CN117302022A - Display control apparatus and display control method - Google Patents

Display control apparatus and display control method Download PDF

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Publication number
CN117302022A
CN117302022A CN202310760899.6A CN202310760899A CN117302022A CN 117302022 A CN117302022 A CN 117302022A CN 202310760899 A CN202310760899 A CN 202310760899A CN 117302022 A CN117302022 A CN 117302022A
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CN
China
Prior art keywords
range
vehicle
display
detection
steering angle
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Pending
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CN202310760899.6A
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Chinese (zh)
Inventor
田中友教
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Faurecia Clarion Electronics Co Ltd
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Faurecia Clarion Electronics Co Ltd
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Publication of CN117302022A publication Critical patent/CN117302022A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Arrangement of adaptations of instruments
    • B60K35/28—
    • B60K35/29—
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • 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
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • 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
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/602—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective with an adjustable viewpoint
    • B60R2300/605—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective with an adjustable viewpoint the adjustment being automatic
    • 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
    • B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images
    • 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
    • B60R2300/802—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 monitoring and displaying vehicle exterior blind spot views
    • 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
    • B60R2300/8046—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 replacing a rear-view mirror system
    • 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
    • B60R2300/8093—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 obstacle warning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/92—Driver displays

Abstract

Problems: information about the surroundings of the vehicle can be accurately provided even when the traveling direction of the vehicle changes. The solution method comprises the following steps: a display control apparatus that controls display of an image obtained by imaging the surrounding environment of the vehicle is a display control apparatus that includes: a display section that displays an image obtained by imaging a rear side of the vehicle; an object detection unit that detects an object that is present on the rear side of the vehicle; a steering angle detection unit that detects a steering angle of the vehicle; and a display range changing portion that changes a display range of the image obtained by imaging the rear side of the vehicle from a first range to a second range when the object detecting portion detects an object within a detection range, wherein the detection range of the object detecting portion is changed according to the steering angle.

Description

Display control apparatus and display control method
Technical Field
The invention relates to a display control apparatus and a display control method.
Background
Conventionally, an electronic rear view mirror system is known that provides a function corresponding to a door mirror (also referred to as a side mirror) or a fender mirror by displaying an image on a display of a vehicle (obtained by imaging an ambient environment of the vehicle using a camera).
For example, in patent document 1, it is described that "a rear side image display apparatus for a vehicle is provided that enables a user to easily confirm the approach of a rear vehicle while traveling and to reliably determine whether and to what extent pedestrians, bicycles, and the like approach the periphery of the vehicle while turning right or left", and "a rear side image display apparatus 1 for a vehicle includes: a left camera 10L and a right camera 10R for imaging the rear side of the vehicle; a left image generating section 30L and a right image generating section 30R for generating a first rear side view image including an image corresponding to a first imaging range including a part of the vehicle; a second rear side image that is a compressed image corresponding to a second imaging range including a portion of the vehicle; a left image generation section 32L and a right image generation section 32R for generating a surrounding image including an image corresponding to a third imaging range continuous with the second imaging range in a direction away from the vehicle; a switching timing determining section 40 for switching at a predetermined timing with the first rear side image or the second rear side/surrounding image serving as a display target; a left display unit 60L; and a right display portion 60R ".
Prior art literature
Patent literature
Patent document 1JP 2019-121913A
Disclosure of Invention
Problems to be solved by the invention
In the related art, the range to be displayed as an image may be changed based on the detection result of the obstacle, the operation state of the direction indicator, and the state of the steering angle.
Unfortunately, in the case where the vehicle traveling direction changes significantly, such as right/left turning, an obstacle to be detected may be out of the detection range due to the change in the direction of the vehicle. This problem will be described below by taking a case where the vehicle turns left as an example. An object approaching from the left rear of the vehicle when turning left is an important detection target of a potential collision. Before the vehicle turns left, the vehicle can detect a potential collision object using the rear left of the vehicle as a detection range. Thereafter, when the vehicle starts to turn left, the direction of the approaching potential collision object is out of the detection range of the rear left of the vehicle.
As described above, the detection range based on the vehicle changes with respect to the road due to the change in the traveling direction. In this case, an important detection target may not be detected. Such problems are particularly pronounced when the vehicle passes through a tight turning intersection.
It is therefore an object of the present invention to be able to accurately provide information of the surrounding environment of a vehicle even when the traveling direction of the vehicle is changed.
Means for solving the problems
In order to achieve the above object, a representative display control apparatus according to the present invention that controls display of an image obtained by imaging an ambient environment of a vehicle is a display control apparatus including: a display section that displays an image obtained by imaging a rear side of the vehicle; an object detection unit that detects an object that is present on the rear side of the vehicle; a steering angle detection unit that detects a steering angle of the vehicle; and a display range changing portion that changes a display range of the image obtained by imaging the rear side of the vehicle from a first range to a second range when the object detecting portion detects an object within a detection range, wherein the detection range of the object detecting portion is changed according to the steering angle.
Effects of the invention
According to the present invention, even when the traveling direction of the vehicle is changed, information of the surrounding environment of the vehicle can be accurately provided. Problems, configurations, and effects other than those described above can be clarified by the following description of the embodiments.
Drawings
Fig. 1 is an exemplary view of a display control apparatus according to embodiment 1.
Fig. 2 is a configuration diagram illustrating a configuration of a display control apparatus.
Fig. 3 is a flowchart illustrating a processing procedure of the display range adjustment function.
Fig. 4 is an exemplary view (one of them) showing a specific example of the operation of the range adjustment function.
Fig. 5 is an exemplary view (second) showing a specific example of the operation of the range adjustment function.
Fig. 6 is an exemplary view of a change in steering angle and a change in the size of the detection range.
Fig. 7 is an exemplary view showing movement of a range.
Detailed Description
Embodiments will be described below with reference to the accompanying drawings.
Example 1
Fig. 1 is an exemplary view of a display control apparatus according to embodiment 1. The vehicle 10 includes cameras at positions corresponding to the left side mirror and the right side mirror. The camera is capable of imaging the left and right rear sides. The display control apparatus 20 mounted on the vehicle 10 functions as an electronic rear view mirror corresponding to the side rear view mirror by displaying images (obtained by imaging with a camera) on display portions inside and outside the vehicle.
In fig. 1, a vehicle 10 captures an image of an imaging range G0 on the rear right side of the vehicle 10. The display control apparatus 20 intercepts an image of the display range G1 from the image of the imaging range G0, and displays the intercepted image as an image corresponding to the right side mirror.
Further, the display control apparatus 20 detects an object on the rear side. The display control apparatus 20 may change the display range according to the detection result. Any method may be used to detect the object. In this embodiment 1, an example will be described in which a detection range is set in an imaging range G0, and an object is detected by performing image processing on an image within the detection range.
When a predetermined object is detected within the detection range, the display control apparatus 20 changes the display range so that the object is displayed. Specifically, a range that is larger than the display range G1 and includes both the display range G1 and the image of the predetermined object is set as the display range G2. The predetermined object is, for example, a motorcycle, a bicycle, a pedestrian, or the like. The display control apparatus 20 registers these objects as predetermined objects to be detected, and performs detection by image processing.
As described above, by setting the enlarged display range G2 to include the display range G1 and the predetermined object, the display control apparatus 20 can provide information about the predetermined object while continuing to function as a side mirror.
Here, the display control apparatus 20 changes the detection range according to the state of the vehicle 10. Specifically, when the vehicle 10 is running straight, the detection range Dr1 is set for straight, and when the vehicle 10 is turning right, the detection range Dr2 is set for the rear right side of the vehicle, which is larger than the detection range when running straight. Similarly, when the vehicle 10 turns left, the detection range is set such that the detection range on the rear left side is larger than the detection range for straight running. The left/right turn is determined based on, for example, the steering angle.
By increasing the detection range for right/left turning in this way, even when the vehicle 10 starts turning, the direction of the object to be detected, particularly the direction of the approaching object that may collide when turning right or left, can be largely included in the detection range.
When the right/left turn or the like is completed and the vehicle returns to straight, the display control apparatus 20 restores the detection range to the original range. This is because unnecessary information is provided if an excessively large detection range is set at the time of straight traveling and display is performed to include the detection result. That is, the display control apparatus 20 detects an object in the detection range Dr2 that is enlarged when compared with straight running at the time of right turning or left turning, and enlarges the display range to show the object detected in this range. In contrast, in the straight line, an object is detected in a detection range Dr1 narrower than that in the right or left turn, wherein the display range is enlarged to show the object detected in the range. In this way, when no object is detected within the detection range, the display control apparatus 20 does not expand the display range, thereby reducing the annoyance of the driver expanding the display range even if there is no object such as a pedestrian or the like that needs to be noticed within the detection range.
Fig. 2 is a configuration diagram illustrating a configuration of the display control apparatus 20. The display control apparatus 20 is connected to the camera 11L, the camera 11R, the drive control unit 13, and the like. The drive control unit 13 is a unit group that controls acceleration/deceleration and steering of the vehicle and a direction indicator.
The display control apparatus 20 includes a display 21, an input receiving portion 22, a vehicle state detecting portion 23, and a control portion 24. For example, the control section 24 is a CPU (central processing unit), and can function as an object detection section 31 and a display range changing section 32.
The camera 11R captures an image of the right rear of the surrounding environment of the vehicle 10. The camera 11L captures an image of the left rear of the surrounding environment of the vehicle 10.
The display 21 includes a display 21R and a display 21L. For example, the display 21R and the display 21L may be separate, or a right rear image and a left rear image may be displayed on a single display.
The display 21R is a display section that displays a right rear image. The display 21R is provided on, for example, a right front pillar.
The display 21L is a display section that displays a left rear image. The display 21L is provided on, for example, the left front pillar.
The input receiving section 22 receives an input for adjusting the operation of the images displayed on the displays 21R and 21L. The input receiving portion 22 is provided at a position where it can be operated by a user sitting in the driver seat. For example, the input receiving section 22 is preferably a touch panel provided in coordination with the display 21R.
The vehicle state detection unit 23 detects the state of the vehicle 10. The vehicle state detection portion 23 includes a speed detection portion 41, a steering angle detection portion 42, a direction indicator state detection portion 43, and the like. The speed detecting unit 41 detects the running speed of the vehicle 10. For example, a speedometer value may be obtained. The steering angle detection portion 42 detects the steering angle of the vehicle 10. The steering angle may be obtained, for example, from a steering control unit. For example, the steering angle detection section 42 acquires the steering angle ST0 at the time T0, and stores the steering angle SL in a storage section (not shown). For example, the steering angle detection unit 42 acquires the steering angle ST1 at a time T1 later than the time T0, and overwrites the stored steering angle STO to store in a storage unit (not shown). For example, information about how much the steering angle is rotated compared with a so-called zero position (state in which the steering angle is not rotated) is stored in coordination with time. The steering angle detection unit 42 may acquire the steering angle of the tire. In this case, information is stored in coordination with time as to how much the tire is tilted compared to the so-called zero position. That is, the steering angle detection portion 42 may detect an actual steering angle indicating at what angle the vehicle 10 is traveling with respect to the straight traveling direction, or may detect an operation steering angle indicating how much the operation of the rotating direction disc is performed. Here, the operation steering angle is described as a steering angle. The direction indicator state detecting section 43 detects the state of a direction indicator (turn signal lamp).
The object detection unit 31 detects an object existing on the rear side of the vehicle 10. Specifically, the object detection section 31 sets a detection range with respect to an image obtained by imaging the rear side of the vehicle 10, and detects an object by image recognition targeting the detection range.
The detection range of the object detection unit 31 is determined based on the steering angle. As one example, when the steering angle of the vehicle 10 is a predetermined angle or more, the object detection portion 31 sets the detection range on the inner wheel side to be larger than the detection range on the outer wheel side. For example, the object detection unit 31 calculates the amount of change in the steering angle by subtracting the steering angle T0 at the time ST0 from the steering angle ST1 at the time T1, and sets the detection range on the inner wheel side to be larger than the detection range on the outer wheel side when the absolute value of the calculated change in the steering angle is a predetermined value or more. For example, if a value obtained by subtracting the time T1 from the time T0 is positive, it may be determined that the steering wheel is rotated leftward compared to the time T0. Conversely, if the value is negative, it can be determined that the steering wheel is rotated rightward compared to time T0. The object detection unit 31 may execute the same process using the steering angle of the tire instead of the steering angle. In this way, by setting a different detection range for each steering angle according to the steering angle of the vehicle 10, it is possible to detect an object to be noted in a wide range when the vehicle starts turning. Further, when the vehicle is about to complete a turn and is passing through an intersection, an object that does not need attention may not be detected.
When the object detection section 31 detects an object within the detection range, the display range changing section 32 changes the display mode of an image obtained by imaging the rear side of the vehicle 10. For example, the display range of an image obtained by imaging the rear side of the vehicle 10 is changed from the first range to the second range. For convenience, the first range is referred to as a display range G1, and the second range is referred to as a display range G2. In this way, in the case where no object is detected within both the detection ranges Dr1, dr2, the display changing section 32 does not change the display range from the first range to the second range, thereby reducing the annoyance of the driver to expand the display range even if there is no object such as a pedestrian or the like that needs to be noticed within the detection range.
The display range G1 and the display range G2 are portions of an image captured by the camera 11. The display range G2 is larger than the display range G1, and includes the display range G1 and the image of the object detected by the object detection unit 31.
In this way, the control section 24 realizes a display range adjustment function of changing the detection range of the object detection section 31 and displaying an object located within the detection range. The display range adjustment function envisages a state in which the traveling direction of the vehicle 10 is greatly changed, such as right/left turning. Therefore, the display range adjustment function starts when the speed of the vehicle is within a sufficiently small prescribed range.
Further, since it is difficult to determine the degree of change in the traveling direction in advance, the detection range (for example, the overall imaging range) may be maximized when the steering angle is a predetermined angle or more. In contrast, when the steering angle is returned after the direction change, the amount of change in the detection range should be gradually reduced according to the direction in which the steering angle is returned.
Further, the object envisaged by the display range adjustment function is an object that does not pose a hazard when traveling straight, but poses a hazard such as a collision when changing the traveling direction. Therefore, the display range G2 may be set not only by detecting the object, but also by setting a condition that the driver has instructed the intention to change his route, such as by turning on a turn lamp or operating a steering wheel.
The end of the display range adjustment function may be determined, for example, if the turn signal is turned off or if the steering wheel angle has been returned.
Fig. 3 is a flowchart illustrating a processing procedure of the display range adjustment function. First, when the vehicle 10 is traveling (step S101), the object detection unit 31 determines whether or not the vehicle is traveling at a predetermined speed (step S102). For example, the predetermined speed is defined so that a deceleration state at the time of preparing right/left turning can be detected. When the speed of the vehicle 10 is not the prescribed speed (step S102; no), the flow returns to step S101.
When the vehicle 10 runs at a prescribed speed (step S102; yes), the object detection section 31 initiates an operation of the display range adjustment function (step S103), and changes the detection range according to the steering angle (step S104).
When the object detection section 31 detects the target object from the image of the detection range (step S105), the display range changing section 32 determines whether or not the turn lamp on the side where the target is detected by the object detection section 31 is turned on in the left-right direction with respect to the traveling direction of the vehicle (step S106). When the turn signal is not turned on (step S106; no), the display range changing section 32 determines whether or not a steering wheel operation is performed in the left-right direction with respect to the traveling direction of the vehicle on the side where the object is detected by the object detecting section 31 (step S107). For example, the detection result of the steering angle detection portion 42 may be used to determine the presence of a steering wheel operation. If the steering wheel operation is not performed (step S107; no), the flow returns to step S101.
When the turn lamp is turned on (step S106; yes) or a steering wheel operation is performed (step S107; yes), the display range changing section 32 enlarges the display area to include the detected target (step S108).
After step S108, the object detection unit 31 determines whether or not the end condition of the display range adjustment function is satisfied. The end condition may be that the turn signal is turned off, the steering angle is less than a predetermined angle, etc. When the end condition is not satisfied (step S109; no), the flow returns to step S104. When the end condition is satisfied (step S109; "yes"), the process ends.
Fig. 4 and 5 are diagrams illustrating a specific example of the operation of the apparent example of the circle adjustment function by taking a left turn as an example. In order to understand the display range adjustment function at the time of right turning, it is only necessary to reverse the left and right sides of fig. 4 and 5. In the state shown in fig. 4 (1), the vehicle 10 is traveling straight. At this time, the operating angle of the steering wheel H1 is substantially 0, and the angle (actual steering angle) of the traveling direction with respect to the straight direction of the vehicle 10 is also substantially 0. Further, the vehicle 10 images the left and right rear sides within the imaging range G0, and displays the image within the display range G1. In addition, the vehicle 10 performs object detection within the detection range Dr1 for straight running.
Further, fig. 6 shows the change in the steering angle and the change in the size of the detection range in fig. 4 and 5 in time series. The steering change amount 51 shown in fig. 6 is obtained by schematically showing how the steering angle changes with time on the vertical axis and the horizontal axis with respect to the steering angle (acquired by the steering angle detection unit 42). The detection range change 52 shown in fig. 6 is obtained by schematically showing how the detection range size changes with time on the vertical axis and the horizontal axis with respect to the size of the detection range (the detection range set by the target detection unit 31 according to the change in the steering angle).
In the state shown in fig. 4 (1), since the steering angle is substantially 0, the steering change 51 and the detection range change 52 indicate that the size of the detection range does not change from the detection range in the straight line.
Then, the process proceeds to the state shown in fig. 4 (2). In this state, the steering wheel H1 rotates to the left. Accordingly, the steering angle is generated in the vehicle 10 in which the display control apparatus 20 sets the left detection range as the detection range Dr2 so as to be wider than the detection range Dr1 in the straight-ahead. At this time, the detection range Dr2 may be the overall imaging range G0. In the state of fig. 4 (2), even if the detection range Dr1 is enlarged to the detection range Dr2, the display range is maintained as the display range G1 when no object is detected in the detection range. When an object is detected within the detection range, the display range is enlarged and set as the display range G2.
In the steering variation 51 of fig. 6, the steering angle increases in the positive direction in the period of fig. 4 (2), indicating that the steering wheel is rotated in the left direction. At this time, as described in the detection range change 52, the object detection unit 31 determines that the vehicle 10 starts turning left, and sets the detection range to a detection range Dr2 that is larger than the detection range Dr1.
Thereafter, in the state of fig. 4 (3), the vehicle 10 turns leftward while maintaining the operation angle of the steering wheel H1. At this time, the detection range on the left side is still enlarged. If the detection range in the state of fig. 4 (3) is the same as the detection range in the straight running, the approaching direction of the object with which the vehicle may collide in the left turning is out of the detection range. However, the enlarged detection range includes the direction of the approaching object with which it is likely to collide at the time of left turning.
Then, the process proceeds to the state shown in fig. 5 (4). Even in this state, the operating angle of the steering wheel H1 is maintained, and the vehicle 10 turns leftward. At this time, the detection range on the left side is still enlarged. However, as the vehicle 10 turns further left, the direction of the object that may collide with it while turning left begins to be out of the expanded detection range.
In the case of fig. 4 (3) and 5 (4), even if the steering wheel H1 is further rotated in the left direction and the steering angle is further changed in the left direction, the detection range is maintained as the detection range Dr2.
In the steering change 51 of fig. 6, the steering angle does not change in the period of fig. 4 (3), 5 (4), indicating that the size of the detection range is also maintained within the detection range Dr2 in the detection range change 52.
Then, the process proceeds to the state shown in fig. 5 (5). In this state, the steering wheel H1 rotates rightward, as opposed to turning leftward. The display control apparatus 20 gradually decreases the detection range according to the amount of change in the steering angle caused by the steering wheel H1 rotating rightward opposite to the left turn. For example, the detection range may decrease linearly or exponentially in proportion to a change in the steering angle in the rightward direction. Further, instead of immediately starting to decrease the detection range upon detection of rotation in the direction in which the steering angle returns, a waiting time of several hundred milliseconds may be arranged, followed by gradual decrease of the detection range.
In the steering variation 51 of fig. 6, the steering angle changes and decreases in the negative direction during the period of fig. 5 (5), indicating that the steering is rotating in the right direction. At this time, for example, when the steering angle is changed and reduced in the negative direction, as in the detection range change 52, the detection range is reduced from the detection range Dr2 as the steering angle is reduced. When the steering angle does not change, the reduction of the detection range may be stopped so as to maintain the detection range at this time.
In the state of fig. 5 (5), since the vehicle 10 has almost completed a left turn and started to drive off the intersection, the necessity of detecting pedestrians and the like on the inner wheel side is relatively lower than that at the time of starting the left turn. Therefore, the detection range becomes gradually narrower in proportion to the amount by which the steering wheel H1 rotates rightward, as opposed to turning left.
Then, the process proceeds to the state shown in fig. 5 (6). In this state, the left turn of the vehicle 10 ends, and the vehicle 10 moves straight. At this time, the operating angle of the steering wheel H1 is substantially 0, and the steering angle of the vehicle 10 is also substantially 0. Further, the vehicle 10 images the left and right rear sides within the imaging range G0, and displays the image within the display range G1. In addition, the vehicle 10 performs object detection within a detection range for straight traveling.
In the steering change 51 of fig. 6, during the period of fig. 5 (6), since the steering angle of the vehicle 10 is substantially zero position, the change is 0. Therefore, the size of the detection range is set to the detection range Dr1.
Although the example of expanding the display range when the object is detected has been described above, the display range may be moved while maintaining the size of the display range.
Fig. 7 is a diagram illustrating movement of the display range by taking a right turn as an example. To understand an example of moving the display range at the time of left rotation, the left and right sides of fig. 7 need to be reversed. In fig. 7, the vehicle 10 takes an image of an imaging range G0 on the right rear side. The display control apparatus 20 intercepts an image of the display range G1 from the image of the imaging range G0, and displays the intercepted image as an image corresponding to the right side mirror.
When a predetermined object is detected within the detection range, the display control apparatus 20 changes the display range so that the object is displayed. Specifically, the display range G2 centering on the detected object is set. The display range G2 has the same size as the display range G1. Although the positional relationship of the display range G1 is defined with respect to the vehicle 10, the positional relationship of the display range G2 is defined with respect to the detected object.
By moving the display range in this way, the object can be displayed in a sufficient size. Further, by maintaining the size of the display range, the positional relationship with the object can be recognized with the same sense of distance as the display range G1. In contrast, since the function as a side mirror is reduced, the side mirror itself or a display corresponding to the side mirror can be provided alone.
Note that, as shown in fig. 1, the detection range varies according to the state of the vehicle 10.
As described above, the disclosed display control apparatus 20 that controls display of an image obtained by imaging the surrounding environment of the vehicle 10 is a display control apparatus that includes: a display 21 as a display section that displays an image obtained by imaging the rear side of the vehicle 10; an object detection unit 31 that detects an object existing on the rear side of the vehicle; a steering angle detection unit 42 that detects a steering angle of the vehicle; and a display range changing section 32 that changes a display range of the image obtained by imaging the rear side of the vehicle from a first range to a second range when the object detecting section detects an object within a detection range, wherein the detection range of the object detecting section is changed according to the steering angle.
Thereby, even when the traveling direction of the vehicle is changed, information of the surrounding environment of the vehicle can be accurately provided.
Further, in the disclosed display control apparatus 20, when the steering angle of the vehicle is a predetermined angle or more, the object detection section 31 sets the detection range on the inner wheel side to be larger than the detection range on the outer wheel side.
This avoids collisions during left/right turns.
Further, the object detection section 31 sets a detection range with respect to an image obtained by imaging the rear side of the vehicle, wherein the display range changing section sets a part of the image obtained by imaging the rear side of the vehicle as the display range.
This allows the imaged image to be effectively used for detection and display.
Further, as one example, the second range is larger than the first range, including the first range and the image of the object detected by the object detecting section.
This may provide information about the detected object while maintaining its function as a side mirror.
In addition, as an example, the positional relationship of the first range may be defined with respect to the vehicle, and the positional relationship of the second range may be defined with respect to the object detected by the object detecting unit.
This may provide important information about the detected object.
Further, in the display control apparatus 20, when the steering angle decreases, the detection range is decreased according to the amount of change in the steering angle.
This can reduce the detection range according to the situation.
It is to be noted that the present invention is not limited to the above examples, but includes various modifications. For example, the foregoing examples have been described in some detail to describe the invention in an easily understandable manner; however, the present invention is not necessarily limited to those having all the described configurations. Furthermore, not only such a configuration may be deleted, but also a configuration may be replaced or added.
For example, in this example, although the detection range is set independently of the imaging range and the display range, the detection range may also correspond to the imaging range and the display range. For example, the display range G1 and the detection range may coincide with each other at the time of straight traveling, so that the imaging range and the detection range may coincide with each other at the time of right-hand or left-hand turning.
In addition, in the present example, the case where the object is detected by image processing has been described, but a sensor such as a radar, a sonar, or the like may be used.
In addition, in the object detection based on the image processing, any method such as recognition of an object type based on pattern matching, recognition of an object speed and distance based on comparison of time-series images, and the like may be used. In addition, the detection target may be different depending on the situation, such as detecting other vehicles and motorcycles when traveling straight at a high speed, and detecting motorcycles, bicycles, and pedestrians when turning right or left.
Further, if a plurality of objects are detected, the display range G2 may be set such that they are all displayed, or the display range G2 may be set such that one object selected based on the distance and the speed is displayed.
Further, in this example, although the in-vehicle display control apparatus 20 has been described as an example, it is applicable to a remote control terminal of the vehicle 10.
Further, an example in which the display range changing section 32 expands the display range in the case where the object detecting section 31 detects an object within the detection range is described. However, instead of or in addition to expanding the display range, when an object is detected in the detection range, the object included in the image displayed on the display section 22 may be highlighted. For example, an example of highlighting may be a mark or the like surrounding an object included in an image. In this case, as shown in fig. 6, the detection range is also enlarged or reduced according to the steering angle. For example, it is also possible to permanently set the display range to G1 or G2, expand or contract the detection range according to the steering angle, and highlight the object when the object is detected within the detection range.
This makes it possible to reduce the trouble that the driver is highlighted when the object is hardly noticeable even if it is hardly noticeable, and to detect the object in a wider area when the driver is required to pay a high degree of attention to the object.
Symbol description
10: a vehicle; 11: a camera; 13: a drive control unit; 20: a display control device; 21: a display; 22: an input receiving unit; 23: a vehicle state detection unit; 24: a control unit; 31: an object detection unit; 32: a display range changing section; 41: a speed detecting section; 42: a steering angle detection unit; 43: direction indicator state detection unit

Claims (7)

1. A display control apparatus that controls display of an image obtained by imaging an ambient environment of a vehicle, comprising:
a display section that displays an image obtained by imaging a rear side of the vehicle;
an object detection unit that detects an object existing on the rear side of the vehicle;
a steering angle detection unit that detects a steering angle of the vehicle; and
a display range changing section that changes a display range of the image obtained by imaging the rear side of the vehicle from a first range to a second range when the object detecting section detects an object within a detection range,
wherein the detection range of the object detection portion varies according to the steering angle.
2. The display control apparatus according to claim 1, wherein the object detection portion sets a detection range of an inner wheel side to be larger than a detection range of an outer wheel side when the steering angle of the vehicle is a predetermined angle or more.
3. The display control apparatus according to claim 1, wherein the object detection portion sets the detection range with respect to the image obtained by imaging the rear side of the vehicle, and detects the object by image recognition targeting the detection range, and
wherein the display range changing portion sets a part of the image obtained by imaging the rear side of the vehicle as the display range.
4. The display control apparatus according to claim 1, wherein the second range is larger than the first range, and includes the first range and the image of the object detected by the object detecting portion.
5. The display control apparatus according to claim 1, wherein a positional relationship of the first range is defined with respect to the vehicle, and
wherein the positional relationship of the second range is defined with respect to the object detected by the object detecting section.
6. The display control apparatus according to claim 1, wherein the detection range is reduced according to an amount of change in the steering angle when the steering angle is reduced.
7. A display control method, wherein a display control apparatus includes the steps of:
acquiring an image obtained by imaging the rear side of the vehicle;
displaying a first range of the image (obtained by imaging the rear side of the vehicle) as a display range on a display portion;
detecting the steering angle of the vehicle;
detecting an object present on the rear side of the vehicle within a detection range corresponding to the steering angle; and
when an object existing on the rear side of the vehicle is detected, the display range of the image obtained by imaging the rear side of the vehicle is changed from the first range to a second range.
CN202310760899.6A 2022-06-27 2023-06-26 Display control apparatus and display control method Pending CN117302022A (en)

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