JP2000172996A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To support driving by synthesizing and displaying a criterion line, by which the position of user's own vehicle with respect to a target can be confirmed independently of steering, in a picture where dead angle information is displayed. SOLUTION: The driving support device is provided with an image pickup device, a controller which processes the picture taken in by the image pickup device, and a monitor on which the processed picture is displayed. The controller is provided with a picture compositing means which superimposes outermost extension lines LBL and LBR, which are obtained by perpendicularly drawing outermost lines WBL and WBR of the vehicle to the ground and extending these lines in the longitudinal direction of the vehicle, on the display on the monitor where the picture taken-in by the image pickup device is displayed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention captures information about the periphery of a vehicle, which is a driver's blind spot, with an imaging device, displays the captured image on a monitor in a vehicle interior, complements the driver's field of view, and performs driving operation. The present invention relates to a support device that superimposes auxiliary information that helps.

[0002]

2. Description of the Related Art Since a motor vehicle has a vehicle body surrounding four surroundings of a driver, it is inevitable that a driver's view will be blind spots which are obstructed by the vehicle body except for a window. It is desirable to eliminate blind spots in order to avoid obstacles with low height and to secure safety against moving obstacles. Therefore, in order to obtain such blind spot information indirectly, a vehicle is conventionally provided with blind spot elimination means typified by an under mirror of a large vehicle. Also, with the recent improvement in performance and miniaturization of video equipment, various devices utilizing the same have been proposed. In such proposals, the rear view taken by the camera is displayed on the monitor screen near the driver's seat to cover the blind spot range, and the expected backward trajectory corresponding to the steering angle is superimposed and displayed on the monitor screen. Some include trajectory display means. In such a vehicle, the above-described predicted backward trajectory is further defined as a backward trajectory near the upper portion of the rear portion of the vehicle body, thereby making it easier to avoid obstacles.
There is a technique disclosed in Japanese Patent No. 8538.

[0003]

The above-mentioned proposed technique changes the expected trajectory in accordance with the steering angle of the steering wheel. Therefore, it is effective for correcting the steering angle after the steering wheel is turned by a certain amount. Although it is considered to function, it is not useful for predicting the course by an operation involving turning of the steering wheel before or during turning of the steering wheel, and the change of the predicted trajectory on the display may become rather troublesome. A typical example of such an operation is an operation of shifting the width to a road shoulder or the like. In the case of this operation, in general, on a left-handed road, in a forward or backward state, the vehicle approaches the shoulder while slightly turning the steering wheel to the left, turning the steering wheel to the right in an appropriate position, and finally returning to the center, In this case, the predicted trajectory intersects with the road shoulder from the initial left-turning state to the right-turning state, and cannot be used as a guide for width adjustment, and is annoyingly displayed. Therefore, in driving assistance in a state involving complicated steering operation, rather than predicting the course, the specific height of the own vehicle that is likely to interfere with the target according to the height of the target to be approached is determined. It is more effective to display the outer position at the height position.

The present invention has been made in view of such circumstances, and displays the outside position of the own vehicle on a monitor image that captures the outside world, so that the target position can be set from the start of the steering operation to the end of the operation. A main object of the present invention is to provide a driving support device capable of always accurately confirming the position of a vehicle with respect to an object.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides an image pickup apparatus installed in a vehicle for taking in information of the outside world, a control apparatus for processing an image taken by the image pickup apparatus, And a monitor for displaying an image processed by the device.The control device, when displaying the image captured by the imaging device on the monitor, lowers the outermost line of the vehicle vertically to the ground, and Is provided with an image synthesizing means for superimposing an outermost extension line which is extended in the vehicle front-rear direction.

[0006] Next, the present invention provides an imaging device installed in a vehicle to capture external information, a control device for processing an image captured by the imaging device, and a monitor for displaying an image processed by the control device. In the driving support device including: the control device includes an image synthesizing unit that superimposes a tire outer extension line obtained by extending a tire outer line in a vehicle front-rear direction on a monitor display of an image captured by an imaging device. It is characterized by the following.

[0007] In order to easily grasp the meaning of the displayed extension line, it is effective that the tire outside extension line is accompanied by a tire pattern.

Further, in order to facilitate the grasp of the positional relationship between the displayed line and the ground on the video, it is effective that the extension line is accompanied by a picture representing a vertical plane to the ground on the video. It is.

[0009]

According to the structure of the first aspect,
The extension line displayed on the monitor of the image is the outermost extension line obtained by lowering the outermost line of the vehicle vertically to the ground and extending that line in the longitudinal direction of the vehicle, and is a fixed line related to the specifications of the vehicle Therefore, the distance between the target and the outside position of the vehicle on the monitor screen can always be confirmed as the distance on the road surface regardless of the attitude or the distance of the vehicle from the target. Therefore, it is possible to easily grasp the positional relationship between the target and the own vehicle from the stage before the actual steering operation according to each operation, and adjust the posture while observing the change in the positional relationship due to the steering operation. By making the correction, the own vehicle can be easily led to the desired positional relationship with the target. Therefore, when moving the target to a wall or a pillar, the vehicle can be easily stopped at the intended position by operating the steering wheel so that the distance between the displayed line and the target is the desired distance. Can be done.

[0010] According to the second aspect of the present invention, the line displayed on the monitor of the image is a tire outer extension line obtained by extending the tire outer line in the vehicle longitudinal direction.
Because it is a fixed line, the distance between the target and the outside of the vehicle's tires on the monitor screen can always be checked as the distance on the road, regardless of the attitude or distance of the vehicle from the target. . Therefore, from the stage before the actual steering operation according to each operation, it is easy to grasp the positional relationship between the target and the tire of the vehicle, and it is possible to observe the change in the positional relationship due to the steering operation and change the posture. Is corrected, the own vehicle can be easily led to a desired positional relationship with the target. Therefore, the vehicle can be easily stopped at the intended position by operating the steering wheel so that the distance between the displayed line and the target is the desired interval when the target is approaching a groove or curb Can be done.

[0011] In addition, in addition to the above-described effects, the configuration described in claim 3 provides an effect that the meaning of the displayed extension line can be intuitively and instantly grasped.

According to the configuration of the fourth aspect, in addition to the above-described effects, an effect is obtained in which the distance between the target on the ground and the outside of the host vehicle can be visually recognized more easily.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. FIGS. 2 and 3 show an outline of a driving assistance device to which the concept of the present invention is applied. As shown in the block diagram of the system configuration in FIG. 2, this device mainly includes a control device 1 having a built-in image synthesizing means as a program, and an input device 2 for taking in various information necessary for control, and a driver for driving operation. And a selection switch 3 for appropriately selecting information required for the navigation, and further connected to a navigation ECU 6 of a navigation device having a database 4 and a display 5 so that information can be exchanged with the navigation device. I have. Thus, in this embodiment, the display 5 is used as a monitor for displaying information of the apparatus. The selection switch 3 in the figure may be provided exclusively for this apparatus, but may be a touch panel type using a display 5 of a navigation device or a voice input type using a voice recognition device.

As shown in FIG. 3, as an image pickup device constituting one of the input devices, a CCD camera 21 (hereinafter abbreviated as a camera) indicated by a circle in FIG. Abbreviation C with a subscript indicating the position in place of
_FL, C _FR, C _RL, C _RR, C _ML, C _MR ) are installed at the four corners of the vehicle and at the center on both the left and right sides. The detection sensor 28 (similarly, abbreviations S _FL, S _FR, S _RL,
S _RR, S _ML, S _MR , S _FM, S _RM )
In addition to being installed near the same position as the camera 21, it is also installed at the center of the front and rear ends. These distance detecting devices 2
Reference numeral 8 denotes a known device such as an ultrasonic sensor, a laser, a millimeter-wave radar, or the like which directly detects a distance, or an indirect distance obtained by processing images captured by the plurality of cameras 21 in the control device 1. May also be used as the calculating means.

An object of the present invention is to display the outside position of the vehicle on a monitor image in which the outside world is captured, so that the position of the vehicle with respect to a target can be accurately confirmed. However, as a prerequisite for this, a device is devised so that the image information to be copied matches the sense of visibility when the driver is sitting in the driver's seat. Accordingly, in order to realize this, the method of attaching the camera 21, more specifically, the installation posture and the installation position are devised for the imaging device, and the control device is devised in the image display method and display timing. is there. First of all,
The description will be made sequentially from the installation posture of the camera 21.

(Installation Attitude of Imaging Apparatus) As shown in FIG. 1, a blind spot range that is physically invisible to the driver sitting in the driver's seat is surrounded by points D _FL , D _FR , D _RR , and D _RL . Is the range hatched. However, parts that cannot be seen by the pillars supporting the window frame and the roof of the door are not shown. On the other hand, in order to cover this invisible range and to match the obtained image information with the driver's sense, as a first contrivance of the installation posture, each camera 21 moves the upper side on the captured image. With reference to the attitude of the optical axis directed forward and vertically downward of the vehicle, depending on the front, rear, left and right of the arrangement position with respect to the vehicle, the front and rear sides are inclined with respect to the reference attitude, and at least the edge of the vehicle Parts, ie, the front and rear ends of the front and rear, and the left and right ends of the left and right are installed in such a posture as to capture them.

To this end, each camera 21 installed at a corner of the vehicle has a corner portion of the vehicle body as an edge of the vehicle corresponding to the installation position, a periphery of the vehicle including the vicinity thereof, and an infinite distance. At the same time, it is installed so that it is in a direction to look down. The corners of the vehicle, particularly in recent passenger cars and the like, are not always clear because they are rounded due to design ingenuity. Means the vicinity including the outer edge, ie, the outermost edge, and more specifically, a range in which the direction in which the front end and the side end or the rear end and the side end of the vehicle extend can be estimated, for example, If the corners are bumpers,
By reducing the roundness of the corner of the bumper to a curvature that is almost linear, the front end and the side edge or the rear edge and the rear end and the side edge of the vehicle can be changed from the direction in which the front edge and the side edge or the rear edge and the side edge of the bumper extend. Means the range in which the position can be estimated. Therefore, FIG. 4 shows an example of images P _FL, P
Each of the cameras C _FL, C _FR, C _{RL, and} C _FL is included in the image so that the front and rear ends and the left and right ends of the vehicle body extend to a shape that can be estimated, as shown by _FR, P _{RL, and} P _RR.
Set the _RR attitude. In the figure, the abbreviations W _LL , W
_LR indicates a white line on the road surface, W ' _LL and W' _LR indicate white lines on the image, and reference numeral 90 'indicates a bumper as a vehicle corner on the image. In this case, regarding the mounting position of the camera 21,
As will be described in detail later, generally, the vehicle body is installed at as high a position as possible at each required position to secure a wide field of view.

As a second contrivance of the installation posture, the camera 21
The direction of the horizontal direction is substantially the same as the direction of the line of sight when the driver sits in the driver's seat and looks at the required direction as shown in FIG. The point where the optical axis X intersects with the ground is set in a position substantially perpendicular to the direction of the vertical plane including the straight line connecting the cameras 21, and the position where the optical axis X intersects with the ground according to the position of the first device. A
_{FL, AFR, ARL, and ARR} . Thus, the vertical angle of view range covered by each camera 21 is α _F , α _R , and the horizontal angle of view range is α _FL , α _FR , α.
_{RL and} α _RR . The driver and the camera 21
Is different depending on the physique and favorite posture of the driver, the sliding position of the seat and the inclination of the reclining differ depending on the change of the posture from time to time.Strictly speaking, the direction fluctuates with them. Although the direction of the vertical plane including the straight line also varies, the direction substantially the same as the direction of the vertical plane according to the present invention refers to the deviation in the direction due to such a deviation in the position of the driver or the change in the posture. The direction may be set in accordance with the direction, for example, by statistically calculating the standard position taking all these factors into consideration and determining the position of the driver. do it.

[0019] Then, the horizontal axis was set to be horizontal on the image of the left camera 21, with reference to FIG. 4, the vehicle bumper corner 90 ', for example a camera C _FL
For, will be located in the center bottom of the screen, the white line W _LL of road surface running parallel with the own vehicle becomes the image across the screen from the lower left (or right) in the upper right (or upper left) diagonally in the direction. Therefore, as a third contrivance of the installation posture, the camera 21 is installed in a posture inclined around the optical axis X. For example, the camera on the left side of the vehicle is tilted clockwise by twisting it to the right around the optical axis. As a result, the screen is oriented such that the forward direction matches the driver's sense as shown in FIG. Specifically, the image P _FL
Is an image of the camera C _FL installed at the left front corner, a left front corner 90 ′ is captured at the lower right corner, and a straight white line W ′ _LL in the forward direction is generally from the lower center of the screen to the diagonally upper right direction. Ballmer in a straight line, so actually feel the angle and perspective when viewing the left side white line W _LL of the vehicle is fit from the driver's seat. Furthermore, for example, when the front left image P _FL and the front right image P _FR are simultaneously arranged on the left and right _sides of the screen, this image is the same as the own lane left white line W ′ _LL on the image P _{FL at} that time. In this arrangement, the white line W ' _LR on the right side of the own lane on the image P _FR appears to intersect at infinity as if the front line was photographed by one camera. The inclination given to the screen in this manner is the same for the right side and the rear left and right.

[0020] Next (installation position of the imaging device), the installation position of the imaging device, shows the mounting of the camera C _FL to the left front corner in FIG. 5 and FIG. 6, will be described in detail. In this example, the camera C _FL is configured to be incorporated into a side lamp 92 integrally formed with the headlight 91 as shown in the figure. I have. Of course, it is also possible to make the lamp smaller and install it in the extra space, to install it on an outer panel other than the lamp, or to mount it directly on the body surface. Thereby, as described above, the camera C
_{At the} same time as the outermost edge (left corner of the front bumper in the figure) 90 of the vehicle body immediately below the _{FL, the} periphery and infinity of the vehicle are taken in at the same time, but the widest possible range is taken in so as to satisfy the above conditions. For this purpose, the vertical angle of view α _{F is} about 90 ° to slightly larger than it, and the horizontal angle of view α _{FL is} about 90 ° to slightly larger than about 90 °. A wide-angle lens camera _CFL is required. However, if the angle of view is too wide, the deviation from the sense of distance of the entity seen by the driver becomes large, and there is naturally a limit. Therefore, in this embodiment, as an example, 97 ° the angle alpha _F in the vertical direction, and the angle alpha _FL of the right and left directions using the camera C _FL which was 125 °.

With such an installation posture and an installation position, a natural image aimed at by the present invention can be obtained. FIG. 7 shows a detailed example of the image P _FL of the camera C _{FL at} the left front corner of the vehicle. In the figure, it represents the white line W _LL traveling direction drawn on the road surface, the appearance of an image when combined left front corner vertically above the vehicle at the intersection of the white lines W _LC orthogonal thereto. In this screen, 'based on the right white line W in the traveling direction of the vehicle' vehicle bumper corner 90 the host vehicle traveling lane L, including _{LR '1,} lane L to the left' _2, further orthogonal White line W ' _LC
Overlooking a wide range up to the left side, the infinity (indicated by a broken line in the figure) can be taken over the entire left and right width of the screen. The front of the vehicle, that is, the infinity on the extension of the center axis in the front-rear direction of the vehicle, is included in the infinity that is reflected in the entire left-right width in this manner. It is displayed horizontally above the bumper corner 90 '.

(Image Display Method of Control Apparatus) Next, in this embodiment, a display 5 of a navigation apparatus is used as a monitor as a display means. These monitors are located near the instrument panel in front of the driver. The driver's feeling when looking into the screen is that the upper part of the screen is regarded as a physical upper part, and at the same time, all traffic signs, guide maps, etc. on the road are written in such a way that the upper part of the display surface indicates the front. As a result, the person naturally recognizes that he is ahead of the traveling direction. It is natural that the lower part of the screen is regarded as a physical lower part and at the same time is recognized as a rear part. Therefore, the screen display of the present invention is based on such recognition in principle.

In the actual method, the attitude of the camera 21 is set so that the images shown in FIG. 4 can be obtained. More specifically, the cameras C _RL , C _{RR at} the rear of the vehicle are mounted upside down. That is, as shown in FIG. 1, first, the optical axis is aligned with the vertical line in a state where the driver is sitting in the driver's seat, and a camera C _O that looks down directly below the vehicle so that the front of the vehicle body is at the top of the screen. , tilted from the state of the optical axis in front and left, a further camera C _FL that inclined to the right to the optical axis, similarly tilted optical axis forward and rightward, further to the left to the optical axis The camera C _FR was tilted. Similarly, the cameras C _{RL and} C _RR tilt the optical axis backward and left and right, and twist the optical axis left and right around the optical axis. However, the figure shows the inclination in the front-back direction and the inclination in the left-right direction, and does not show the twist around the optical axis. When the posture is set as described above, a desired screen can be obtained simply by displaying the image on the display 5 as it is. In this regard, it is conceivable to take a so-called rearview mirror image, in which the back is taken by a camera, and the image information is displayed on the monitor after inverting the image information left and right. This form is not adopted in the present apparatus because it does not fit the purpose. The image thus obtained is, as shown in FIG.
The left and right white lines W ' _LL and W' _LR on the screen match the directions of the actual white lines W _LL and W _LR as viewed from the driver's position.

The image information obtained in this manner is selected and provided to the driver according to the location, situation, etc., based on the basic principle that the display is kept to a minimum necessary according to the driver's request. FIG. 8 shows a processing flow of the entire system configured in accordance with this purpose. This system is basically divided according to the type of driver's operation.
The rimming operation indicated by reference sign A with the mark, the obstacle avoidance operation also indicated by B, the parking operation indicated by C in the same manner, the blind corner operation indicated by D, the confirmation of the rear blind spot of E, and the confirmation of the white line of F are respectively performed. Consists of supportive intentions.

In order to realize the above-mentioned support contents of A to F, in the first step S-1, data is read from the input device 2 constituting the system of FIG. Then, in the next step S-2, considering safety and necessity in the speed range,
Separate functions to operate. That is, when the determination of the low vehicle speed range is established from the input of the vehicle speed sensor 25, in the next step S-3, the ON determination of the selection SW (switch) is performed, and
When this is established, a screen display corresponding to the selection of the rimming operation of A, the obstacle avoidance operation of B, the parking operation of C, or the blind corner operation of D is performed. On the other hand, step S-
If the determination of the low vehicle speed region of 2 is not established,
The display processing of the rear blind spot confirmation of F and the white line confirmation of F is performed. It should be noted that, for a detailed speed range, different criteria are required for each function, but specific settings thereof may be individually set by test evaluation or the like.

Next, when one of the switches A to D is selected at a low vehicle speed, the function corresponding to the selected SW is activated. Since these functions are basically independent functions for different purposes, they are configured so that multiple selections cannot be made. Even if the switch is not selected, B
The display function of the obstacle avoidance operation of D and the blind corner operation of D is configured to operate automatically in consideration of safety. These are indicated by reference signs B 'and D' with a circle in the figure. Further, in the case of the middle and high speed range, the function of confirming the white line of F is connected to the function of confirming the rear blind spot of E. In the following, these individual functions will be described mainly with respect to the rimping operation of A according to the subject of the present invention, and other operations will be briefly described.

(Edge Alignment Operation) As shown in FIG. 9, the display method in the edge alignment operation is the outermost line W _BL ,
The outermost extension line (parallel to the vehicle center axis) L, which is obtained by lowering the W _BR vertically to the ground and extending the line in the vehicle longitudinal direction.
Basically, _BL and _LBR are superimposed and displayed on the screen. In this case, the outermost extension line L _BL, the outer line of the tire may be displayed tire outer extension line extending in the longitudinal direction of the vehicle instead of L _BR. Further, these outer extension lines do not necessarily have to be strictly adjusted to the outermost side of the vehicle or the outermost side of the tire, and may be lines having a margin of about 20 cm from the outermost side. These will be the pattern of extension lines, a single straight line as shown in FIG. 9 or or a plurality of lines of about 10cm interval, the tire outer extension with a picture T _I of the tire as shown in FIG. 10 (1), Line L
Various forms are conceivable, such as an image of _TL or a three-dimensional expression so that the ground G _I and the outer surface B _I of the vehicle 9 can be imaged as a plane perpendicular to the ground as shown in FIG. .

The conditions for the next display are the selection S shown in FIG.
W requires that the driver selects rimming. FIG. 11 shows a processing flow based on this selection. The rim-adjustment operation is performed only at a low vehicle speed, and is not performed at a high vehicle speed. This is because such rimping operation is dangerous during high-speed running, and the image information itself may disperse the driver's attention. First, when the driver intends to stop as much as possible in the groove on the left side while traveling forward, the driver selects the left-adjustment SW. This selection is determined in step SA-1. If the vehicle speed becomes equal to or lower than the preset vehicle speed in this state, forward traveling is established by the determination in step SA-2, and the processed image P _{FL in} step SA-4 is displayed. Therefore, the driver can easily perform the rimping by driving the superimposed self-vehicle so that the leftmost outer line _LBL is aligned with the groove on the screen as a target. When the rimming is completed and the shift lever is moved to the “P” range position, the input of the position SW (switch) 23 due to this is made in step SA-11.
In step SA-12, the selection switch is released, and the framing support is completed. Other possible conditions for this release include a certain time period during which the vehicle is stopped when the shift lever is in the "N" range position, a certain time period during which the vehicle is stopped when the brake SW (switch) is turned on, or an engine stop. If it is necessary to move backward during the rimping operation depending on the situation, set the shift lever to the “R” range position.
At step SA-2 based on the input of the position SW (switch) 23, the image is changed to P at step SA-5.
Instead of _RL , the reverse support screen is displayed. In particular, in the case of reverse travel, the front left corner of the vehicle swings left and right, so it is effective to adopt a display method of simultaneously displaying the images P _FL and P _RL as shown in the upper right of FIG. Although the above description is based on a general front wheel steering mechanism, in the case of a four-wheel steering mechanism employed in some vehicles,
When moving forward, it is effective to display two images simultaneously as shown in the upper right of FIG.

On the other hand, if it is desired to shift the vehicle to the right side depending on the situation, the right shift determination is made in step SA-1 by selecting the right shift SW, and step SA-6 or step SA-6 is performed according to the forward / reverse determination in step SA-3. The screen display of step SA-7 is displayed. In addition, when passing on a narrow road or when passing through a place narrowed by obstacles, etc., if the rimming center SW is selected, whether the vehicle is moving forward or backward is determined by steps SA-1 and SA-8. Step SA-
9 or step SA-10, the information can be displayed simultaneously on one screen, and support suitable for the driving operation can be performed. Note that, except for the left-aligned screen in FIG. 11, the captured image is partially omitted and the screen is simplified, and the actual display screen includes a captured image, similarly to the left-aligned screen. .

(Obstacle Avoidance Operation) The conditions for displaying in the case of the obstacle avoidance operation are determined according to the processing flow shown in FIG.
Limited to low vehicle speeds as in the case of the rimming operation. When the driver operates the selection switch (for example, front left) shown in FIG. 2, the corresponding corner image (see FIG. 4) is displayed in step SB-2 according to the determination in step SB-1 corresponding thereto. I do. At this time, based on the input from the steering angle sensor 26, a predicted trajectory of the vehicle body corner corresponding to the steering angle and the forward / backward movement is also displayed. This display is displayed in step SB
When the detection distances of the distance sensors 28 are all equal to or greater than the reference value as a result of the determination of -3, the processing is terminated by the release processing of all the corner SWs in step SB-4. When the switch is not selected, the process proceeds to B ′ in the judgment of step SB-1. In the judgment of step SB-5, the detection distance of the distance sensor 28 at each corner becomes one or more and equal to or less than the reference value. If the distance is approaching further in the judgment of SB-6, the image of the corresponding corner is displayed in step SB-7, and the driver is warned in step SB-8.

(Parking Operation) The conditions for displaying in the case of the parking operation follow the processing flow of the operation shown in FIG. Also in this case, it is assumed that assistance is provided only at a low vehicle speed, as in the case of the two operations. This flow is started when the driver selects the parking SW shown in FIG. In the case of left rear parking, the driver
The WP _L, also in the case of the right rear parking will select the SWP _R. In the case of left rear parking based on the determination of step SC-1 according to this selection, step SC-
When the judgment of 2 is forward by inputting the position switch 23,
Step by SC-4 the parking space range Z _I left behind the image P _RL superimposed, the driver is driving operation such that the actual target parking space in the range Z _I enters,
The vehicle can be stopped at a position where the reverse is to be started. When the driver confirms this state and puts the shift lever in reverse, in step SC-5, the two rear images P
_RL and _PRR are simultaneously displayed on the screen, and a predicted trajectory line _LBSR corresponding to the steering angle is superimposed on each corner. With reference to this, the driver performs a driving operation so as to enter the actual target parking space U ′ shown on the screen. This flow ends when the switch is released in step SC-9 based on the shift determination to the parking range in step SC-8.

In this parking operation, as shown in FIG. 14, the outermost extension lines L _BL and L _BR which are the subject of the present invention are replaced with the predicted trajectory line _LBSR according to the steering angle. Superimposition may be performed. In this case, the display timing is when the shift lever is put in reverse and the two _subsequent images _PRL and _PRR are simultaneously displayed on the screen in step SC-5, and the steering wheel is actually turned by the steering angle sensor 26. It is effective to continue the display until it is detected or until the parking operation is completed. Further, in addition thereto, as indicated by reference numeral W _I in FIG, the target parking frame reference line may be superimposed. The frame reference line indicates a position where a position having a predetermined width between the rear end position of the vehicle and the outermost side of the vehicle is projected on the ground. Therefore, this frame reference line is effective to be used as a guide for guiding the vehicle all the way to the center position and rearward in the target parking space U ′.

(Blind Corner) The conditions for performing the display in the case of the blind corner follow the schematic processing flow of the blind corner display shown in FIG. This flow is
As described in the main flow, the operation is performed only at a low vehicle speed. Then, the driver depresses the brake, and the blind SW (front left, front right, rear left, rear right) shown in FIG. , Step SD
The one-side screen shown in FIG. 29 or the screen (1) or (2) shown in FIG. In the case of the screen (1), the front left image P _FL and the front right image P _FR are represented by a picture M of the own vehicle.
It is placed at the position corresponding to _I, and the distance marker L as shown in FIG.
Superimpose _K. And this distance marker L _K
Indicates the gaze direction of the driver, so that the point at which the driver gazes can be easily understood. Note that, in the figure, reference numeral N ′ indicates a visual obstacle.

(Confirmation of Back Blind Spot) FIG. 16 shows the flow of display for confirming the back blind spot. This display indicates that the blinker operation in step SE-3 is performed while the vehicle is running at a speed equal to or higher than the set vehicle speed, two lanes on one side according to the determination in step SE-1 obtained from the navigation information, and not near the intersection according to the determination in step SE-2. If it is determined, the process is executed by determining that it is overtaking or interrupting, and the corresponding rear image is displayed in step SE-4 or step SE-5. The driver performs a driving operation with reference to this image. As for the lane determination, the number of lanes on the road on which the vehicle is traveling, the lane on which the vehicle is traveling, and the like can be easily determined by using the white line detection technology described later. Also, using the signal of the optical beacon installed on the main road,
The same is easily possible. Just using these pieces of information can easily determine whether to pass or interrupt in combination with the blinker operation. Of course, when combined with navigation information, it is natural that the information accuracy is further improved.

(White Line Confirmation) FIG. 17 shows a processing flow of white line confirmation. As a condition, at a certain vehicle speed or more, the headlight lighting determination in step SF-1 is established, and when the wiper operation determination in step SF-2 is satisfied, it is determined that the vehicle is running in the rain at night, and step SF- The side lamp is turned on by 4 and the road surface ahead is illuminated from the left side, and the screen is displayed by step SF-5. In the above flow, at night, when the determination in the rain is not established, the process proceeds to the processing flow of the rear blind spot confirmation. Even when both of the above determinations are established, when the blinker is activated, the determination requirements of the flow of the rear blind spot confirmation flow are required. To display the rear blind spot screen. In addition, lighting of the side lamp is not always a necessary condition. Because the optical axis directions of the front left and right cameras C _{FL and} C _FR are greatly different from the direction of the headlights of the oncoming vehicle, even if the light of the oncoming vehicle is specularly reflected on the water film,
This is because the light does not enter the CCD of the camera and is not dazzled, and the reflected light from the white line is irregular reflection and can be captured by the CCD. Therefore, it is possible to sufficiently detect from the side of the own vehicle to slightly ahead using the lighting of the oncoming vehicle, the following vehicle, the adjacent vehicle, and even the own vehicle. in this way,
The side lamp lighting is for making it easier to see.

(Detection of White Line) The driving support device of the present embodiment can be used for detection of a white line. Since the specific method of white line detection is well known, a description thereof will be omitted, but most of them are provided with a camera exclusively for the vicinity of a windshield in a vehicle cabin. On the other hand, in the present apparatus, white line detection can be performed using the two cameras at the left and right corners in front of the vehicle provided for the blind spot detection as described above. By doing so, it is possible to accurately detect the relative positional relationship with the vehicle body by detecting the horizontal white line near the vehicle using the wide field of view in the lateral direction, which is a feature of the driving support device, and As described in the display of the white line, advantages such as detection at the time of night rain or fog can be obtained. Moreover, it is inexpensive because it is shared with other functions.

As described above, for convenience of understanding of the technical concept of the present invention, a description has been given of some modified examples based on one embodiment. However, the present invention is limited to the illustrated embodiments and modified examples. Instead, the present invention can be embodied with various specific configurations changed within the scope of the items described in the individual claims.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an installation posture of an imaging device in an embodiment of a driving assistance device to which the present invention is applied.

FIG. 2 is a block diagram illustrating a system configuration of the driving support device.

FIG. 3 is a plan view schematically showing the arrangement of the imaging device and the distance detection device of the driving support device on a vehicle.

FIG. 4 is an explanatory diagram showing a relationship between a direction of an imaging device installed at each corner of a vehicle and a monitor display screen.

FIG. 5 is a cross-sectional view schematically illustrating a specific arrangement position and an installation posture of the imaging device with respect to a vehicle corner.

FIG. 6 is a vehicle front view illustrating a specific installation position of the imaging device.

FIG. 7 is a screen explanatory view exemplifying a monitor display screen displaying a left front corner of the own vehicle;

FIG. 8 is a flowchart showing a processing flow of the entire system of the driving support device.

FIG. 9 is an explanatory diagram showing a monitor display screen at the time of a rimping operation together with a positional relationship with each part of the vehicle.

FIG. 10 is an image diagram showing a graphic example of line display in comparison.

FIG. 11 is a flowchart illustrating a processing flow at the time of an edge-aligning operation.

FIG. 12 is a flowchart showing a processing flow at the time of an obstacle avoidance operation.

FIG. 13 is a flowchart showing a processing flow at the time of a parking operation.

FIG. 14 is a screen explanatory view showing a modified example of the display screen at the time of the parking operation.

FIG. 15 is a flowchart illustrating a processing flow of blind corner display.

FIG. 16 is a flowchart showing a processing flow of rear blind spot display.

FIG. 17 is a flowchart illustrating a processing flow when displaying a white line.

[Explanation of symbols]

1 control device (image synthesizer) 5 display (monitor) 9 vehicle 21 picture representing a CCD camera (image pickup apparatus) L _BL, L _BR outermost extension line L _TL tire outer extension line T _I picture B _I vertical plane of the tire

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[Procedure amendment]

[Submission date] April 23, 1999 (1999.4.2
3)

[Procedure amendment 1]

[Document name to be amended] Drawing

[Correction target item name] All figures

[Correction method] Change

[Correction contents]

FIG. 5

FIG. 6

FIG. 10

FIG.

FIG. 2

FIG. 3

FIG. 14

FIG. 4

FIG. 7

FIG. 8

FIG. 9

FIG. 11

FIG.

FIG. 13

FIG.

FIG. 16

FIG.

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3D053 FF11 FF17 FF28 5H180 AA01 CC03 CC04 CC07 CC11 CC14 CC24 FF27 FF32 LL02 LL08 LL11

Claims (4)

[Claims] 1. A driving assistance device, which is installed in a vehicle and captures information of the outside world, a control device that processes an image captured by the imaging device, and a monitor that displays an image processed by the control device. In the above, the control device superimposes an outermost extension line obtained by lowering the outermost line of the vehicle vertically on the ground and extending the line in the vehicle front-rear direction on a display of an image captured by the imaging device on a monitor. A driving support device comprising an image synthesizing unit. 2. A driving assistance device, which is installed in a vehicle and includes an imaging device that captures information of the outside world, a control device that processes an image captured by the imaging device, and a monitor that displays an image processed by the control device. The control device according to claim 1, further comprising: an image synthesizing unit configured to superimpose a tire outer extension line obtained by extending a tire outer line in a vehicle front-rear direction on a display of an image captured by an imaging device on a monitor. Driving support device. 3. The driving support device according to claim 2, wherein the tire outside extension line is accompanied by a tire pattern. 4. The driving support device according to claim 1, wherein the extension line is accompanied by a picture representing a vertical plane with respect to the ground on the video.