表示画像３１ａを使い、誰でも易しく煩わしくなく円滑に駐車を行うことが可能となる。
【００４１】
上述した実施の形態では、車両２０１から見て左側にある駐車スペース１０５に駐車する手順を説明したが、図６に示す様に、車両２０１から見て右側にある駐車スペース１０５に駐車する場合には、各カメラ２０２、２０３、２０４の撮像画像を夫々鏡像変換した画像は同じであるが、ガイド線４０、４４と、案内矢印４１、４５の方向が逆となる。即ち、図６において、図４で説明したガイド線４４と案内矢印４５を表示画像３２ａの方に重畳表示し、ガイド線４０と案内矢印４１は表示画像３３ａの方に重畳表示する。これらのガイド線４０、４２、４３、４４と案内矢印４１、４５の使い方は上述した説明と同じである。
【００４２】
（第２の実施の形態）
次に、本発明の第２の実施の形態を、図７を参照して説明する。第１の実施の形態では、車両を駐車操作するときの画面表示例であったが、本実施の形態は、前方走行中から駐車操作に移行するときのモニタ画面の表示画像の切り替え方法に関する。
【００４３】
自車両２０１に搭載した図１に示す左後側方カメラ２０４の撮像画面も、右後側方カメラ２０３の撮像画面も、また、後方カメラ２０２の撮像画像も、自車両２０１が前方に向かって走行中のとき、後方のかなり遠方が見られるような画角、視野で表示するのが好ましい。
【００４４】
例えば、図７（ａ）に示す位置関係で、自車両２０１と他車両３０１とが配置されていたとする。この状態が、両車両２０１、３０１が共に前方に向かって走行している状態であった場合、隣接車線の数十ｍ後方の他車両３０１がモニタ画面中に捉えられるようにすることで、進路変更時等に有効になる。しかし、図７（ａ）に示す状態が、駐車操作時における状態の場合には、数十ｍ後方に止まっている車両がモニタ画面に映っていても不要である。
【００４５】
そこで、本実施の形態では、図７（ｂ）に示す様に、例えば右後側方カメラ２０３によって撮像された広角画像５０（この画像５０は、左右を鏡像関係により反転させ、運転者が前方を向いている状態での左右方向と一致させている。）のなかから、遠方画像が必要なとき（前方走行時）には遠方部分を切り出し拡大表示画像５１としてモニタ画面に表示し、駐車時などの様に自車両周りの画像が必要なときには近接部分だけを広角画像５０から切り出し拡大表示画像５２としてモニタ画面に表示する様にしている。
【００４６】
そして、運転者が駐車行為を始めようとして、何らかの意思表示が駐車意思指示手段に伝えられたとき、例えば駐車ボタンが押されたり、ギアがリバースに入れられたとき、モニタ画面に近接部分拡大表示画像５２を表示するようにする。同様に、左後側方カメラ２０４の撮像画像や後方カメラ２０２の撮像画像も、車両２０１の近接画像に切り替えて表示する。
【００４７】
このようにすることで、そのときの運転状況に応じて、走行中は走行時の安全確認に適した遠方視野の画像が運転者に提供され、駐車時は駐車行為にふさわしい近接画像が運転者に提供される。
【００４８】
（第３の実施の形態）
次に、本発明の第３の実施の形態について説明する。運転者が駐車行為を始めようとした場合、運転者は、運転支援装置にその意思を伝達する。この意思は、駐車意思指示手段により運転支援装置に入力され、このとき運転者は、駐車行為を始めるときに自車の左右どちら側に駐車するかも含めて指示を与える。指示は、例えば、右、左を指し示すトグルスイッチの類でもよく、左側が指定されたならば図３で説明したモニタ画面３０が表示され、右側が指定されたならば図６に示したモニタ画面３０ａが表示される。これにより、駐車に適したモニタ画面３０が的確に運転者に提供可能となる。
【００４９】
（第４の実施の形態）
次に、本発明の第４の実施の形態について、図８を用いて説明する。図３に示す第１の実施の形態では、左後側方カメラ２０４の撮像画像を左右反転してモニタ画面３０上で左側に表示し（図３の表示画像３２ａ）、右後側方カメラ２０３の撮像画像を左右反転してモニタ画面３０の右側に表示し（図３の表示画像３３ａ）、後方カメラ２０２の撮像画像を左右反転してモニタ画面３０の中央に表示（図３の表示画像３１ａ）している。従って、運転者が前方を見ている状態での左右の方向と、駐車スペース１０５の左右の方向が一致している。
【００５０】
これに対し、本実施の形態では、右後側方カメラ２０４の撮像画像を左右反転せずにガイド線４４と案内矢印４５を重畳してモニタ画面３０の左側に表示し（図８の表示画像３３）、後方カメラ２０２の撮像画像を左右反転せずにガイド線４２、４３を重畳してモニタ画面３０の中央に表示し（図８の表示画像３１）、左後側方カメラ２０３の撮像画像を左右反転せずにガイド線４０と案内矢印４１を重畳してモニタ画面３０の右側に表示（図８の表示画像３２）している。従って、本実施の形態では、運転者が後ろをふり返ったときの運転者の左右方向と、駐車スペース１０５の左右の方向が一致する様になっている。これにより、あたかも後部座席に後ろ向きに運転席があった場合に実景として見える画像がモニタ画面３０に提供される。
【００５１】
運転者によっては、駐車する際、後ろを肩越しに振り返り駐車する方法になれている人もいる。この場合に対処するため、本実施の形態では、モニタ画面３０にも、運転者が振り返ったときに見える画像を表示する。この実施の形態に係る画面表示を用意しておくことで、個人のやりやすさ、個人差にも対応した使いやすい運転支援装置が提供できる。
【００５２】
第４の実施の形態の様にモニタ表示を行うとき、車両２０１が駐車スペース１０５に向かって後退すると、モニタ画面３０上では、あたかも駐車スペース１０５の方向に前進するように見える。しかし、モニタ画面だけを見て後退しながらステアリングの操舵を行う場合には、ステアリングを切る方向は逆になる。このため、モニタ画面が後退するときの画面であるときは、その旨を注意する表示を行うのが好ましい。
【００５３】
あるいは、ステアリングの操舵機構として、ステアリングの操舵方向と車輪の曲がる方向を通常走行時と後退時とで逆転する機構を設けた車両にあっては、運転者の指示を受け、あるいはギアがリバースに入ったことを自動的に検知して、ステアリング操舵機構を切り替え、後退時のときはステアリングの切る方向が前進時と逆になるようにする。これにより、運転者はモニタ画面３０のみを見ながら、スムーズに違和感なく駐車操作を行うことが可能となる。
【００５４】
（第５の実施の形態）
次に、本発明の第５の実施の形態を説明する。上述した各実施の形態によれば、自車両２０１の後方の確認をモニタ画面を見ることで十分行える。しかし、モニタ画面に運転者の注意が集中してしまうと、図５の状態ｄにおける右前方領域９に対する注意が疎かになる虞がある。また、運転者によっては、車両後端部の直下も確認したいという要望がある。そこで、本実施の形態では、車両の前方領域の情報や車両後端部直下の情報もモニタ画面に表示できる運転支援装置を提供する。
【００５５】
図９は、本実施の形態に係る運転支援装置を搭載した車両の外観図である。この車両４０１には、図１で説明した３つのカメラ２０２、２０３、２０４を搭載しているが（図９での図示は省略している。）、その他に、４本の伸縮自在のカメラ付きロッド６０、６１、６２、６３を車両４０１の四隅に搭載している。
【００５６】
車両４０１の前端左右に取り付けられているカメラ付きロッド６０、６１は、車両前端部左右の直下画像を撮像することができ、車両４０１の後端左右に取り付けられているカメラ付きロッド６２、６３は、車両後端部左右の直下画像を撮像することができる。
【００５７】
各カメラ付きロッド６０、６１、６２、６３は、使用しないときは縮んで車体内に収納され、使用するときは車載ラジオのロッドアンテナの様に垂直上方に伸びる様になっている。図１０は、伸びたカメラ付きロッド６０（他のカメラ付きロッド６１、６２、６３も同様である。）からカメラ部分６０ａを撮像位置に移動させる状態を示す図である。図１０（ａ）に示す様に、カメラ部分６０ａを撮像位置にするときは、伸びたロッド６０からロッド周面の一部に取り付けた支軸を中心にカメラ部分６０ａを矢印Ｋ方向に図示しないモータによって回動させ、ロッド６０に邪魔されずつ且つなるべく車端部に対して上の方から下方が撮像できる様にする。斜めから撮像するとどうしても車両端部での障害物との距離感が欠如してしまうために、なるべく鉛直上方から撮像できる構成とする。
【００５８】
ロッド６０に取り付けるカメラ部分６０ａは、図１０（ｂ）に示す様に、ロッド６０とカメラ部分６０ａとをリンク機構６５で連結し、カメラ部分６０ａを撮像位置に移動させる場合には、図示しないモータによってリンク機構６５を移動させる構成としてもよい。
【００５９】
図１１（ａ）は、本実施の形態で使用するモニタ画面５５の構成図であり、自車両４０１が図１１（ｂ）に示す状態にあるときの画面表示例である。このモニタ画面５５には、カメラ付きロッド６０、６１、６２、６３による撮像画像を表示する領域５６と、図３等で説明したモニタ画面３０と同じ画像を表示する領域５７とが設けられている。
【００６０】
領域５６には、車両前端左側直下の画像７０と、車両前端右側直下の画像７１と、車両後端左側直下の画像７２と、車両後端右側直下の画像７３が表示される。各画像７０、７１、７２、７３は、夫々車両の四隅の画像であるため、車両の外郭を示す輪郭線７５を表示することで、各画像７０、７１、７２、７３の位置関係を明確にする。
【００６１】
図示の例では、画像７２中に、接近する左壁１１の画像１１ａが映っており、画像７１中に、車両右側前方に存在する障害物１５の画像１５ａが映っている。運転者は、この画像７０、７１、７２、７３を、領域５７の画像と同時に確認することで、モニタ画面５５を見るだけで、後方確認ばかりでなく、車両の前方確認も行うことができる。
【００６２】
本実施の形態では、カメラ付きロッド６０、６１、６２、６３を設けたため、駐車時の注意ポイントである車両端部近傍の状態を、なるべく歪みなく確実に運転者に見せることができ、運転者はモニタ画面５５で確認しながら駐車できるという優れた運転支援装置を提供することができる。
【００６３】
（第６の実施の形態）
次に本発明の第６の実施の形態について説明する。上述した第５の実施の形態では、カメラ付きロッドを車両の四隅に設けたが、車両の前端左右にだけカメラ付きロッドを設ける構成でもよい。あるいは、運転者の指示により、車両の四隅に設けたカメラ付きロッドのうち、車両の前端左右に設けた図９に示すカメラ付きロッド６０、６１の撮像画像だけを図３に示すモニタ画面３０と同時に表示させるモードを設けることでもよい。
【００６４】
図１２（ａ）は、本実施の形態で使用するモニタ画面５８の構成図であり、自車両４０１が図１２（ｂ）に示す状態にあるときの画面表示例である。本実施の形態では、モニタ画面５８の上段領域（前方確認画面領域）に図９に示すカメラ付きロッド６０、６１の撮像画像７０、７１を表示し、モニタ画面５８の下段領域に図３のモニタ画面３０と同じ画像を表示する。これにより、運転者の注意がモニタ画面５８に集中した場合でも、車両の後方確認と同時に前方確認を同一のモニタ画面５８で行うことができる。
【００６５】
【発明の効果】
本発明によれば、運転初心者でもモニタ画面を見ることで容易に駐車操作を行うことができる運転支援装置を提供でき、また、駐車操作の一層の安全を図るカメラ付きロッドを提供できる。
【図面の簡単な説明】
【図１】本発明の第１の実施の形態に係る運転支援装置のカメラ取付位置と撮像画像との関係を説明する図
【図２】本発明の第１の実施の形態に係る運転支援装置の構成を示すブロック図
【図３】本発明の第１の実施の形態に係る運転支援装置の左側駐車時のモニタ画面を示す図
【図４】本発明の第１の実施の形態に係る運転支援装置で用いるガイド線の説明図
【図５】本発明の第１の実施の形態に係る運転支援装置における駐車手順を示す図
【図６】本発明の第１の実施の形態に係る運転支援装置の右側駐車時のモニタ画面を示す図
【図７】本発明の第２の実施の形態に係る運転支援装置のモニタ画面の表示例を示す図
【図８】本発明の第４の実施の形態に係る運転支援装置のモニタ画面の表示例を示す図
【図９】本発明の第５の実施の形態に係る運転支援装置を搭載した車両の外観図
【図１０】本発明の第５の実施の形態に係る運転支援装置に用いるカメラ付きロッドの説明図
【図１１】本発明の第５の実施の形態に係る運転支援装置におけるモニタ画面の表示例を示す図
【図１２】本発明の第６の実施の形態に係る運転支援装置におけるモニタ画面の表示例を示す図
【図１３】従来の運転支援装置のモニタ画面の表示例を示す図
【符号の説明】
３０、５５、５８ モニタ画面
４０、４４ 駐車時目安線（ガイド線）
４１、４５ 案内矢印
６０、６１、６２、６３ カメラ付きロッド
２０１、４０１ 車両
２０２ 後方カメラ
２０３ 右後側方カメラ
２０４ 左後側方カメラ[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a driving support apparatus that supports driving by presenting an image captured by an in-vehicle camera or the like to a driver, and more specifically, driving support that presents an image that is easy to park when the vehicle is parked to the driver. The present invention relates to a device, an image output device, and a rod with a camera.
[0002]
[Prior art]
Driving support apparatuses that mount imaging means such as a camera on a vehicle such as an automobile and display a photographing screen by the imaging means on a monitor screen installed near the driver's seat are becoming widespread. For example, as a conventional technique for imaging the rear of the vehicle with a single camera and displaying it on a monitor, there is one disclosed in Japanese Patent Application Laid-Open No. 2000-134608. There exists a thing of WO96-38319 gazette as a technique. FIG. 13 is an explanatory diagram of the prior art provided with these three cameras.
[0003]
The vehicle 101 includes a rear camera 102 that captures the rear of the host vehicle 101, a right rear side camera 103 that captures the rear right side of the host vehicle 101, and a rear left that captures the rear left side of the host vehicle 101. A side camera 104 is mounted. When the driver moves the vehicle 101 backward and parks the vehicle 101 in the U-shaped parking space 105 surrounded by the rear wall 10, the left wall 11, and the right wall 12, the monitor screen 20 installed in the vicinity of the driver's seat. The parking operation is performed by looking at the three images synthesized and displayed, that is, the captured image 21 of the left rear side camera 104, the captured image 22 of the rear camera 102, and the captured image 23 of the right rear side camera 103. Can be done.
[0004]
In this prior art, in the captured image 22 obtained by imaging the rear side, the guide trajectory guide 25 is displayed in a superimposed manner so that the driver can easily see the sense of distance and the vehicle width behind the vehicle 101 on the captured image 22. It is used as a reference for parking operation.
[0005]
[Problems to be solved by the invention]
However, in the conventional driving support apparatus as described above, since the correspondence relationship between the captured image displayed on the monitor screen 20 and the parking method that the driver intends to perform is not clear, a certain vehicle width sensation can be obtained by practice. There is a problem that it is difficult to master this driving assistance device unless it is learned or the relative positional relationship between the displayed image of the parking space and the vehicle position is not understood. Further, when the vehicle is moved backward and parked side by side, it is actually necessary to pay attention to the front of the vehicle. However, the conventional driving support apparatus has a problem in that it lacks consideration for this point.
[0006]
An object of the present invention is to provide a driving support device and an image output device that can associate an image to be displayed on a monitor screen with a parking method, and allow a beginner to easily perform a parking operation by looking at the monitor screen. Another object of the present invention is to provide a rod with a camera suitable for mounting on this driving support device.
[0007]
[Means for Solving the Problems]
A driving support apparatus that achieves the above object includes an imaging unit that captures an image of the rear of the vehicle, and a display unit that displays an image captured by the imaging unit, the display unit being arranged outside the vehicle with respect to the ground. A guideline extending in the vertical direction is superimposed on the image and displayed. With this configuration, the driver can easily operate the host vehicle and park the vehicle in the parking space according to the guideline displayed on the display unit.
[0008]
Preferably, the display means of the driving support apparatus according to the present invention is characterized in that an arrow indicating a direction in which the vehicle is approached is superimposed on the image. With this configuration, the driver can easily park the vehicle by bringing the vehicle in the direction of the arrow.
[0009]
Preferably, the imaging means of the driving support apparatus of the present invention images the rear side of the vehicle at an angle of view such that a rear tire of the vehicle is partially reflected, and the display means approaches the vehicle. And the opposite direction and the distance between the reference and the vehicle are displayed. Accordingly, the parking operation can be performed in the same manner regardless of whether the parking space is on the right side or the left side with respect to the host vehicle.
[0010]
More preferably, the driving support apparatus according to the present invention further includes a parking intention instruction unit that outputs a signal that informs the driving support apparatus of the intention to park, and the display unit captures a distance of the vehicle according to the output. And switching between an image to be displayed and an image in which a rear tire of the vehicle is partially displayed. With this configuration, it is possible to switch and display an optimal screen between forward running and parking operation.
[0011]
More preferably, the parking intention instruction means for informing the driving support apparatus of the intention of parking of the driving support apparatus of the present invention includes parking intention instruction means for giving an instruction as to which of the left and right sides of the vehicle to park. Accordingly, the direction of an arrow indicating the direction in which the vehicle is superimposed on the image displayed by the display unit is switched. With this configuration, the parking operation can be easily performed regardless of whether the parking space is on the right side or the left side with respect to the host vehicle.
[0012]
More preferably, the display means of the driving support apparatus according to the present invention has a left rear side image of the vehicle on the right side of the display means, and a right rear side image of the vehicle on the display means. Each of the images is displayed on the left side, and each of the images is displayed as a non-mirror image. With this configuration, it is possible to provide a driving support device that can be operated with a sense of direction familiar to the driver and is easy to use according to individual differences among drivers.
[0013]
More preferably, in the above-described driving support device, when the vehicle moves backward, a control unit that controls the steering direction of the steering means of the vehicle and the direction in which the wheels of the vehicle bend are reversed from those during normal traveling. It is provided with. With this configuration, even if it is a driving beginner, the direction in which the steering is turned is not mistaken.
[0014]
More preferably, it has a rod with a camera that is attached to a vehicle end in front of the vehicle and can be expanded and contracted in the vertical direction, and when the vehicle is parked, the rod is extended, and an image from almost right above the vehicle end. Is obtained and displayed by the display means. With this configuration, information directly under the vehicle end is provided to the driver, and the safety of the driving operation is further enhanced.
[0015]
In addition, the camera-equipped rod used in the above-described driving support device of the present invention is such that the camera unit and the rod unit are integrated in a normal state, and the camera unit is rotated around a predetermined fulcrum or a predetermined support shaft during use. Alternatively, an image from almost right above the vehicle end is acquired by translating the camera unit. By mounting this rod with a camera, it becomes possible to further enhance the safety of the driving operation.
[0016]
The image output device used in the driving support device of the present invention described above includes means for superimposing and displaying a guideline extending in the vertical direction with respect to the ground on the outside of the vehicle image when the captured image of the rear of the vehicle is displayed on the screen. It is characterized by having. With this configuration, the driver can easily operate the host vehicle and park the vehicle in the parking space according to the guideline displayed on the screen.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[0018]
(First embodiment)
FIG. 1 is an explanatory diagram of the driving support apparatus according to the first embodiment of the present invention. The driving support device according to the present embodiment includes three wide-angle cameras 202, 203, and 204 mounted on a vehicle 201, and a monitor device (not shown) as display means installed near the driver's seat of the vehicle 201. It comprises display control means (not shown) for processing each captured image of the three wide-angle cameras 202, 203, 204 and displaying it on the monitor screen 30 of the monitor device.
[0019]
FIG. 2 is a block diagram showing the configuration of the driving support apparatus according to the first embodiment of the present invention. The driving support apparatus according to the present embodiment includes a plurality of CMOS cameras, CCD cameras, and the like mounted on a vehicle, and includes imaging units 1000, 1001, and 1002, and imaging units 1000, 1001, and 1002, respectively. An image correction unit 1003, 1004, 1005 that inputs the captured image output from the image and corrects the captured image; an image synthesis unit 1007 that combines the correction image output from the image correction unit 1003, 1004, 1005; An image superimposing unit 1009 that superimposes an image serving as a standard for parking on the composite image output from the combining unit 1007, a display unit 1011 that displays an image based on an image signal output from the image superimposing unit 1009, and a driver In response to an operation signal from the parking intention instruction means 1010 that conveys the intention to park to the driving support device. Means 1000,1001,1002, image correcting unit 1003,1004,1005, image synthesizing means 1007, image superimposing section 1009, and a control unit 1006 for controlling the display means 1011, respectively.
[0020]
The wide-angle camera 202 is mounted on the rear part of the vehicle 201, and the shooting range 202 a is set to a wide range in the direction directly behind the vehicle 201. Hereinafter, the wide-angle camera 202 is referred to as a rear camera 202.
[0021]
The wide-angle camera 203 is installed in the vicinity of the right door mirror of the vehicle 201, and the photographing range 203 a is set to a range on the right rear side of the vehicle 201 so that the right rear wheel of the host vehicle 201 is reflected. Hereinafter, the wide-angle camera 203 is referred to as a right rear side camera 203.
[0022]
The wide-angle camera 204 is installed in the vicinity of the left door mirror of the vehicle 201, and the shooting range 204 a is set to a range on the left rear side of the vehicle 201 so that the left rear wheel of the host vehicle 201 is reflected. Hereinafter, the wide-angle camera 204 is referred to as a left rear side camera 204.
[0023]
On the monitor screen 30 illustrated in FIG. 1, a captured image of a parking space 105 surrounded by a U-shape by the rear wall 10, the left wall 11, and the right wall 12 is displayed. Then, in the center of the monitor screen 30, the captured image 31 of the rear camera 202 is displayed as it is, the captured image 32 of the left rear side camera 204 is displayed as it is on the left, and the right rear is displayed on the right. The captured image 33 of the side camera 203 is displayed as it is.
[0024]
In the captured image 32, the left wall image 11a and the image 201a of the vehicle 201 including the left rear wheel image 40a are shown. In the captured image 31, the rear wall image 10a, the right wall image 12a, The left wall image 11a is shown, and in the captured image 33, the image 201a of the vehicle 201 including the right wall image 12a and the right rear wheel image 40b is shown.
[0025]
However, the display on the monitor screen 30 shown in FIG. 1 may cause an illusion in the left-right direction for a beginner driving. In the central captured image 31, the right wall image 12a comes to the left (near the captured image 32) and the left wall image 11a comes to the right (near the captured image 33). This is because the wall image 11a is closer to the right than the vehicle image 201a, that is, closer to the captured image 31, and in the captured image 33, the right wall image 12a is closer to the left, that is, closer to the captured image 31.
[0026]
Further, when the vehicle 201 is retreated and parked in the state illustrated in FIG. 1, the driver prevents the rear end portion of the own vehicle image 201 a from contacting the end portion 11 b of the left wall image 11 a in the captured image 32. It is necessary to perform the steering operation and to perform the steering operation so that the rear end portion of the host vehicle image 201a does not contact the end portion 12b of the right wall image 12a in the captured image 33. However, only the captured image of the camera is displayed on the monitor screen 30. If it is simply displayed, it is not easy for a beginner to determine where to align and which direction to bring the vehicle.
[0027]
Therefore, in the present embodiment, the captured images 31, 32, and 33 are not displayed as they are as shown in FIG. 1, but the display control means of the driving assistance device displays the captured images 31, 32, and 33 of each camera. In addition, the mirror images are displayed with the left and right reversed, and a guide image for parking operation support is displayed in a superimposed manner.
[0028]
FIG. 3 is a diagram illustrating a display example of the monitor screen 30 according to the first embodiment of the present invention. The rear wall 10, the left wall 11, and the right wall 12 are connected to the forward direction of the vehicle 201. It is the figure which showed the example of a display of the monitor screen in the case of putting the vehicle 201 in the parking space 105 on the left side enclosed by character shape. As will be described later, the monitor screen 30 displays an image captured by the left rear side camera 204, an image captured by the rear camera 202, and an image captured by the right rear side camera 203 after image processing.
[0029]
The display image 32a in this embodiment is an image obtained by inverting the left and right of the captured image 32 shown in FIG. 1, the display image 31a of FIG. 3 is an image obtained by inverting the left and right of the captured image 31 shown in FIG. The display image 33a in FIG. 3 is an image obtained by inverting the left and right of the captured image 33 shown in FIG. Accordingly, the left and right directions of the three display images 31a, 32a, and 33a are all the same, and there is no possibility that the driver misidentifies the left and right directions.
[0030]
In addition, the display image 32a (left-end alignment support screen) in FIG. 3 is a pole-shaped portion that is the outermost portion on the left side of the vehicle 201 and that is perpendicular to the ground in the vicinity of the rear tire. No. guide line (parking guide line) 40 is superimposed on the image. Further, in this example, a guide arrow 41 directed in a direction away from the vehicle 201 (a direction in which the vehicle 201 should be moved) is superimposed and displayed with the guide line 40 as a starting point. In the display image 31a, a guide line 42 that indicates the vehicle width of the vehicle 201 and that indicates a travel locus when the vehicle 201 is moved backward straight, and a guide line 43 that indicates a distance from the rear end portion of the vehicle are superimposed and displayed.
[0031]
In the display image 33a (right collision confirmation screen), for example, whether or not the vehicle 201 can be put into a typical parking space 105 can be determined based on the positional relationship with the corner of the parking space 105 by a parking method described later. A pole-shaped guide line (parking guide line) 44 that is structured as described above (details will be described later) is superimposed on the image. Further, in this example, a guide arrow 45 directed to the vehicle image 201a is superimposed and displayed so that the direction in which the vehicle 201 is approached can be seen. The above-described guide lines 40, 42, 43, and 44 and the guide arrows 41 and 45 are emphasized by displaying bright lines, displaying colors, or blinking.
[0032]
The guide arrows 41 and 45 may have a curved shape such as an arc. If displayed as an arc-shaped curve, the image matches the direction of rotation of the handle and can be operated more easily.
[0033]
Next, how to draw the parking time reference line 44 in the display image (right collision confirmation screen) 33a in FIG. 3 will be described with reference to FIG. In FIG. 4, it is assumed that a typical parking space 105 is predetermined or known. In this case, it is assumed that the vehicle 201 turns the steering (steering means) all the way to the left, that is, moves backward with the minimum travel radius Rmin and finally enters the parking space 105 in the posture A. Further, at this time, the posture of the vehicle 201 at the moment when the steering is started to turn to the full left after going straight forward is assumed to be B.
[0034]
In the state of the posture 201 of the vehicle 201, if the left rear wheel just overlaps the front end corner portion P of the left wall 11 of the parking space 105, the size and shape of the vehicle 201 are known in advance. The position and posture of the vehicle 201 are uniquely determined. Therefore, if the right end R of the parking space 105 (for example, the front end corner of the right wall 12) is desired from the mounting position Q of the right rear side camera 203 of the vehicle 201 in that position, posture B, it is almost with respect to the ground. It can be expressed by a vertical line segment (a line segment extending from the point R in the vertical direction with respect to the ground, which is referred to as a line segment G). In the captured image of the right rear side camera 203 attached to the attachment position Q, a parking reference line 44 is drawn at a position corresponding to the line segment G.
[0035]
Next, the procedure of the parking method performed using the above-described guide lines 40, 42, 43, 44 and the guide arrows 41, 45 will be described with reference to FIG.
[0036]
(1) First, as shown in state a in FIG. 5, traverse the parking space 105 that you want to stop, and if you can see the parking space 105 from the side of the driver's seat, turn the steering to the right away from the parking space 105 And go on for a while and stop. The position of the vehicle 201 in the final stage of the state a is a position indicated by a dotted line.
[0037]
(2) Next, as shown in the state b of FIG. 5, the monitor screen 30 pays particular attention to the rear screen on the parking space 105 side, that is, the left rear side screen (left-end alignment support screen) 32 a in FIG. Along the guide arrow 41, the parking guide line 40 is moved back as close as possible to the inside of the parking space 105 (inside the left wall image 11a).
[0038]
(3) Next, as shown in the state c of FIG. 5, on the left rear side screen (left end alignment support screen) 32a, the point T (left rear wheel tire and ground) where the parking reference line 40 and the ground contact each other. When the closest contact point of the parking space is closest to the end P of the parking space, on the right rear side screen (right collision confirmation screen) 33a, the parking reference line 44 is inside the end of the parking space 105 (on the right wall image 12a). Make sure that it is on the inside, that is, on the vehicle side. If the parking reference line 44 is on the vehicle side from the right wall image 12a, the steering is turned fully to the left. If the parking guide line 44 is not on the vehicle side from the right wall image 12a, the vehicle moves forward in the direction of the guide arrow 45 while turning the steering wheel slightly to the right, and the parking guide line 44 is moved to the right. The above steps (1), (2), and (3) are repeated until the vehicle image is entered from the wall image 12a.
[0039]
(4) Finally, it is confirmed on the rear confirmation screen (display image 31a in FIG. 3) that there is no obstacle directly behind the vehicle 201. Further, as shown in the state d of FIG. 5, it is visually confirmed that there is no obstacle in the area 9 indicated by the dotted line on the right front side of the vehicle, and the surface of the right wall 12 of the parking space 105 and the side surface of the vehicle are parallel to each other. After that, the steering is returned straight until the vehicle 201 completely enters the parking space 105.
[0040]
As described above, in the present embodiment, as a screen for knowing a guideline when the vehicle 201 approaches the parking space 105, a display image in which the guide line 40 and the guide arrow 41 are superimposed on the image captured by the left rear side camera 204. As a screen for performing an interference check in a state where the rear end portion of the vehicle 201 is to be inserted into the parking space 105 in the next stage, the guide line 44 and the guide line 44 are guided to the captured image of the right rear side camera 203. Using the display image 33a in which the arrow 45 is superimposed and displayed, at the final stage, as a screen for confirming an obstacle in the rear blind spot, a display image 31a in which the guide lines 42 and 43 are superimposed and displayed on the captured image of the rear camera 202 is displayed. Anyone can use and park smoothly without being bothered easily.
[0041]
In the above-described embodiment, the procedure for parking in the parking space 105 on the left side as viewed from the vehicle 201 has been described. However, as shown in FIG. 6, when parking in the parking space 105 on the right side as viewed from the vehicle 201. The images obtained by mirror image conversion of the images captured by the cameras 202, 203, and 204 are the same, but the directions of the guide lines 40 and 44 and the guide arrows 41 and 45 are reversed. That is, in FIG. 6, the guide line 44 and the guide arrow 45 described in FIG. 4 are superimposed on the display image 32a, and the guide line 40 and the guide arrow 41 are superimposed on the display image 33a. The usage of these guide lines 40, 42, 43, 44 and the guide arrows 41, 45 is the same as described above.
[0042]
(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to FIG. In the first embodiment, the screen display example is shown when the vehicle is parked. However, the present embodiment relates to a method for switching the display image on the monitor screen when the vehicle moves from the front traveling to the parking operation.
[0043]
In the imaging screen of the left rear side camera 204, the imaging screen of the right rear side camera 203, and the imaging image of the rear camera 202 shown in FIG. It is preferable to display the field of view and field of view so that a great distance from the rear can be seen when traveling.
[0044]
For example, it is assumed that the host vehicle 201 and the other vehicle 301 are arranged in the positional relationship shown in FIG. When this state is a state where both the vehicles 201 and 301 are traveling forward, the other vehicle 301 behind the adjacent lane several tens of meters can be captured in the monitor screen, It becomes effective when changing. However, when the state shown in FIG. 7A is a state at the time of a parking operation, it is not necessary even if a vehicle stopped several tens of meters behind is shown on the monitor screen.
[0045]
Therefore, in the present embodiment, as shown in FIG. 7B, for example, a wide-angle image 50 captured by the right rear side camera 203 (this image 50 is reversed left and right by a mirror image relationship, and the driver moves forward. When the far image is necessary (during forward running), the distant portion is cut out and displayed on the monitor screen as an enlarged display image 51. For example, when an image around the host vehicle is necessary, only a close portion is cut out from the wide-angle image 50 and displayed as an enlarged display image 52 on the monitor screen.
[0046]
And when the driver tries to start the parking action and some intention indication is transmitted to the parking intention instruction means, for example, when the parking button is pushed or the gear is put in reverse, the close-up portion enlarged display on the monitor screen The image 52 is displayed. Similarly, the captured image of the left rear side camera 204 and the captured image of the rear camera 202 are also switched to the close image of the vehicle 201 and displayed.
[0047]
In this way, according to the driving situation at that time, a far-field image suitable for safety confirmation during driving is provided to the driver during driving, and a close-up image suitable for parking action is provided to the driver during parking. Provided to.
[0048]
(Third embodiment)
Next, a third embodiment of the present invention will be described. When the driver tries to start a parking act, the driver transmits the intention to the driving support device. This intention is input to the driving support device by the parking intention instruction means, and at this time, the driver gives an instruction including whether to park on the left or right side of the own vehicle when starting the parking action. The instruction may be, for example, a toggle switch pointing to the right or left. If the left side is designated, the monitor screen 30 described in FIG. 3 is displayed, and if the right side is designated, the monitor screen shown in FIG. 30a is displayed. Thereby, the monitor screen 30 suitable for parking can be accurately provided to the driver.
[0049]
(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described with reference to FIG. In the first embodiment shown in FIG. 3, the image captured by the left rear side camera 204 is reversed left and right and displayed on the left side on the monitor screen 30 (display image 32a in FIG. 3), and the right rear side camera 203 is displayed. The captured image is horizontally reversed and displayed on the right side of the monitor screen 30 (display image 33a in FIG. 3), and the captured image of the rear camera 202 is horizontally reversed and displayed at the center of the monitor screen 30 (display image 31a in FIG. 3). )is doing. Therefore, the left and right direction in a state where the driver is looking forward matches the left and right direction of the parking space 105.
[0050]
On the other hand, in the present embodiment, the captured image of the right rear side camera 204 is displayed on the left side of the monitor screen 30 by superimposing the guide line 44 and the guide arrow 45 without horizontally reversing (the display image of FIG. 8). 33), the captured image of the rear camera 202 is displayed in the center of the monitor screen 30 by superimposing the guide lines 42 and 43 without reversing the left and right (displayed image 31 in FIG. 8), and the captured image of the left rear side camera 203. The guide line 40 and the guide arrow 41 are superimposed and displayed on the right side of the monitor screen 30 (display image 32 in FIG. 8) without horizontally reversing. Therefore, in the present embodiment, the left and right direction of the driver when the driver turns back and the left and right direction of the parking space 105 coincide with each other. Thus, an image that appears as a real scene is provided on the monitor screen 30 as if there is a driver's seat in the rear seat facing backward.
[0051]
Some drivers are accustomed to parking behind the shoulders when parking. In order to cope with this case, in the present embodiment, an image that can be seen when the driver looks back is also displayed on the monitor screen 30. By preparing the screen display according to this embodiment, it is possible to provide an easy-to-use driving support apparatus that can handle individual ease and individual differences.
[0052]
When the monitor display is performed as in the fourth embodiment, when the vehicle 201 moves backward toward the parking space 105, it looks as if it moves forward in the direction of the parking space 105 on the monitor screen 30. However, when steering the steering wheel while moving backward while looking only at the monitor screen, the steering direction is reversed. For this reason, when it is a screen when the monitor screen moves backward, it is preferable to perform a display noting that.
[0053]
Alternatively, if the vehicle has a steering mechanism that reverses the steering direction of the steering wheel and the direction of turning of the wheel between normal driving and reverse driving, the driver receives instructions or the gear is reversed. Automatically detects that the vehicle has entered, and switches the steering mechanism so that the steering direction is reversed when the vehicle is moving backward. As a result, the driver can perform the parking operation smoothly and comfortably while looking only at the monitor screen 30.
[0054]
(Fifth embodiment)
Next, a fifth embodiment of the present invention will be described. According to each embodiment mentioned above, confirmation of the back of self-vehicle 201 can fully be performed by seeing a monitor screen. However, if the driver's attention concentrates on the monitor screen, attention to the right front region 9 in the state d in FIG. In addition, there is a request that some drivers want to confirm the position directly below the rear end of the vehicle. Therefore, in the present embodiment, a driving support device is provided that can display information on the front area of the vehicle and information immediately below the rear end of the vehicle on the monitor screen.
[0055]
FIG. 9 is an external view of a vehicle equipped with the driving support apparatus according to the present embodiment. The vehicle 401 is equipped with the three cameras 202, 203, and 204 described in FIG. 1 (illustration is omitted in FIG. 9), and in addition, with four telescopic cameras. Rods 60, 61, 62 and 63 are mounted at the four corners of the vehicle 401.
[0056]
The camera-attached rods 60 and 61 attached to the left and right of the front end of the vehicle 401 can capture images directly below the left and right of the front end of the vehicle 401. It is possible to take images directly below the left and right sides of the rear end of the vehicle.
[0057]
Each of the camera-equipped rods 60, 61, 62, 63 is retracted when not in use and stored in the vehicle body, and when used, it extends vertically upward like a rod antenna of an in-vehicle radio. FIG. 10 is a diagram illustrating a state in which the camera portion 60a is moved to the imaging position from the extended camera rod 60 (the same applies to the other camera rods 61, 62, and 63). As shown in FIG. 10A, when the camera portion 60a is set to the imaging position, the camera portion 60a is not shown in the direction of the arrow K around the support shaft attached to a part of the rod peripheral surface from the extended rod 60. It is rotated by a motor so that the lower 60 can be imaged from the upper side with respect to the end of the vehicle as much as possible. Since the sense of distance from the obstacle at the end of the vehicle is inevitably lost when taking an image from an oblique direction, the image can be taken from above as much as possible.
[0058]
As shown in FIG. 10B, the camera portion 60a attached to the rod 60 is connected to the rod 60 and the camera portion 60a by a link mechanism 65, and when the camera portion 60a is moved to the imaging position, a motor (not shown) It is good also as a structure to which the link mechanism 65 is moved by.
[0059]
FIG. 11A is a configuration diagram of the monitor screen 55 used in the present embodiment, and is a screen display example when the host vehicle 401 is in the state shown in FIG. 11B. The monitor screen 55 is provided with a region 56 for displaying images captured by the camera-equipped rods 60, 61, 62, and 63 and a region 57 for displaying the same image as the monitor screen 30 described with reference to FIG. .
[0060]
In the area 56, an image 70 immediately below the left side of the vehicle front end, an image 71 immediately below the right side of the vehicle front end, an image 72 immediately below the left side of the vehicle rear end, and an image 73 immediately below the right side of the vehicle rear end are displayed. Since each of the images 70, 71, 72, and 73 is an image at each of the four corners of the vehicle, the positional relationship between the images 70, 71, 72, and 73 is clearly displayed by displaying an outline 75 that indicates the outline of the vehicle. To do.
[0061]
In the illustrated example, the image 11 a of the approaching left wall 11 is shown in the image 72, and the image 15 a of the obstacle 15 existing in front of the right side of the vehicle is shown in the image 71. By checking these images 70, 71, 72, and 73 simultaneously with the image of the region 57, the driver can not only check the rear but also check the front of the vehicle only by looking at the monitor screen 55.
[0062]
In the present embodiment, since the camera-equipped rods 60, 61, 62, and 63 are provided, the state in the vicinity of the vehicle end, which is a caution point at the time of parking, can be shown to the driver as reliably as possible without distortion. Can provide an excellent driving support device that allows parking while checking on the monitor screen 55.
[0063]
(Sixth embodiment)
Next, a sixth embodiment of the present invention will be described. In the fifth embodiment described above, the camera-equipped rods are provided at the four corners of the vehicle. However, the camera-provided rods may be provided only at the left and right of the front end of the vehicle. Alternatively, according to the driver's instruction, among the camera-equipped rods provided at the four corners of the vehicle, only the captured images of the camera-equipped rods 60 and 61 shown in FIG. It is also possible to provide a mode for displaying simultaneously.
[0064]
FIG. 12A is a configuration diagram of the monitor screen 58 used in the present embodiment, and is a screen display example when the host vehicle 401 is in the state shown in FIG. In the present embodiment, the captured images 70 and 71 of the camera-equipped rods 60 and 61 shown in FIG. 9 are displayed in the upper area (front confirmation screen area) of the monitor screen 58, and the monitor shown in FIG. The same image as the screen 30 is displayed. As a result, even when the driver's attention is concentrated on the monitor screen 58, the forward confirmation can be performed on the same monitor screen 58 simultaneously with the backward confirmation of the vehicle.
[0065]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, the driving assistance apparatus which can perform parking operation easily even if it is a driving beginner by looking at a monitor screen can be provided, and the rod with a camera which makes the parking operation safer can be provided.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating a relationship between a camera mounting position and a captured image of a driving assistance apparatus according to a first embodiment of the present invention.
FIG. 2 is a block diagram showing the configuration of the driving support apparatus according to the first embodiment of the present invention.
FIG. 3 is a diagram showing a monitor screen when parking on the left side of the driving assistance apparatus according to the first embodiment of the present invention;
FIG. 4 is an explanatory diagram of guide lines used in the driving support device according to the first embodiment of the invention.
FIG. 5 is a diagram showing a parking procedure in the driving support apparatus according to the first embodiment of the present invention.
FIG. 6 is a diagram showing a monitor screen at the time of parking on the right side of the driving assistance apparatus according to the first embodiment of the present invention.
FIG. 7 is a diagram showing a display example of a monitor screen of the driving support device according to the second embodiment of the present invention.
FIG. 8 is a diagram showing a display example of a monitor screen of the driving support apparatus according to the fourth embodiment of the present invention.
FIG. 9 is an external view of a vehicle equipped with a driving support apparatus according to a fifth embodiment of the present invention.
FIG. 10 is an explanatory diagram of a rod with a camera used in a driving support apparatus according to a fifth embodiment of the present invention.
FIG. 11 is a diagram showing a display example of a monitor screen in the driving support apparatus according to the fifth embodiment of the present invention.
FIG. 12 is a diagram showing a display example of a monitor screen in the driving support apparatus according to the sixth embodiment of the present invention.
FIG. 13 is a diagram showing a display example of a monitor screen of a conventional driving support device
[Explanation of symbols]
30, 55, 58 Monitor screen
40, 44 Reference line for parking (guide line)
41, 45 Guide arrows
60, 61, 62, 63 Rod with camera
201, 401 Vehicle
202 Rear camera
203 Right rear side camera
204 Left rear side camera

Claims (10)

車両の後方を撮像する撮像手段と、前記撮像手段により撮像された画像を表示する表示手段とを備え、前記表示手段は、前記車両の外側に地面に対して鉛直方向に伸びる目安を前記画像に重畳して表示することを特徴とする運転支援装置。An image pickup means for picking up an image of the rear of the vehicle, and a display means for displaying an image picked up by the image pickup means, wherein the display means uses the image as a guide that extends in a direction perpendicular to the ground outside the vehicle. A driving support apparatus characterized by being displayed in a superimposed manner. 前記表示手段は、前記車両を寄せる方向を示す矢印を前記画像に重畳表示することを特徴とする請求項１に記載の運転支援装置。The driving support apparatus according to claim 1, wherein the display unit superimposes an arrow indicating a direction in which the vehicle is approached on the image. 前記撮像手段は、前記車両の後側方を前記車両の後部タイヤが一部映るような画角で撮像し、前記表示手段は、前記車両を寄せる方向とその逆の方向とで前記目安と前記車両との距離を変えて表示することを特徴とする請求項１に記載の運転支援装置。The imaging means images the rear side of the vehicle with an angle of view such that a part of the rear tire of the vehicle is reflected, and the display means determines the reference and the direction in the direction in which the vehicle is approached and in the opposite direction. The driving support apparatus according to claim 1, wherein the display is performed by changing a distance from the vehicle. 駐車の意思を運転支援装置に伝える信号を出力する駐車意思指示手段を備え、前記表示手段は、前記出力に応じて、前記車両の遠方を撮像する画像と前記車両の後部タイヤが一部映るような画像とを切り替えて表示することを特徴とする請求項１ないし請求項３のいずれかに記載の運転支援装置。A parking intention instruction unit that outputs a signal that conveys the intention to park to the driving support device is provided, and the display unit is configured to display a part of the rear tire of the vehicle and an image that captures the distance of the vehicle according to the output. The driving support apparatus according to claim 1, wherein the image is switched and displayed. 駐車の意思を運転支援装置に伝える前記駐車意思指示手段が前記車両の左右どちら側に駐車するかの指示を与える駐車意思指示手段を備え、前記指示に応じて、前記表示手段で表示する画像に重畳する前記車両を寄せる方向を示す矢印の方向を切り替えることを特徴とする請求項１ないし請求項３のいずれかに記載の運転支援装置。The parking intention instruction means for instructing the driving support device to park is provided with a parking intention instruction means for giving an instruction as to which of the left and right sides of the vehicle to park, and an image displayed on the display means according to the instruction. The driving support device according to any one of claims 1 to 3, wherein a direction of an arrow indicating a direction in which the superimposed vehicle is approached is switched. 前記表示手段は、前記車両の左後側方画像を前記表示手段の向かって右側に、前記車両の右後側方画像を前記表示手段の向かって左側にそれぞれ表示し、前記それぞれの画像を鏡像としない画像として表示することを特徴とする請求項１ないし請求項３のいずれかに記載の運転支援装置。The display means displays a left rear side image of the vehicle on the right side of the display means, a right rear side image of the vehicle on the left side of the display means, and the respective images are mirror images. The driving support device according to any one of claims 1 to 3, wherein the driving support device is displayed as an image that does not. 前記車両の後退時には、前記車両の操舵手段の操舵方向と前記車両の車輪の曲がる方向とを通常の走行時とは逆転するように制御する制御部を備えたことを特徴とする請求項６に記載の運転支援装置。7. The apparatus according to claim 6, further comprising a control unit that controls the steering direction of the steering means of the vehicle and the direction in which the wheels of the vehicle bend are reversed when the vehicle is moving backward. The driving assistance apparatus as described. 前記車両の前方の車端に装着され、鉛直方向に伸縮可能なカメラ付ロッドを有し、前記車両の駐車時には、前記ロッドを伸ばし、前記車端のほぼ真上からの画像を取得し、前記表示手段で表示することを特徴とする請求項１ないし請求項３のいずれかに記載の運転支援装置。A rod with a camera that is mounted on the vehicle end in front of the vehicle and can be expanded and contracted in a vertical direction, and when the vehicle is parked, the rod is extended to obtain an image from almost right above the vehicle end, The driving support device according to claim 1, wherein the driving support device displays the information using a display unit. 請求項８に記載の運転支援装置で用いるカメラ付ロッドであって、通常時はカメラ部とロッド部とが一体となり、使用時は前記カメラ部を所定の支点または所定の支軸を中心に回動するか、前記カメラ部を平行移動することで、車端のほぼ真上からの画像を取得することを特徴とするカメラ付ロッド。The rod with a camera used in the driving support device according to claim 8, wherein the camera unit and the rod unit are integrated in a normal state, and the camera unit is rotated around a predetermined fulcrum or a predetermined support shaft during use. The rod with a camera is characterized in that an image from almost right above a vehicle end is acquired by moving or translating the camera unit. 請求項１乃至請求項３のいずれかに記載の運転支援装置で用いる画像出力装置であって、撮像された車両後方の画像を画面に表示するに際し、車両画像の外側に、地面に対して鉛直方向に伸びる目安を重畳表示する手段を備えたことを特徴とする画像出力装置。An image output device used in the driving support device according to any one of claims 1 to 3, wherein when the captured image of the rear of the vehicle is displayed on the screen, the vehicle is perpendicular to the ground outside the vehicle image. An image output apparatus comprising means for superimposing and displaying a guide extending in a direction.
JP2001399607A 2001-12-28 2001-12-28 Driving support device, image output device, and rod with camera Expired - Lifetime JP4021662B2 (en)

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DE10297590.6T DE10297590B4 (en) 2001-12-28 2002-12-06 Driving assistance system, image output device and camera equipped bar
PCT/JP2002/012831 WO2003058970A1 (en) 2001-12-28 2002-12-06 Operation support device, image output device, and rod with camera

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