JP2002154375A - Visibility supporting device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a visibility supporting device for a vehicle capable of displaying crossroad picture image information on a display device with good timing at the time of approaching a crossroad with a bad visibility. SOLUTION: An image pickup device to pick up an image of picture image information in the vehicle width direction is arranged at least on one of front and rear ends of the vehicle, a distance measuring sensor to measure a distance of an object in the vehicle width direction is arranged, and a picture image display device is arranged at a position for a driver to visibly recognize. Existence of a moving body at the crossroad is detected from a distance detection value of the distance measuring sensor by judging as it is an intersection with a bad visibility when vehicle speed V is lower than a specified value VL and the distance detection value of the distance measuring sensor is lower than a specified value and judging as the moving body enters the intersection when the distance detection value exceeds the specified value when intersection approach is detected in accordance with current position information and road map information, the picture image information of the moving body is displayed on the picture image display device in the case when the moving body exists and an alarm is raised in the case when approaching speed of the moving body is high and when the distance detection value is lower than the specified value.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of displaying left and right image information in at least one of a front end portion and a rear end portion of a vehicle at a position where the driver can visually recognize the left and right image information. The present invention relates to a visibility assisting device for a vehicle that assists a visual range.

[0002]

2. Description of the Related Art As this kind of vehicle view assist device,
For example, JP-A-9-58343 (hereinafter, referred to as a first conventional example) and JP-A-9-71180 (hereinafter, a second conventional example)
(Referred to as a conventional example) is known. First
In the conventional example, a nose-view camera unit attached to the front center of the vehicle captures left and right image information, and calculates the relative position of the vehicle on the road map based on the traveling trajectory of the vehicle determined by dead reckoning navigation and the road map information. A temporary stop intersection is determined based on the vehicle speed and the information from the car navigation system which detects the current position on the road based on the position and the absolute position of the vehicle obtained by receiving the radio wave from the GPS satellite, A nose-view device of a vehicle is described in which a nose-view image is displayed on a monitor only when it is determined that the vehicle enters the intersection when the vehicle speed is equal to or lower than a predetermined vehicle speed.

In a second conventional example, a turn signal switch is set to O
When it is determined that there is a structure on both sides of the road by measuring the distance to the left and right of the vehicle using a distance measuring device mounted on the vehicle that is at the same position as the occupant's view when it is N Describes a vehicle view assist device that determines that an occupant is obstructed from view and displays an image from an imaging device attached to the front of the vehicle on a monitor.

[0004]

However, in the first conventional example, the stop intersection is determined once based on information supplied from external road information supply means such as car navigation. In the case where information from the road information supply means is not supplied to the road or when GPS satellite radio waves cannot be received, the accuracy of the position at which the nose-view image is displayed on the monitor is reduced, and the nose-view image is displayed on the monitor considerably shortly before the intersection. There is an unsolved problem that must be solved.

In the second prior art, when the turn signal switch is ON and there are structures on both sides of the road, an image from an image pickup device attached to the front of the vehicle is displayed on a monitor. Therefore, when the vehicle goes straight at the intersection, the visibility assist device does not automatically operate, and when the turn signal is put out to turn left or right, the visibility assist device is turned on even before the turn signal is out of the intersection. As a result, there is an unsolved problem that the driver who does not need the information on the crossing road starts to display the structure beside the road in front of the crossing road, which is troublesome for the driver.

The present invention has been made in view of the above-mentioned unsolved problems of the prior art, and displays intersection road image information on a display device with good timing when approaching an intersection road with poor visibility. It is an object of the present invention to provide a view assisting device for a vehicle that can perform the above-described steps.

[0007]

According to a first aspect of the present invention, there is provided a vehicle vision assisting device disposed at at least one of front and rear ends of a vehicle to capture an image of the vehicle in the left-right direction. In a vehicular visibility assisting device, comprising: an image pickup means; and an image display means for displaying image information picked up by the image pickup means to a driver of a vehicle, an object in an image pickup direction near the vehicle front-rear direction of the image pickup means. Distance measuring means composed of an ultrasonic wave, a laser radar, a millimeter wave radar, etc. for measuring a distance to an object, and an intersection approach for detecting an approach of a vehicle based on an increase in distance information measured by the distance measuring means. Detecting means; and image information display control means for enabling display of image information by the image display means when the intersection approach detecting means detects entry of the vehicle into the intersection.

[0008] Further, the vehicle view assisting device according to claim 2 is a vehicle position measuring means comprising a global positioning system (GPS) or the like for measuring a current position of the vehicle according to the invention according to claim 1, A road map information supply unit for supplying road map information, and detecting approach of a vehicle to an intersection by referring to road map information of the road map information supply unit based on current position information measured by the vehicle position measurement unit. There is provided an intersection approach detecting means, and a distance measuring operation control means for activating the distance measuring means when the approach to the intersection is detected by the intersection approach detecting means.

In a third aspect of the present invention, in the vehicle visibility assisting device according to the second aspect of the present invention, when the intersection approach detecting means determines that a traveling distance from the current vehicle position to the intersection is equal to or less than a predetermined value. , Is configured to detect that the vehicle has approached an intersection. Still further, the vehicle view assisting device according to claim 4 is the invention according to claim 2, further comprising a vehicle speed detecting unit that detects a vehicle speed of the vehicle, wherein the intersection approach detecting unit detects a vehicle speed from a current vehicle position to an intersection. When the travel time obtained by dividing the travel distance by the vehicle speed detected by the vehicle speed detection means is equal to or less than a predetermined value, it is configured to detect that the vehicle has approached the intersection.

Further, the vehicle view assisting device according to a fifth aspect of the present invention is the vehicle vision assisting device according to any one of the second to fourth aspects, further comprising a vehicle speed detecting means for detecting a vehicle speed of the vehicle, wherein the distance measuring operation control means comprises: When the vehicle speed detected by the vehicle speed detecting means is equal to or less than a predetermined value near a stop, for example, the distance measuring means is set to an operating state. According to a sixth aspect of the present invention, in the vehicle visibility assisting device according to any one of the first to fifth aspects, the moving body on the intersection road approaches the own vehicle based on the distance information detected by the distance measuring means. Moving body detecting means for detecting the presence of a moving body, and notifying means for outputting a warning to a driver when the moving body detecting means detects the presence of a moving body approaching the vehicle.

Further, according to a seventh aspect of the present invention, in the vehicle visibility assisting device according to the sixth aspect, when the distance information measured by the moving object detecting means is equal to or less than a predetermined value, It is configured to determine that a moving object on an intersection road is approaching the own vehicle. Furthermore, the vehicle vision assist device according to claim 8 is a vehicle view assist device according to claim 6.
In the invention according to the above, when the moving body detecting means is at a predetermined position or more and a direction approaching the own vehicle when the relative vehicle speed of the moving body determined from the distance information measured by the distance measuring means is in a direction approaching an intersection road, It is configured to determine that the moving body is approaching the own vehicle.

According to a ninth aspect of the present invention, in the vehicle view assisting device according to any one of the sixth to eighth aspects, the image display means includes: a left image information and a right image information; And the image information of the direction of the moving object approaching the own vehicle is displayed by the moving object detecting means.

According to a tenth aspect of the present invention, in the vehicle view assisting device according to any one of the second to ninth aspects, the image display means may include a left image information and a right image information of the image of the imaging means. Image information can be individually displayed, and only the image information in the direction of the moving object approaching the vehicle is displayed by the moving object detecting means.

Further, in the vehicle view assisting device according to claim 11, in the invention according to any one of claims 2 to 9, the road map information supply means includes intersection angle information of an intersection, and the imaging means includes An imaging unit rotation driving unit that rotates the imaging unit about an axis substantially in the vertical direction of the vehicle; and an imaging unit rotation control unit that controls the imaging unit rotation driving unit based on the intersection angle information. .

According to a twelfth aspect of the present invention, in the vehicle view assisting device according to any one of the first to tenth aspects, the distance measuring means is provided at an end of the vehicle in the vehicle longitudinal direction with respect to the imaging means. ing.

[0016]

According to the first aspect of the present invention, the distance to the object in the left-right direction is measured by distance measuring means arranged near the vehicle front-rear direction of the image pickup means for picking up the image in the left-right direction of the vehicle. When the measured distance increases by the intersection entry detecting means, it is detected that the vehicle has entered an intersection with poor visibility, and the image information display control means uses the image information taken by the image pickup means when entering the intersection to the image display means. Since it is displayed, left and right image information can be displayed at the timing when the front or rear of the vehicle enters the intersection, and unnecessary images before the intersection are not displayed, so that the driver Is obtained, the image information of the intersection road can be displayed in a timely manner.

According to the second aspect of the present invention, when the intersection approach detecting means detects the approach to the intersection based on the current vehicle position and the road map information, the distance measuring operation control means measures the distance. Since the means is set to the operating state, the distance measuring means is set to the operating state only when approaching an intersection, so that an effect that unnecessary operation of the distance measuring means can be prevented can be obtained. Furthermore, according to the invention according to claim 3, the intersection approach detection means detects that the vehicle has approached the intersection when the distance from the current vehicle position to the intersection is equal to or less than the predetermined position.
The effect is obtained that the distance measuring means is reliably operated just before the intersection, and the approach to the intersection can be determined with certainty.

According to a fourth aspect of the present invention, in the intersection approach detecting means, the travel time from the current vehicle position to the intersection obtained by dividing the distance from the current vehicle position to the intersection by the vehicle speed is equal to or less than a predetermined value. It is detected that the vehicle has approached the intersection when, so that regardless of the speed of the vehicle, the distance measuring means can always be operated more reliably at the same timing before the intersection, and it is possible to reliably determine the approach to the intersection. The effect is obtained.

Further, according to the fifth aspect of the present invention, the distance measuring means is activated only when the vehicle approaches the intersection and the vehicle speed falls below the predetermined value. In a situation where a temporary stop is not required as in the case, an effect is obtained that unnecessary operation of the distance measuring means can be prevented, and thus unnecessary operation of the entire view assisting device can be prevented.

Furthermore, according to the invention of claim 6, when the moving body detecting means detects that the moving body is approaching the own vehicle, an alarm is output to the driver by the notifying means. The driver can be alerted to the approach of a moving object such as a car, a motorcycle, a bicycle, or the like. Further, according to the invention according to claim 7, the moving object detecting means determines that the moving object on the intersection road is approaching the own vehicle when the distance measured by the distance measuring means is equal to or less than a predetermined value. Since the determination is made, a distant moving body is not determined as a moving body, and an effect is obtained that only information that requires the driver's immediate attention can be notified by the notification means.

Further, according to the present invention, when the relative speed of the moving object obtained from the distance information measured by the distance measuring means is equal to or more than a predetermined value and is in the direction approaching the own vehicle, It is determined that the moving object is approaching the vehicle, and therefore, of the moving objects on the crossing road, the moving object approaching the own vehicle at a relative vehicle speed equal to or higher than a predetermined value can be notified by the notification means, and the driver can be notified. However, there is an effect that it is possible to notify only information that requires attention for the time being.

Further, according to the ninth aspect of the invention, the left and right image information can be individually displayed, and the image information of the image pickup means is displayed only in the direction in which the moving body approaching the own vehicle exists. Therefore, it is possible to display only the image information that requires the driver's attention for the time being, and it is possible to obtain the effect that the driver can reliably grasp the direction in which the driver needs to pay attention.

Furthermore, according to the tenth aspect of the present invention, the distance measuring section of the distance measuring means is rotated according to the intersection angle of the intersection, so that even if the intersection angle of the intersection is not 90 degrees, the intersection road is turned. This has the effect that the moving object can be reliably detected by the distance measuring unit. Further, according to the eleventh aspect, since the imaging unit of the imaging means is rotated according to the intersection angle of the intersection, the image information of the intersection road can be accurately obtained even when the intersection angle of the intersection is not 90 degrees. The effect that the image can be picked up is obtained.

Further, according to the invention of claim 12,
Since the distance measuring means is disposed closer to the end in the front-rear direction of the vehicle than the imaging means, an effect is obtained that the distance measuring means can detect distance information ahead or behind the driver more quickly.

[0025]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic configuration diagram showing a first embodiment of the present invention. In the figure, reference numeral 1 denotes a vehicle, which captures image information in the vehicle left-right direction at a front-end hood left-right position of a hood 1a thereof. The image pickup devices 2L and 2R as image pickup means constituted by a CCD camera for outputting are attached, and the left and right positions of the bumper 1b at the front end positions of the image pickup devices 2L and 2R are set in the vehicle left-right direction (vehicle width direction). Distance measuring sensors 3L and 3R as distance measuring means including a millimeter wave radar, a laser radar, and the like for measuring a distance to an object and outputting a distance detection value are attached.

Further, an image display device 4 as image display means is provided in the vehicle cabin at a position visible to the driver. Then, the image information output from the imaging devices 2L and 2R and the distance detection values output from the distance measurement sensors 3L and 3R are input to the information processing unit 5 as shown in FIG. The information processing device 5 includes imaging devices 2L and 2L.
Current position information from a current position detecting device 6 that detects the current position of the vehicle by receiving radio waves from GPS satellites provided with a global positioning system (GPS) in addition to the R and the distance measurement sensors 3L and 3R. Is input, the road map information from the map information supply device 7 serving as map information supply means for supplying road map information such as a car navigation system is input, and further, vehicle speed detection means for detecting the vehicle speed of the vehicle 1 is input. A vehicle speed detection value output from the vehicle speed sensor 8 is input, and based on these, predetermined arithmetic processing is performed to detect the approach of the intersection, and the image information of the imaging devices 2L and 2R is supplied to the image display device 4, The situation of the crossing road is made visually recognizable, and when there is a moving object to be warned on the crossing road, an alarm display is displayed on the image display device 4 and connected to the arithmetic processing device 5. And emits a warning sound in an audible alarm device 9.

Here, as shown in FIG. 3, the image display device 4 has a display screen 4a having two left and right screens 4L at the center.
And a right screen 4R, the left screen 4L displays image information of the left imaging device 2L, and the right screen 4R displays image information of the right imaging device 2R. Alarm display parts 4b and 4c are formed in the upper and lower parts of 4R.

Then, the arithmetic processing unit 4 executes a view assisting process shown in FIG. This visibility assisting process firstly
In step S1, the current vehicle position is grasped based on the current position information input from the current position detection device 6 and the road map information input from the map information supply device 7, and then the process proceeds to step S2, where the intersection It is determined whether or not the vehicle is traveling near the intersection by determining whether or not the distance to the intersection is equal to or less than the predetermined distance.If the distance to the intersection is greater than the predetermined distance, it is determined that the vehicle is not traveling near the intersection. The process proceeds to step S3, where an intersection approach flag F, which will be described later, is reset to "0", and then returns to step S1. If the distance to the intersection is less than or equal to a predetermined distance, it is determined that the vehicle is traveling near the intersection. Move to step S4.

In step S4, the vehicle speed detection value V input from the vehicle speed sensor 8 is read, and then in step S5
It is determined whether the read vehicle speed detection value V is equal to or less than a preset low vehicle speed set value VL near the stop, and when the vehicle speed detection value V exceeds the low vehicle speed set value VL,
When it is determined that the traffic light is a traffic light passing at a certain intersection at an intersection, or that the vehicle is traveling on a priority road, and the like, the process proceeds to step S3. It is determined that the vehicle enters, and the process proceeds to step S6.

In step S6, the distance measuring sensors 3L,
The distance detection values DL and DR are read with the 3R in the operating state,
Next, the process proceeds to step S7 to determine whether or not an intersection approach flag F described later is set to "1". If the intersection approach flag F is reset to "0", the process proceeds to step S8. , Both distance detection values DL, DR
Are determined to be equal to or greater than predetermined values DSL, DSR, and both left and right distance detection values DL, DR are set to DSL, DSL.
If it is equal to or greater than DSR, it is determined that the vehicle is approaching an intersection with good visibility, and the process returns to step S1, and one of the left and right distance detection values DL and DR is equal to the predetermined value DSL or DS.
If it is less than R, it is determined that the vehicle is approaching an intersection with poor visibility, and the process proceeds to step S9. The intersection approach flag is set to "1" indicating that an intersection with poor visibility is approaching, and the process returns to step S1. . Here, the specified value D
SL and DSR are, for example, when DSL is set to 1 m, D
Although it is preferable to set the SR to 3 m, the present invention is not limited to this. An arbitrary distance can be set on the left and right, and the left and right may be set to the same value.

The result of the determination in step S7 is the flag F
Is set to "1" directly in step S1.
0, and determines whether the left and right distance detection values DL and DR are both equal to or greater than a set value DS.
If any of L and DR is less than or equal to the set values DSL and DSR, it is determined that the vehicle has not entered the intersection, and the process returns to step S1. If both the left and right distance detection values DL and DR are equal to or greater than the set values DSL and DSR. At some point, it is determined that the vehicle has entered the intersection, and the process proceeds to step S11.

In this step S11, the left and right image pickup devices 2L and 2R are activated, and then the process proceeds to step S12 to differentiate the left and right distance detection values DL and DR, thereby obtaining the relative vehicle speeds ΔVL and ΔVR of the moving body. Then, the process proceeds to step S13 to determine whether there is an approaching vehicle from the left intersection road. This determination is performed by determining whether or not the relative vehicle speed ΔVL is equal to or less than a predetermined value ΔVS (for example, −3 km / h) when the relative speed in the direction in which the moving body approaches the own vehicle is negative, Relative vehicle speed ΔV
When L is equal to or smaller than the predetermined value ΔVS, it is determined that there is an approaching vehicle, and the flow shifts to step S14, where the image display device 4
Is activated, the image information of the left imaging device 2L is displayed on the left screen 4L, and the process proceeds to step S15. If the relative vehicle speed ΔVL exceeds the predetermined value ΔVS, the process directly proceeds to step S18.

In step S15, it is determined whether or not the vehicle requires a warning. This determination is based on the relative vehicle speed ΔV
It is determined whether L is equal to or less than a predetermined value ΔVT (for example, −15 km / h) or the distance detection value DL is equal to or less than a predetermined value DT (for example, 30 m). When the relative vehicle speed ΔVL is equal to or less than the predetermined value ΔVT, or When the detection value DL is equal to or less than the predetermined value DT, it is determined that there is a moving object to be warned on the left intersection road, and the process proceeds to step S16, where the warning display unit 4b of the left display screen 4L of the image display device 4 is displayed. For example, an alarm is displayed by displaying in red, and then step S
Then, the process goes to step S18, and the process goes to step S18 after the warning sound device 9 emits a warning sound. If the result of the determination in step S15 is that there is no moving object to be warned on the left side of the intersection road, the process goes directly to step S18. .

In step S18, it is determined whether there is an approaching vehicle from the right intersection road. This determination is made by determining whether the relative vehicle speed ΔVR is equal to or less than a predetermined value ΔVS (for example, −3 km / h), and the relative vehicle speed ΔVR is determined.
Is smaller than or equal to the predetermined value ΔVS, it is determined that there is an approaching vehicle, and the flow shifts to step S19. The image information of the right imaging device 2R is displayed on the right screen 4R of the image display device 4, and then the flow shifts to step S20. If the relative vehicle speed ΔVR exceeds the predetermined value ΔVS, the process directly proceeds to step S23.

In step S20, it is determined whether or not the vehicle requires a warning. This determination is based on the relative vehicle speed ΔV
It is determined whether R is equal to or less than a predetermined value ΔVT (for example, −15 km / h) or the distance detection value DR is equal to or less than a predetermined value DT (for example, 30 m). When the relative vehicle speed ΔVR is equal to or less than the predetermined value ΔVT, or When the detection value DR is equal to or less than the predetermined value DT, it is determined that there is a moving object to be warned on the right intersection road, and the process proceeds to step S21, where the warning display unit 4c of the right display screen 4R of the image display device 4 is displayed. For example, an alarm is displayed by displaying in red, and then step S
Then, the process proceeds to step S23, where the warning sound is emitted by the warning sound device 9, and the process proceeds to step S23. .

In this step S23, it is determined whether or not the detected vehicle speed V has exceeded the set vehicle speed VL. If the detected vehicle speed V is equal to or lower than the set vehicle speed VL, it is determined that the vehicle is traveling in an intersection. Returning to step S12, when the vehicle speed detection value V exceeds the set vehicle speed VL, it is determined that the vehicle has passed the intersection, and the process proceeds to step S24, where the imaging devices 2L and 2R and the distance measurement sensors 3L and 3R are disconnected. Then, the process proceeds to step S25 to reset the flag F to "0", and then returns to step S1.

Next, the operation of the above embodiment will be described.
Now, when the vehicle is traveling in a place that is not near the intersection of the road, the vehicle position grasped based on the current position information and the road map information is not near the intersection,
In the visibility assisting process of FIG. 3, by repeating steps S1 and S2, the imaging devices 2L and 2R and the distance measurement sensors 3L and 3R are inactive and the image display device 4
Is also in a non-operating state, and no image information is displayed on the left and right display screens 4L and 4R.

In this state, when the vehicle passes through an intersection at a green light intersection or a priority road, the vehicle moves from step S2 to step S4 when traveling near the intersection.
Since the vehicle travels in a state where the vehicle speed detection value V is faster than the predetermined value VL, the process returns from step S5 to step S1, and the imaging devices 2L and 2R, the distance measurement sensors 3L and 3R, and the image display device 4 continue to be in an inactive state.

Thereafter, when the vehicle is running near a stop intersection with good left and right visibility, the vehicle is decelerated to a vehicle speed near the stop just before the stop intersection.
5 to step S6, the distance measuring sensors 3L and 3R are activated, and the distance detection values DL,
Read DR. At this time, since the flag F has been reset to "0", the process proceeds to step S8, and since the intersection is a clear intersection, the distance detection values DL and DR of the distance measurement sensors 3L and 3R are both predetermined values DSL and Since the value becomes larger than the DSR, the process proceeds from step S8 to step S1.
Then, the imaging devices 2L and 2R, the distance measurement sensors 3L and 3R, and the image display device 4 continue to be in a non-operating state.

However, when the vehicle is running near a temporary stop intersection where the left and right visibility is poor, the vehicle speed detection value V falls below the predetermined vehicle speed VL just before the temporary stop intersection, whereby the distance measuring sensors 3L and 3R are activated. And the distance detection values DL detected by the distance measurement sensors 3L and 3R,
When DR becomes less than the predetermined values DSL and DSR, the process moves from step S8 to step S9, and the flag F is set to "1".

For this reason, when the process reaches step S7, the flag F is set to "1", so that the process proceeds to step S10. When the vehicle does not enter the intersection, DL <DSL and Since the state of DR <DSR is continued, the process returns from step S10 to step S1.
After that, when the vehicle enters a stop intersection, the distance measuring sensors 3L and 3R face the intersection road, and the distance detection values DL and 3D of the distance measuring sensors 3L and 3R.
When DR satisfies DL ≧ DSL and DR ≧ DSR, respectively, the process shifts from step S10 to step S11, and when the imaging devices 2L and 2R are both in the operating state, the imaging devices 2L and 2R use the left and right intersection roads. The imaging of the image information is started.

Then, the process shifts to step S12 to calculate the relative speeds ΔVL, ΔVR by differentiating the distance detection values DL, DR of the distance measuring sensors 3L, 3R, and then shifts to step S13. At this time, when there is no moving body such as a vehicle, a bicycle, or a pedestrian approaching from the left intersection road, the relative speed ΔVL is zero, and when there is a moving body going away, the relative speed ΔVL becomes positive. In both cases, the process proceeds to step S18, and if there is no moving body approaching from the right intersection road, the process proceeds from step S18 to step S23 to determine whether the vehicle speed detection value V exceeds the predetermined value VL1. , V <VL1, it is determined that the host vehicle is slowly entering the intersection or has stopped, and the process returns to step S12.

On the other hand, when the vehicle enters the stop intersection with poor visibility and there is a moving body approaching the own vehicle from the left and / or right intersection road, the relative speeds ΔVL and / or ΔVR are negative. When the relative speed ΔVL and / or ΔVR is equal to or less than the negative predetermined value ΔVS, it is determined that there is an approaching vehicle, and the left image pickup device 2L is displayed on the left screen 4L and / or the right screen 4R of the image display device 4. And / or image information captured by the right side imaging device 2R is displayed. Therefore, by visually recognizing the display screen 4a of the image display device 4, the driver can easily determine whether the vehicle or the pedestrian is approaching from the left or right side.

When a moving body such as a vehicle or a pedestrian is approaching from either side of the intersection road, the relative speed ΔVL and / or ΔVR is not more than a predetermined negative value ΔVT or When the distance detection value DL and / or DR is equal to or less than the predetermined value DT, the process proceeds to step S16 and / or step S21, and a red color is displayed on the left alarm display unit 4b and / or the right alarm display unit 4c of the image display device 4. Is displayed to display an alarm, and at the same time, step S17
Then, the process proceeds to step S22, and the warning sound device 9 emits a warning sound, so that the driver can be notified of the approach of the moving body.

Thereafter, when the moving body on the crossing road passes through the intersection and there is no moving body approaching the own vehicle on the crossing road, the process proceeds from step S13 to step S23 via step S18. Up to now, the left screen 4L and / or the right screen 4R in the image display device 4
The display state of the image information captured by the left imaging device 2L and / or the right imaging device 2R is continuously displayed on the screen 4L.
And / or the moving object is not displayed on 4R.

In this state, when the vehicle starts slowly and the driver himself / herself checks the condition of the crossing road, accelerates, and passes through the intersection, the vehicle speed detection value V exceeds the predetermined value VL1. The process shifts from step S22 to step S23, in which the imaging devices 2L and 2R, the distance measuring sensors 3L and 3R, and the image display device 4 are all in a non-operation state, and then shifts to step S24 to reset the flag F to “0”. And return to step S1.

On the other hand, if the vehicle stops at the intersection of the red light and the vehicle is stopped on the left and right of the own vehicle while traveling on a road having a large number of lanes, in the process of FIG.
The process proceeds to step S8 via 2, S4 to S6, and DL <D
Since SL and DR <DSR, the flag F is set to “1”. However, when the processing shifts from step S7 to step S10, DL ≧ DSL and DR ≧ DSR are not satisfied, so the processing returns to step S1. repeat. After that, when the signals change to a green light, when the vehicles start all at once, the state of DL <DSL and DR <DSR is maintained, and in this state, the vehicle passes through an intersection or the vehicle speed detection value V becomes the predetermined value VL. Is exceeded, the process moves from step S2 or step S5 to step S3, the flag F is reset to "0", and the process returns to step S1, and the imaging devices 2L and 2R and the distance measurement sensors 3L and 3R
In addition, the image display device 4 continues to be in a non-operating state, so that display of unnecessary image information for the driver can be reliably prevented.

As described above, according to the first embodiment, when the vehicle speed detection value V becomes equal to or less than the predetermined value VL, the distance measuring sensors 3L and 3R are activated to stop at the temporary stop intersection. When the distance detection values DL and DR measured by the distance sensors 3L and 3R are equal to or less than the predetermined values DSL and DSR, it is determined that the intersection has poor visibility, and the left and right intersections are set with the imaging devices 2L and 2R in operation. The image information of the road is started to be imaged, and when there is no moving body approaching the own vehicle, the image information is not displayed on the image display means, but when there is a moving body approaching the own vehicle, the image display is performed. By displaying the image information of the moving object on the display screen 4L and / or 4R in the direction in which the moving object of the device 4 approaches, the driver can reliably recognize the presence of the moving object. In addition, when the speed of the moving body is high or the distance from the moving body is short, for example, a red alarm is displayed on the alarm display section 4b and / or 4c on the display screen 4L and / or 4R, and an alarm sound is issued. A warning sound is emitted by the device 9,
It is possible to surely inform the driver of the approach of a moving object that requires attention. Further, since the distance measuring sensors 3L and 3R are provided on the front end side of the imaging devices 2L and 2R, it is possible to detect the approach of the intersection faster and more reliably. In this state, the imaging devices 2L and 2R are brought into the operating state. Therefore, image display on the image display device 4 is not delayed.

In the first embodiment, when the vehicle enters an intersection with poor visibility, the imaging devices 2L and 2L
When R is in the operating state and there is a moving body approaching the own vehicle, the image display device 4 is in the operating state and displays image information of the approaching moving body, and even after the moving body passes through the own vehicle. The case where the image display on the image display device 4 is continued until the vehicle speed detection value V exceeds the predetermined value VL1 has been described. However, the present invention is not limited to this. The imaging devices 2L and 2R and the image display device 4 may be returned to the non-operation state when the state is not performed.

In the first embodiment, when the vehicle speed detection value V exceeds a predetermined value VL1 after entering an intersection with poor visibility, the imaging devices 2L and 2R, the distance measurement sensors 3L and 3R, and the image The case where the display device 4 is returned to the non-operation state has been described. However, the present invention is not limited to this case. The image pickup devices 2L and 2R, the distance measurement sensors 3L and 3
You may make it return R and the image display apparatus 4 to a non-operation state.

Further, in the first embodiment,
Before either of the left and right distance detection values DL, DR becomes smaller than the predetermined values DSL, DSR just before the intersection, the two distance detection values D, D
The case where it is determined that the vehicle has entered the intersection when both L and DR are equal to or greater than the specified values DSL and DSR has been described. However, the present invention is not limited to this. It may be determined that the vehicle has entered the intersection when the value exceeds a predetermined value.

Furthermore, in the first embodiment, the case where the distance measuring sensors 3L and 3R are disposed on the front end side of the imaging devices 2L and 2R has been described. However, the present invention is not limited to this. The sensors 3L and 3R are connected to the imaging devices 2L and 2
You may make it provide in the position equivalent to R. Next, a second embodiment of the present invention will be described with reference to FIG.

In the second embodiment, approach to an intersection is accurately detected regardless of the speed of the host vehicle. That is, in the second embodiment, as shown in FIG. 5, in the visibility assisting process of FIG.
Step S30 of moving between the intersection 1 and S2 and calculating the travel time T to the intersection by dividing the distance DC between the own vehicle position and the intersection grasped in step S1 following step S4 by the vehicle speed detection value V after step S4. Is further determined by determining whether or not the vehicle is traveling near an intersection by determining whether or not the travel time calculated in step S30 is equal to or less than a preset travel time TS. Except for the change, the same processing as in FIG.
The same steps as those in FIG. 4 are denoted by the same step numbers, and detailed description thereof is omitted.

According to the second embodiment, when the own vehicle approaches the intersection, the travel time T to the intersection is calculated by dividing the distance between the own vehicle position and the intersection by the vehicle speed detection value V. Regardless of the magnitude of the vehicle speed detection value V when approaching the intersection, when the travel time to the intersection is less than the predetermined time TS, it can be determined that the vehicle is approaching the intersection, and the distance measurement sensors 3L, 3R Can be accurately set before the predetermined time TS to reach the intersection.

Next, a third embodiment of the present invention will be described with reference to FIGS. In the third embodiment, a moving body on an intersection road is accurately detected when the intersection angle of the intersection road with the road on which the host vehicle is traveling is not a right angle. That is, in the third embodiment, as shown in FIG. 6, the imaging devices 2 </ b> L,
For example, an actuator 20L having a distance measuring sensor 3L, 3R integrally disposed at the upper end of the 2R and having a rotating shaft that rotates around a vertical axis constituted by an electric motor or the like in which the imaging devices 2L, 2R are attached to a vehicle. , 20R so as to be rotatable about a vertical axis, and the arithmetic processing unit 5
Has been changed as shown in FIG.

In the visibility assisting process of FIG. 7, when the result of the determination in step S2 is that the vehicle is approaching the intersection in the process of FIG. 4 in the first embodiment, the process proceeds to step S40. The intersection angles .theta.L and .theta.R of the intersection at the intersection are calculated from the road map information, and then the process proceeds to step S41, and the actuator 20 supporting the imaging devices 2L and 2R according to the calculated intersection angles .theta.L and .theta.R.
Are rotated, and the respective imaging devices 2L and 2R and the distance measurement sensors 3L and 3R are respectively opposed to the left and right intersection roads. Then, the process proceeds to step S4, and the process of step S10 further includes a predetermined value DSL and / or One of the distance detection values DL and / or DR that is less than or equal to DSR is a predetermined value DSL, DSR
4 except that it has been changed so as to determine whether or not the process has been exceeded. The same processes as those in FIG. 4 are denoted by the same step numbers, and detailed description thereof is omitted. I do.

Here, in the process of calculating the intersection angle θ of the intersection road in step S40, the intersection angle θ of the intersection road is calculated based on the road map information stored in the road map information providing device 7. The road map information stored in the road map information providing apparatus 7 includes, for example, map data expressed on the XY plane and intersections / routes in the map data, as described in Japanese Patent Application Laid-Open No. H8-22596. Map information including point information is stored. As shown in FIG. 8, the map data includes node data N1, N2, N3... Nn indicating intersections or end points, and node data Ni.
(I = 1, 2,..., N) and node data N adjacent thereto
j (j = 1, 2,..., n) and link data (paths) L1, L2, L3,.

Each data is accompanied by various information indicating an attribute. Here, the node data is accompanied by the intersection name, the position coordinates (Nix, Niy), the number of connection links, and information on adjacent nodes connected to the node by each connection link. The link data includes the number of route points in the link and the position coordinates Q (qi
j), attributes indicating road levels such as national prefectural roads and general roads, route names, and information on connected nodes are attached.

Now, as shown in FIG. 8, assuming that the vehicle is at the route point q71 of the traveling link L7 and the nearest intersection is N3, the intersection road at this closest intersection N3 is assumed. In order to obtain the intersection angles θL and θR with the link data L2 and L3, the node data N2 and N4, which are the next intersections, are obtained from the adjacent information of the closest intersection, and the position coordinates (N2
x, N2y) and (N4x, N4y), and the position coordinates (N
3x, N3y) and the position coordinates (N7x, N
7y), the intersection angles θ2 and θ3 are calculated as clockwise angles, for example, with the angle in the current position direction set to 0 degree. Therefore, in the case of FIG. 8, 135 ° is calculated as the intersection angle θL with respect to the link data L3, and 315 ° is calculated as the intersection angle θR with respect to the link data L2.

On the other hand, in the actuator 20, the state in which the imaging devices 2L and 2R face rearward is set to 0 degree. Therefore, if the vehicle approaches the stop point N3 with poor visibility on the left and right in the state where the host vehicle is at the route point q71 two before the intersection N3 in the link data L7 as shown in FIG. To the intersections N3, N7, N2 and N4 as described above.
(N3x, N3y), (N7x, N7
y), (N2x, N2y) and (N4x, N4y), the intersection angles θ2 (= 135 °) and θ3 (= 315
°).

Then, the process shifts to step S41 to output a 135 ° rotation command value to the front left actuator 20L and a 315 ° rotation command value to the front right actuator 20R. As a result, the actuators 20L and 20R respectively face the left imaging device 2L and the distance measuring sensor 3L to the intersection road L3,
The right-side imaging device 2R and the distance measurement sensor 3R are located at the intersection L2.
Are set to face.

Therefore, in this state, when the vehicle is slowly started after the temporary stop and the front end of the vehicle enters the intersection, first, the distance measuring sensor 3R faces the intersection road L2, so that the distance measuring is performed. The distance detection value DR measured by the sensor 3R exceeds the predetermined value DSR, and the imaging devices 2L and 2R are set to the operating state. At this time,
When there is no moving body moving toward the own vehicle on the right-hand crossing road L2, the image display device 4 keeps the non-operation state, so that the image information of the crossing road L2 is displayed on the image display device 4. In this state, since the left distance measuring sensor 3L is not facing the left intersection road L3 in this state,
Since the moving object approaching the own vehicle is not detected, the image display device 4 keeps the non-operation state.

However, when a moving object is present on the right crossing road L3, the image display device 4 is activated, and the image information of the moving object captured by the right image pickup device 2R is displayed on the right screen 4R. If the relative speed of the moving object is fast,
When the distance to the moving body is equal to or less than a predetermined value DT, the first
An alarm is issued in the same manner as in the embodiment. After that, when the moving object passes and the own vehicle is further advanced, the left distance measuring sensor 3L faces the left intersection road L3, and an image is displayed when there is a moving object approaching the own vehicle. When the device 4 is activated, the left display screen 4L is displayed.
The image information of the moving object imaged by the left imaging device 2L is displayed on the left side. When the relative speed of the moving object is fast or the distance to the moving object is equal to or less than a predetermined value DT, an alarm is issued as in the first embodiment. Is issued.

As described above, according to the third embodiment,
According to the intersection angles θL and θR at the intersection, the imaging device 2L,
The 2R and the distance measuring sensors 3L and 3R are automatically rotated,
The image information of the crossing road can be displayed on the image display device 4, and it is possible to accurately detect the presence or absence of a moving body approaching the own vehicle on the crossing road at an arbitrary intersection, and to detect the presence of the moving body. It is possible to accurately capture image information of a moving object.

In the third embodiment, the case where the imaging devices 2L and 2R and the distance measuring sensors 3L and 3R are rotated by the common actuators 20L and 20R has been described. However, the present invention is not limited to this. No, imaging device 2
The rotation of the L, 2R and the distance measuring sensors 3L, 3R may be controlled by separate actuators. In addition, the first
In the third to third embodiments, the case where the imaging devices 2L and 2R and the distance measurement sensors 3L and 3R are provided at the left and right positions at the front end of the vehicle 1 has been described. The imaging devices 2L and 2R and the distance measurement sensors 3L and 3R are provided at the left and right end portions, and when there is an oncoming vehicle that does not pass each other when the vehicle turns right or left at an intersection and enters an alley, the vehicle moves backward and enters the intersection. As in the case where the vehicle moves backward, the moving body on the intersection road can be accurately detected when entering the intersection.

Further, in the first to third embodiments, the case where the left and right imaging devices 2L and 2R are provided has been described. However, the present invention is not limited to this. Is provided, and by arranging optical path changing means such as a V-shaped mirror and a prism in the imaging direction of the imaging device, the left and right image information can be simultaneously captured by one imaging device. You may.

Further, in the first to third embodiments, the case where the approaching intersection is detected using the current position detecting device 6 and the map information providing device 8 has been described.
However, the present invention is not limited to this. When the vehicle receives intersection information from a wireless information transmitting unit that transmits intersection information such as a distance to an intersection and an intersection angle installed near the intersection, the approach to the intersection and the intersection angle θL, θR may be obtained.

Further, in the first to third embodiments, the case where the crossing road exists on the left and right has been described. However, the distance detection value DL or DR is obtained for only one of the left and right distance measuring sensors 3L and 3R. If an intersection road exists on only one of the left and right sides exceeding a predetermined value DSL or DSR, display of image information is performed only on the side where the intersection road exists, and display of image information is prohibited on the other side. You may.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing a first embodiment of the present invention.

FIG. 2 is a block diagram showing a control system of FIG.

FIG. 3 is an explanatory diagram illustrating an example of a display screen of the image display device.

FIG. 4 is a flowchart illustrating an example of a view assist processing procedure executed by the arithmetic processing device of FIG. 2;

FIG. 5 is a flowchart illustrating an example of a view assisting processing procedure executed by an arithmetic processing device according to a second embodiment of the present invention.

FIG. 6 is a schematic configuration diagram showing an image pickup apparatus and a rotating mechanism of a distance measuring sensor according to a third embodiment of the present invention in an enlarged manner.

FIG. 7 is a flowchart illustrating an example of a view assisting process performed by a processing device according to a third embodiment;

FIG. 8 is an explanatory diagram showing a specific example of map information according to the third embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Vehicle 2L, 2R imaging device 3L, 3R Distance measuring sensor 4 Image display device 4L Left display screen 4R Right display screen 5 Arithmetic processing unit 6 Current position detection device 7 Map information providing device 8 Vehicle speed sensor 9 Alarm sound device 20L, 20R Actuator

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (Reference) G06T 1/00 330 G06T 1/00 330A G08G 1/16 G08G 1/16 D H04N 7/18 H04N 7/18 J // G01C 21/00 G01C 21/00 A G08G 1/0969 G08G 1/0969 (72) Inventor Junichi Kasai F-term (reference) 2F029 AA02 AB07 AC02 AC14 AC18 AC19 in Nissan Motor Co., Ltd. 2 Takara-cho, Kanagawa-ku, Yokohama, Kanagawa 5B057 AA16 BA02 CA08 CA12 CB08 CB12 CC03 DA06 DA15 DA16 5C054 CE11 FC13 FE13 FE14 FE18 FE28 GB11 GD09 HA30 5H180 AA01 CC04 CC12 CC14 FF05 FF25 FF27 FF32 LL02 LL04 LL07 LL08 LL11 LL15

Claims (12)

[Claims] 1. An image pickup means disposed at at least one of the front and rear ends of a vehicle for picking up an image in the left-right direction of the vehicle, and an image display means for displaying image information picked up by the image pickup means to a driver of the vehicle. A distance measuring means for measuring a distance between the imaging means and an object in an imaging direction in the vicinity of the vehicle front-rear direction, and a vehicle based on an increase in distance information measured by the distance measuring means. Intersection entry detecting means for detecting entry into an intersection of the vehicle, and image information display control for enabling display of image information by the image display means when the intersection entry detection means detects entry of the vehicle into the intersection. And a means for assisting visibility of a vehicle. 2. A vehicle position measuring means for measuring a current position of a vehicle, a road map information supplying means for supplying road map information, and the road map information supply based on the current position information measured by the vehicle position measuring means. An intersection approach detecting means for detecting approach of a vehicle to an intersection by referring to road map information of the means; and a distance measuring means for activating the distance measuring means when the approach to the intersection is detected by the intersection approach detecting means. The view assisting device for a vehicle according to claim 1, further comprising an operation control unit. 3. The intersection approach detecting means is configured to detect that the vehicle has approached the intersection when the traveling distance from the current vehicle position to the intersection is equal to or less than a predetermined value. The vehicle view assist device according to claim 2. 4. A vehicle speed detecting means for detecting a vehicle speed of the vehicle, wherein the intersection approach detecting means determines a traveling time obtained by dividing a traveling distance from a current vehicle position to an intersection by a vehicle speed detected by the vehicle speed detecting means. 3. The visibility assisting device for a vehicle according to claim 2, wherein when the value is equal to or less than the value, it is configured to detect that the vehicle approaches an intersection. 5. A vehicle speed detecting means for detecting a vehicle speed of the vehicle, wherein the distance measuring operation control means activates the distance measuring means when the vehicle speed detected by the vehicle speed detecting means is equal to or lower than a predetermined value. The vehicle view assisting device according to any one of claims 2 to 4, wherein the vehicle view assisting device is configured as described above. 6. A moving object detecting means for detecting that a moving object on an intersection road is approaching a vehicle based on distance information detected by the distance measuring means,
6. A vehicle view assisting device according to claim 1, further comprising: a notifying unit that outputs a warning to a driver when a moving body approaching the host vehicle is detected. . 7. The moving object detecting means determines that a moving object on an intersection is approaching the own vehicle when the distance information measured by the distance measuring means is equal to or less than a predetermined value. The view assisting device for a vehicle according to claim 6, wherein the device is configured. 8. The vehicle according to claim 1, wherein said moving body detecting means is provided when said relative vehicle speed obtained from the distance information measured by said distance measuring means is equal to or more than a predetermined value and is in a direction approaching the host vehicle. The view assisting device for a vehicle according to claim 6, wherein the device is configured to determine that the moving body is approaching the own vehicle. 9. The image display means can individually display left image information and right image information among the images of the image pickup means, and can approach the own vehicle by the moving body detection means. The view assisting device for a vehicle according to any one of claims 6 to 8, wherein the device is configured to display only image information in a direction of a moving object to be moved. 10. The road map information supply means includes intersection angle information of an intersection, and the distance measurement means drives a distance measurement part to rotate the distance measurement part about a substantially vertical axis of the vehicle. 10. The vehicle field of view according to claim 2, further comprising: a distance measurement unit rotation control unit that controls the distance measurement unit rotation drive unit based on the intersection angle information. 11. Auxiliary equipment. 11. The road map information supply unit includes intersection angle information of an intersection, and the imaging unit rotates an imaging unit about a substantially vertical axis of the vehicle; The view assist device for a vehicle according to any one of claims 2 to 10, further comprising: an imaging unit rotation control unit that controls the imaging unit rotation driving unit based on the intersection angle information. 12. The visibility assisting device for a vehicle according to claim 1, wherein the distance measuring means is provided at an end of the vehicle in the front-rear direction with respect to the imaging means.