JP2002367080A - Method and device for visual support for vehicle - Google Patents
Method and device for visual support for vehicleInfo
- Publication number
- JP2002367080A JP2002367080A JP2001176513A JP2001176513A JP2002367080A JP 2002367080 A JP2002367080 A JP 2002367080A JP 2001176513 A JP2001176513 A JP 2001176513A JP 2001176513 A JP2001176513 A JP 2001176513A JP 2002367080 A JP2002367080 A JP 2002367080A
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- Prior art keywords
- vehicle
- image
- information
- position information
- display
- Prior art date
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Links
- 230000000007 visual effect Effects 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000009434 installation Methods 0.000 claims abstract description 20
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 230000002194 synthesizing effect Effects 0.000 claims description 3
- 239000002131 composite material Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
Landscapes
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
- Instrument Panels (AREA)
- Image Processing (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、自車両の運転中に
他車両が撮影した映像を表示する車両用視覚支援方法及
び車両用視覚支援装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a visual assisting method for a vehicle and a visual assisting device for a vehicle for displaying an image taken by another vehicle while the own vehicle is driving.
【０００２】[0002]
【従来の技術】自車両の運転中に、他車両が撮影した映
像を自車両の表示装置に表示させる車両用視覚支援装置
としては、例えば特開平７−９８８６号公報に記載され
た車両の運転情報装置がある。2. Description of the Related Art For example, Japanese Patent Application Laid-Open No. 7-9886 discloses a vehicular visual assistance device which displays an image taken by another vehicle on a display device of the vehicle while the vehicle is operating. There is an information device.
【０００３】この運転情報装置は、各車両が前方監視カ
メラ及び通信装置を備え、他車両の前方監視カメラが撮
影した当該他車両の前方の映像を、自車両及び他車両の
通信装置を用いて、自車両の表示装置に表示させること
により、自車両の運転者等に視覚情報を提供するもので
ある。In this driving information device, each vehicle is provided with a forward monitoring camera and a communication device, and an image in front of the other vehicle taken by the forward monitoring camera of the other vehicle is transmitted using the communication devices of the own vehicle and the other vehicle. In this case, visual information is provided to a driver of the own vehicle by displaying the information on a display device of the own vehicle.
【０００４】[0004]
【発明が解決しようとする課題】ところが、上述のよう
な車両の運転情報装置では、自車両の表示装置に表示さ
れる、他車両の前方監視カメラで撮影された映像は、自
車両の前方監視カメラで撮影された映像とは表示視点が
異なる。しかも、この表示視点に関する情報が自車両の
表示装置に表示されていない。However, in the vehicle driving information device as described above, the image displayed on the display device of the own vehicle and taken by the forward monitoring camera of the other vehicle is used to monitor the front of the own vehicle. The display viewpoint is different from the video taken by the camera. Moreover, the information regarding the display viewpoint is not displayed on the display device of the host vehicle.
【０００５】これらのことから、自車両の運転者を含め
た利用者は、他車両の監視カメラで撮影された映像にお
ける被写体の位置等を認識しにくく、従って、車両の運
転操作性が必ずしも向上するとは言えない。[0005] For these reasons, it is difficult for the user including the driver of the own vehicle to recognize the position of the subject in the video taken by the surveillance camera of the other vehicle, so that the driving operability of the vehicle is not necessarily improved. I can't say that.
【０００６】本発明の目的は、上述の事情を考慮してな
されたものであり、他車両にて撮影した被写体の映像
を、自車両の利用者が認識し易いように表示できる車両
用視覚支援方法及び装置を提供することにある。SUMMARY OF THE INVENTION An object of the present invention has been made in view of the above circumstances, and has a visual aid for a vehicle capable of displaying an image of a subject taken by another vehicle so that a user of the own vehicle can easily recognize the image. It is to provide a method and an apparatus.
【０００７】[0007]
【課題を解決するための手段】請求項１に記載の発明
は、異なる車両間で映像情報を通信によって相互に伝達
し、各車両において他の車両で撮影した映像を表示する
車両用視覚支援方法であって、自車両の位置情報を他車
両に送信するとともに、上記他車両で撮影した映像及び
その他車両の位置情報を上記自車両が受信し、当該自車
両では、当該自車両にて表示する映像の表示視点を予め
設定し、当該自車両の位置情報、上記他車両の位置情報
及び上記他車両のカメラ設置情報に基づいて、予め設定
した上記表示視点に対する、上記他車両で撮影した映像
の表示視点の相対位置を算出し、更に、当該自車両で
は、上記相対位置情報に基づき、上記他車両で撮影した
映像を予め設定した上記表示視点の映像に変換し、この
変換した映像を表示することを特徴とするものである。According to a first aspect of the present invention, there is provided a vehicle vision assisting method for mutually transmitting image information between different vehicles by communication and displaying an image taken by another vehicle in each vehicle. And transmitting the position information of the own vehicle to the other vehicle, receiving the image captured by the other vehicle and the other vehicle position information, and displaying the own vehicle on the own vehicle. The display viewpoint of the image is set in advance, and the position information of the own vehicle, the position information of the other vehicle and the camera installation information of the other vehicle, based on the previously set display viewpoint, The relative position of the display viewpoint is calculated, and the own vehicle further converts an image captured by the other vehicle into an image of the preset display viewpoint based on the relative position information, and displays the converted image. It is characterized in.
【０００８】請求項２に記載の発明は、請求項１に記載
の発明において、上記自車両では、複数の他車両との通
信により得られ、且つ予め設定された表示視点に変換し
た複数の他車両の映像を、一つの映像に合成して表示す
ることを特徴とするものである。According to a second aspect of the present invention, in the first aspect of the present invention, the own vehicle has a plurality of other vehicles obtained by communicating with a plurality of other vehicles and converted to a preset display viewpoint. It is characterized in that an image of a vehicle is combined with one image and displayed.
【０００９】請求項３に記載の発明は、請求項２に記載
の発明において、上記自車両では、予め設定された表示
視点に変換した複数の他車両の映像の合成に際し、撮影
時刻が新しい映像、または上記表示視点への変換後に解
像度の高い映像を優先して用いることを特徴とするもの
である。According to a third aspect of the present invention, in the invention according to the second aspect, when the own vehicle combines images of a plurality of other vehicles converted into a predetermined display viewpoint, the photographing time is new. Alternatively, a video having a high resolution is preferentially used after the conversion to the display viewpoint.
【００１０】請求項４に記載の発明は、請求項１乃至３
のいずれかに記載の発明において、上記自車両では、当
該自車両と他車両との間の車間距離に関する情報を、映
像に重ねて表示することを特徴とするものである。[0010] The invention according to claim 4 is the invention according to claims 1 to 3.
In the invention according to any one of the above, the own vehicle displays information on an inter-vehicle distance between the own vehicle and another vehicle so as to be superimposed on a video.
【００１１】請求項５に記載の発明は、請求項４に記載
の発明において、上記自車両と他車両間の車間距離に関
する情報は、上記自車両と上記他車両との通信における
送受信時間に基づいて決定されることを特徴とするもの
である。According to a fifth aspect of the present invention, in the fourth aspect, the information on the inter-vehicle distance between the own vehicle and the other vehicle is based on a transmission / reception time in communication between the own vehicle and the other vehicle. It is characterized by being determined by.
【００１２】請求項６に記載の発明は、請求項４に記載
の発明において、上記自車両と他車両間の車間距離に関
する情報は、上記自車両の位置情報と上記他車両の位置
情報に基づいて決定されることを特徴とするものであ
る。According to a sixth aspect of the present invention, in the invention according to the fourth aspect, the information on the inter-vehicle distance between the own vehicle and another vehicle is based on the position information of the own vehicle and the position information of the other vehicle. It is characterized by being determined by.
【００１３】請求項７に記載の発明は、異なる車両間で
映像情報を通信によって相互に伝達し、各車両において
他の車両で撮影した映像を表示する車両用視覚支援装置
であって、自車両の周囲を撮影するカメラと、自車両の
位置を検出する位置検出部と、他車両との間で、映像情
報、位置情報及び上記カメラの設置情報を相互に通信す
る無線通信部と、上記自車両におけるカメラの設置情報
及び上記自車両で表示する映像の表示視点に関し予め設
定された情報を記憶する記憶部と、上記位置検出部から
の上記自車両の位置情報、上記無線通信部で得られた上
記他車両の位置情報及びカメラ設置情報、並びに記憶部
に記憶された表示視点の情報に基づき、上記他車両で撮
影した映像を、予め設定された上記表示視点の映像に変
換し、この変換した映像に関する映像信号を出力する演
算部と、この演算部にて出力された映像信号を映像とし
て表示する表示部と、を有して構成されたことを特徴と
するものである。According to a seventh aspect of the present invention, there is provided a visual assistance device for a vehicle for mutually transmitting image information between different vehicles by communication and displaying an image taken by another vehicle in each vehicle. A camera that captures the surroundings of the vehicle, a position detection unit that detects the position of the own vehicle, a wireless communication unit that mutually communicates video information, position information, and installation information of the camera between the other vehicles; A storage unit for storing camera installation information in the vehicle and information set in advance with respect to a display viewpoint of an image displayed by the own vehicle, position information of the own vehicle from the position detection unit, obtained by the wireless communication unit; Based on the position information and camera installation information of the other vehicle, and the information of the display viewpoint stored in the storage unit, the video captured by the other vehicle is converted into a video of the preset display viewpoint, and the conversion is performed. I An arithmetic unit for outputting a video signal related to the video, is characterized in that the video signal output by the arithmetic unit is configured to have a display unit for displaying a video image.
【００１４】請求項８に記載の発明は、請求項７に記載
の発明において、上記自車両の演算部は、無線通信部を
介しての通信により得られ、且つ予め設定された表示視
点に変換した複数の他車両の映像を、一つの映像に合成
して表示するよう構成されたことを特徴とするものであ
る。According to an eighth aspect of the present invention, in the invention of the seventh aspect, the arithmetic unit of the host vehicle is obtained by communication via a wireless communication unit and converted into a preset display viewpoint. A plurality of other vehicle images are combined into one image and displayed.
【００１５】請求項９に記載の発明は、請求項８に記載
の発明において、上記自車両の演算部は、予め設定され
た表示視点に変換した複数の他車両の映像の合成に際
し、撮影時刻が新しい映像、または上記表示視点への変
換後に解像度の高い映像を優先して用いるよう構成され
たことを特徴とするものである。According to a ninth aspect of the present invention, in the invention according to the eighth aspect, the arithmetic unit of the own vehicle includes a photographing time when synthesizing a plurality of images of other vehicles converted into a predetermined display viewpoint. Is configured to preferentially use a new video or a video having a high resolution after conversion to the display viewpoint.
【００１６】請求項１０に記載の発明は、請求項７乃至
９のいずれかに記載の発明において、上記自車両の表示
部には、当該自車両と他車両との間の車間距離に関する
情報が、映像に重ねて表示されることを特徴とするもの
である。According to a tenth aspect of the present invention, in the invention according to any one of the seventh to ninth aspects, information on an inter-vehicle distance between the own vehicle and another vehicle is displayed on the display section of the own vehicle. , Which are displayed so as to be superimposed on a video.
【００１７】請求項１１に記載の発明は、請求項１０に
記載の発明において、上記自車両の演算部は、当該自車
両と他車両間の車間距離に関する情報を、当該自車両と
上記他車両との通信における送受信時間に基づいて決定
するよう構成されたことを特徴とするものである。According to an eleventh aspect of the present invention, in the invention according to the tenth aspect, the arithmetic unit of the own vehicle transmits information on an inter-vehicle distance between the own vehicle and another vehicle to the own vehicle and the other vehicle. It is configured to be determined based on the transmission / reception time in the communication with the device.
【００１８】請求項１２に記載の発明は、請求項１０に
記載の発明において、上記自車両の演算部は、当該自車
両と他車両間の車間距離に関する情報を、当該自車両の
位置情報と上記他車両の位置情報に基づいて決定するよ
う構成されたことを特徴とするものである。According to a twelfth aspect of the present invention, in the invention of the tenth aspect, the arithmetic unit of the own vehicle includes information on an inter-vehicle distance between the own vehicle and another vehicle as position information of the own vehicle. It is configured to be determined based on the position information of the other vehicle.
【００１９】請求項１乃至１２に記載の発明には、次の
作用がある。The first to twelfth aspects have the following effects.
【００２０】他車両で撮影した映像を予め設定された表
示視点の映像に変換し、この変換した映像を表示するこ
とから、他車両で撮影した被写体を自車両の利用者が認
識し易いように表示できるので、自車両の運転操作性を
向上させることができる。The image captured by the other vehicle is converted into an image of a predetermined display viewpoint, and the converted image is displayed, so that the user of the own vehicle can easily recognize the subject captured by the other vehicle. Since the display can be performed, the driving operability of the own vehicle can be improved.
【００２１】[0021]
【発明の実施の形態】以下、本発明の実施の形態を、図
面に基づき説明する。Embodiments of the present invention will be described below with reference to the drawings.
【００２２】図１は、本発明に係る車両用視覚支援装置
の一実施の形態を示すブロック図である。FIG. 1 is a block diagram showing an embodiment of a vehicle vision support apparatus according to the present invention.
【００２３】車両１００に搭載された車両用視覚支援装
置１０は、異なる車両１００間で映像情報を通信によっ
て相互に伝達し、各車両１００において他の車両１００
で撮影した映像を表示するものであり、カメラ１１、位
置取得部１２、無線通信部１３、記憶部１４、演算部１
５及び表示部１６を有して構成される。The vehicle vision support device 10 mounted on the vehicle 100 mutually transmits image information between different vehicles 100 by communication, and the other vehicle 100
A camera 11, a position acquisition unit 12, a wireless communication unit 13, a storage unit 14, and a calculation unit 1.
5 and a display unit 16.
【００２４】上記カメラ１１は、自らの車両１００の周
囲を撮影し、その映像情報を演算部１５へ出力する。The camera 11 photographs the surroundings of its own vehicle 100 and outputs the video information to the arithmetic unit 15.
【００２５】上記位置取得部１２は、ＧＰＳ（Global P
ositioning System）受信機やジャイロコンパス等を有
して構成され、自らの車両１００の位置と方位を検出し
て取得し、その位置情報を演算部１５へ出力する。The position acquisition unit 12 is a GPS (Global P
ositioning System) is configured to include a receiver, a gyro compass, and the like, detect and acquire the position and direction of the vehicle 100, and output the position information to the arithmetic unit 15.
【００２６】上記無線通信部１３は、他の車両１００と
の間で、カメラ１１が撮影した映像情報、位置取得部１
２が取得した車両１００の位置情報、更にカメラ１１が
車両１００に設置された位置と角度等を内容とするカメ
ラ設置情報等を含む要求信号や返答信号を相互に通信す
る。上記車両１００の位置情報等の各種情報は、無線通
信部１３と演算部１５との間で入出力される。The wireless communication unit 13 is provided with video information captured by the camera 11 and the position acquisition unit 1 with another vehicle 100.
A request signal and a response signal including the position information of the vehicle 100 acquired by the camera 2 and the camera installation information including the position and angle of the camera 11 installed on the vehicle 100 are mutually communicated. Various kinds of information such as the position information of the vehicle 100 are input and output between the wireless communication unit 13 and the calculation unit 15.
【００２７】上記記憶部１４は、自らの車両１００にお
けるカメラ設置情報、自らの車両１００の表示部１６に
表示される映像の表示視点に関し予め設定された情報、
自らの車両１００の表示部１６に表示可能な表示領域に
関する情報、更に、後述の如く表示視点が変更された、
他の車両１００のカメラ１１にて撮影された映像等が記
憶される。これらの各種情報は、記憶部１４と演算部１
５との間で入出力される。The storage unit 14 stores camera installation information in the own vehicle 100, information set in advance regarding a display viewpoint of an image displayed on the display unit 16 of the own vehicle 100,
The information on the display area that can be displayed on the display unit 16 of the vehicle 100 of the vehicle 100, and the display viewpoint has been changed as described later.
An image or the like captured by the camera 11 of another vehicle 100 is stored. These various information are stored in the storage unit 14 and the arithmetic unit 1
5 is input / output.
【００２８】上記演算部１５の機能は、後述の図４及び
図５のフローチャートに示されるが、その主な機能は、
カメラ１１にて検出された自らの車両１００の位置情
報、無線通信部１３にて取得された他の車両１００の位
置情報及び他の車両１００のカメラ設置情報、並びに記
憶部１４に記憶された予め設定された表示視点に関する
情報に基づき、他の車両１００で撮影された映像を、予
め設定された表示視点の映像に座標変換し、この変換し
た映像を記憶部１４へ出力して記憶させるものである。The functions of the arithmetic unit 15 are shown in the flowcharts of FIGS. 4 and 5 described later.
The position information of the vehicle 100 detected by the camera 11, the position information of the other vehicle 100 and the camera installation information of the other vehicle 100 acquired by the wireless communication unit 13, and the position information stored in the storage unit 14 in advance. Based on the information on the set display viewpoint, an image captured by another vehicle 100 is coordinate-converted into an image of a preset display viewpoint, and the converted image is output to the storage unit 14 and stored. is there.
【００２９】つまり、演算部１５は、自らの車両１００
の位置情報と他の車両１００の位置情報とから、自らの
車両１００に対する他の車両１００の相対位置を算出す
る。そして、演算部１５は、この相対位置と他の車両１
００のカメラ設置情報とを用いて、自らの車両１００の
記憶部１４に記憶された予め設定された表示視点に対す
る、他の車両１００のカメラ１１で撮影した映像の表示
視点の相対位置を算出する。次に、演算部１５は、この
他の車両１００による映像の表示視点の相対位置が、記
憶部１４に記憶された自らの車両１００の表示領域にあ
る場合に、この他の車両１００で撮影した映像の表示視
点の相対位置を用いて、この他の車両１００で撮影され
た映像を、予め設定された上記表示視点の映像に座標変
換し、この変換した映像を記憶部１４へ出力して記憶さ
せる。That is, the arithmetic unit 15 controls its own vehicle 100
The relative position of the other vehicle 100 with respect to the own vehicle 100 is calculated from the position information of the vehicle 100 and the position information of the other vehicle 100. Then, the arithmetic unit 15 calculates the relative position and the other vehicle 1
Using the camera installation information of 00, the relative position of the display viewpoint of the video taken by the camera 11 of the other vehicle 100 with respect to the preset display viewpoint stored in the storage unit 14 of the vehicle 100 is calculated. . Next, when the relative position of the display viewpoint of the image by the other vehicle 100 is within the display area of the own vehicle 100 stored in the storage unit 14, the calculation unit 15 shoots with the other vehicle 100. Using the relative position of the display viewpoint of the image, the image captured by the other vehicle 100 is coordinate-converted to the image of the preset display viewpoint, and the converted image is output to the storage unit 14 and stored. Let it.
【００３０】演算部１５の他の主な機能としては、複数
の他の車両１００におけるカメラ１１が撮影した映像
を、上述と同様にして、予め設定された上記表示視点の
映像に座標変換し、これらを記憶部１４に記憶させた後
に、これらの記憶された座標変換後の他の車両１００に
おける映像を１つの映像に合成し、この合成した映像の
映像信号を表示部１６へ出力する。この合成に際して
は、記憶部１４に記憶された同様な複数の他の車両１０
０の映像のうち、撮影時刻が新しい映像、または上述の
座標変換後に解像度が高い映像が優先して用いられて合
成される。Another main function of the arithmetic section 15 is to convert the image captured by the camera 11 of the plurality of other vehicles 100 into an image of the preset display viewpoint in the same manner as described above, After storing these in the storage unit 14, the stored images of the other vehicle 100 after the coordinate transformation are combined into one image, and the image signal of the combined image is output to the display unit 16. At the time of this combination, a similar plurality of other vehicles 10 stored in the storage unit 14 are stored.
Out of the 0 video, the video whose shooting time is new or the video having a high resolution after the above-described coordinate conversion is preferentially used and synthesized.
【００３１】前記表示部１６は、演算部１５にて出力さ
れた映像信号を画像として表示する。この表示部１６に
は、自らの車両１００と他の車両１００との間の車間距
離に関する情報（車間距離の表示、車両１００接近の警
告等）が、上述の合成した映像に重ねて表示されてもよ
い。この車間距離は、演算部１５によって、自らの車両
１００の位置情報と他の車両１００の位置情報とから算
出された相対距離から求められる。或いは、上記車間距
離は、演算部１５によって、自らの車両１００と他の車
両１００との通信における送受信時間（例えば、自らの
車両１００の無線通信部１３が要求信号を送信した時点
から返信信号を受信した時点までの時間）に基づいて算
出される。The display section 16 displays the video signal output by the arithmetic section 15 as an image. On the display unit 16, information on the inter-vehicle distance between the own vehicle 100 and another vehicle 100 (display of the inter-vehicle distance, a warning of approaching the vehicle 100, and the like) is displayed so as to be superimposed on the synthesized image. Is also good. The inter-vehicle distance is obtained from the relative distance calculated by the calculation unit 15 from the position information of the own vehicle 100 and the position information of another vehicle 100. Alternatively, the inter-vehicle distance is calculated by the calculation unit 15 in a transmission / reception time in communication between the own vehicle 100 and another vehicle 100 (for example, a reply signal is transmitted from the time when the wireless communication unit 13 of the own vehicle 100 transmits a request signal). (Time until reception).
【００３２】上述のように構成された車両用視覚支援装
置１０が、図２に示す第１車両１０１、第２車両１０２
及び第３車両１０３に設置されており、第１車両１０１
の周囲に、車両用視覚支援装置１０が搭載されていない
第４車両１０４及び第５車両１０５が存在し、第１車両
１０１の表示部１６に、第２車両１０２及び第３車両１
０３のカメラ１１にて撮影された映像を合成して表示す
る例を説明する。この場合、第２車両１０２及び第３車
両１０３は、これらのカメラ１１が第１車両１０１の死
角を含む映像を撮影できる位置に存在するものとする。The vehicle vision support device 10 configured as described above is used for the first vehicle 101 and the second vehicle 102 shown in FIG.
And the third vehicle 103, the first vehicle 101
There are a fourth vehicle 104 and a fifth vehicle 105 on which the vehicle vision support device 10 is not mounted, and the second vehicle 102 and the third vehicle 1 are displayed on the display unit 16 of the first vehicle 101.
An example in which images taken by the camera 11 of No. 03 are combined and displayed will be described. In this case, it is assumed that the second vehicle 102 and the third vehicle 103 are at positions where these cameras 11 can capture an image including the blind spot of the first vehicle 101.
【００３３】（１）、第１車両１０１における要求信号
の送信動作（図４） 第１車両１０１の位置取得部１２は、この第１車両１０
１の位置及び方位を取得し、位置情報として第１車両１
０１の演算部１５へ出力する（Ｓ１）。(1) Operation of transmitting request signal in first vehicle 101 (FIG. 4) The position acquisition unit 12 of the first vehicle 101
1 and the direction of the first vehicle 1 as position information.
01 (S1).
【００３４】この第１車両１０１の演算部１５は、ステ
ップＳ１にて取得された第１車両１０１の位置情報を含
む要求信号を、第１車両１０１の無線通信部１３へ出力
する。そして、この第１車両１０１の無線通信部１３
が、位置情報を含む上記要求信号を第２車両１０２及び
第３車両１０３へ送信し（Ｓ２）、その後返答信号の受
信待機を実行する（Ｓ３）。The arithmetic unit 15 of the first vehicle 101 outputs a request signal including the position information of the first vehicle 101 obtained in step S1 to the wireless communication unit 13 of the first vehicle 101. Then, the wireless communication unit 13 of the first vehicle 101
Transmits the request signal including the position information to the second vehicle 102 and the third vehicle 103 (S2), and thereafter executes a standby for receiving a reply signal (S3).
【００３５】（２）、要求信号を受信した第２車両１０
２及び第３車両１０３の動作（図５） 第２車両１０２、第３車両１０３のそれぞれの無線通信
部１３は、要求信号の受信待機を実行しており（Ｓ
４）、第１車両１０１から送信された要求信号を、受信
可能か否か判断する（Ｓ５）。(2) Second vehicle 10 receiving the request signal
Operation of Second and Third Vehicles 103 (FIG. 5) Each of the wireless communication units 13 of the second and third vehicles 102 and 103 is executing standby for receiving a request signal (S
4) It is determined whether the request signal transmitted from the first vehicle 101 can be received (S5).
【００３６】上記要求信号が受信可能であれば、第２車
両１０２の位置取得部１２は、この第２車両１０２の位
置と方位を取得して、第２車両１０２の演算部１５へ出
力し、また、第３車両１０３の位置取得部１２は、この
第３車両１０３の位置及び方位を取得して、第３車両１
０３の演算部１５へ出力する（Ｓ６）。If the request signal can be received, the position acquisition unit 12 of the second vehicle 102 acquires the position and orientation of the second vehicle 102 and outputs the acquired position and orientation to the calculation unit 15 of the second vehicle 102. Further, the position acquisition unit 12 of the third vehicle 103 acquires the position and the direction of the third vehicle 103, and
03 (S6).
【００３７】更に、第２車両１０２の演算部１５は、こ
の第２車両１０２の記憶部１４に予め記憶された第２車
両１０２のカメラ設置情報を入力し、また、第３車両１
０３の演算部１５は、この第３車両１０３の記憶部１４
に予め記憶された第３車両１０３のカメラ設置情報を入
力する（Ｓ６）。Further, the calculation unit 15 of the second vehicle 102 inputs the camera installation information of the second vehicle 102 stored in the storage unit 14 of the second vehicle 102 in advance, and the third vehicle 1
03 of the third vehicle 103 is stored in the storage unit 14 of the third vehicle 103.
The camera installation information of the third vehicle 103 stored in advance is input (S6).
【００３８】ステップＳ５において、要求信号が受信可
能でなければ、第２車両１０２、第３車両１０３のそれ
ぞれの無線通信部１３は、要求信号の受信待機を実行す
る（Ｓ４）。In step S5, if the request signal cannot be received, the wireless communication units 13 of the second vehicle 102 and the third vehicle 103 execute standby for receiving the request signal (S4).
【００３９】第２車両１０２の演算部１５は、受信した
第１車両１０１の位置情報、第２車両１０２の位置情報
及び第２車両１０２のカメラ設置情報を用いて、第２車
両１０２のカメラ１１が撮影する映像が、第１車両１０
１にとって有効であるか否か、即ち、第２車両１０２の
カメラ１１が第１車両１０１周辺の位置或いは第１車両
１０１の走行に関わる方向の映像を撮影できるか否かを
判断する（Ｓ７）。Using the received position information of the first vehicle 101, the position information of the second vehicle 102, and the camera installation information of the second vehicle 102, the arithmetic unit 15 of the second vehicle 102 Is captured by the first vehicle 10
1 or not, that is, whether or not the camera 11 of the second vehicle 102 can capture an image of a position around the first vehicle 101 or a direction related to the traveling of the first vehicle 101 (S7). .
【００４０】同様にして、第３車両１０３の演算部１５
も、受信した第１車両１０１の位置情報、第３車両１０
３の位置情報及び第３車両１０３のカメラ設置情報を用
いて、第３車両１０３のカメラ１１が撮影する映像が、
第１車両１０１にとって有効か否かを判断する（Ｓ
７）。Similarly, the calculation unit 15 of the third vehicle 103
Also, the received position information of the first vehicle 101 and the third vehicle 10
Using the position information of No. 3 and the camera installation information of the third vehicle 103, the image captured by the camera 11 of the third vehicle 103 is
It is determined whether it is valid for the first vehicle 101 (S
7).
【００４１】ステップＳ７において、第２車両１０２の
カメラ１１による映像が第１車両１０１にとって有効で
あると第２車両１０２の演算部１５が判断した場合、第
２車両１０２のカメラ１１は、当該第２車両１０２の周
辺を撮影し、その映像情報を第２車両１０２の演算部１
５へ出力する（Ｓ８）。その後、第２車両１０２の無線
通信部１３が、第２車両１０２のカメラ１１による映像
信号、第２車両１０２の位置情報及び第２車両１０２の
カメラ設置情報を含む返答信号を、第１車両１０１へ送
信する（Ｓ９）。In step S7, when the arithmetic unit 15 of the second vehicle 102 determines that the image of the second vehicle 102 by the camera 11 is valid for the first vehicle 101, the camera 11 of the second vehicle 102 2 The surroundings of the vehicle 102 are photographed, and the video information is
5 (S8). Thereafter, the wireless communication unit 13 of the second vehicle 102 transmits a response signal including the video signal from the camera 11 of the second vehicle 102, the position information of the second vehicle 102, and the camera installation information of the second vehicle 102 to the first vehicle 101. (S9).
【００４２】同様に、第３車両１０３のカメラ１１によ
る映像が第１車両１０１にとって有効であると第３車両
１０３の演算部１５が判断した場合、第３車両１０３の
カメラ１１は、当該第３車両１０３周囲を撮影し、その
映像情報を第３車両１０３の演算部１５へ出力する（Ｓ
８）。その後、第３車両１０３の無線通信部１３が、第
３車両１０３のカメラ１１による映像情報、第３車両１
０３の位置情報及び第３車両１０３のカメラ設置情報を
含む返答信号を、第１車両１０１へ送信する（Ｓ９）。Similarly, when the calculation unit 15 of the third vehicle 103 determines that the image of the third vehicle 103 by the camera 11 is valid for the first vehicle 101, the camera 11 of the third vehicle 103 The surroundings of the vehicle 103 are photographed, and the video information is output to the calculation unit 15 of the third vehicle 103 (S
8). After that, the wireless communication unit 13 of the third vehicle 103 transmits the video information by the camera 11 of the third vehicle 103, the third vehicle 1
A response signal including the position information of the third vehicle 103 and the camera installation information of the third vehicle 103 is transmitted to the first vehicle 101 (S9).
【００４３】ステップＳ７において、第２車両１０２、
第３車両１０３のそれぞれのカメラ１１による映像が第
１車両１０１にとって有効であると、第２車両１０２、
第３車両１０３のそれぞれの演算部１５が判断しなかっ
た場合には、第２車両１０２、第３車両１０３のそれぞ
れの無線通信部１３は再び受信待機を実行する（Ｓ
４）。In step S7, the second vehicle 102,
If the image of each camera 11 of the third vehicle 103 is valid for the first vehicle 101, the second vehicle 102,
If the calculation units 15 of the third vehicle 103 do not make a determination, the wireless communication units 13 of the second vehicle 102 and the third vehicle 103 execute reception standby again (S).
4).
【００４４】（３）、返答信号を受信した第１車両１０
１の動作（図４） 第１車両１０１の無線通信部１３は、第２車両１０２か
ら送信された返答信号を受信可能か否か判断し（Ｓ１
０）、受信可能であれば、受信した第２車両１０２の映
像情報、位置情報及びカメラ設置情報を第１車両１０１
の演算部１５へ出力する。(3) The first vehicle 10 receiving the reply signal
Operation 1 (FIG. 4) The wireless communication unit 13 of the first vehicle 101 determines whether or not the response signal transmitted from the second vehicle 102 can be received (S1).
0), if receivable, the received video information, position information and camera installation information of the second vehicle 102 are transmitted to the first vehicle 101
Is output to the calculation unit 15.
【００４５】第１車両１０１の演算部１５は、第１車両
１０１の位置情報と第２車両１０２の位置情報とから、
第１車両１０１に対する第２車両１０２の相対位置を算
出する（Ｓ１１）。The calculation unit 15 of the first vehicle 101 calculates the position information of the first vehicle 101 and the position information of the second vehicle 102 from
The relative position of the second vehicle 102 with respect to the first vehicle 101 is calculated (S11).
【００４６】次に、第１車両１０１の演算部１５は、表
示部１６にて表示する映像の、予め設定された表示視点
を記憶部１４から入力すると共に、ステップＳ１１にて
求めた第２車両１０２の相対位置と第２車両１０２のカ
メラ設置情報とを用いて、予め設定された表示視点に対
する、第２車両１０２のカメラ１１で撮影した映像の映
像視点の相対位置を算出する（Ｓ１２）。Next, the arithmetic unit 15 of the first vehicle 101 inputs a preset display viewpoint of the video image displayed on the display unit 16 from the storage unit 14 and obtains the second vehicle determined in step S11. Using the relative position of the second vehicle 102 and the camera installation information of the second vehicle 102, the relative position of the video viewpoint of the image captured by the camera 11 of the second vehicle 102 with respect to the preset display viewpoint is calculated (S12).
【００４７】その後、第１車両１０１の演算部１５は、
表示部１６にて表示可能な表示領域の情報を記憶部１４
から入力し、第２車両１０２の映像の表示視点の相対位
置が、上記表示領域内にあるか否かを判断する（Ｓ１
３）。After that, the calculation unit 15 of the first vehicle 101
The information of the display area that can be displayed on the display unit 16 is stored in the storage unit 14.
It is determined whether or not the relative position of the display viewpoint of the image of the second vehicle 102 is within the display area (S1).
3).
【００４８】ステップＳ１３で表示領域内にある場合に
は、第１車両１０１の演算部１５は、第２車両１０２の
映像における表示視点の相対位置を用いて、この第２車
両１０２の映像の位置、方位、スケール等を調整するこ
とにより、第２車両１０２の映像を予め設定された上記
表示視点の映像に座標変換し、この変換した映像を第１
車両１０１の記憶部１４に記憶させる（Ｓ１４）。When it is within the display area in step S13, the arithmetic unit 15 of the first vehicle 101 uses the relative position of the display viewpoint in the image of the second vehicle 102 to calculate the position of the image of the second vehicle 102. , Azimuth, scale, etc., the image of the second vehicle 102 is coordinate-converted into the image of the preset display viewpoint, and the converted image is converted to the first image.
The information is stored in the storage unit 14 of the vehicle 101 (S14).
【００４９】上述のステップＳ１０〜Ｓ１４までの手順
を、第３車両１０３から送信された返答信号についても
同様に実行し、予め設定された上記表示視点の映像に座
標変換された第３車両１０３の映像を、第１車両１０１
の記憶部１４に記憶させる。The above-described steps S10 to S14 are similarly executed for the response signal transmitted from the third vehicle 103, and the coordinates of the third vehicle 103 converted into the image of the display viewpoint set in advance are converted. The video is displayed on the first vehicle 101
Is stored in the storage unit 14.
【００５０】最後に、第１車両１０１の演算部１５は、
第１車両１０１の記憶部１４に蓄積された、表示視点を
座標変換した第２車両１０２、第３車両１０３の映像の
うち、撮影時刻の新しい映像、または表示視点に変換後
に解像度の高い映像を優先して、これら第２車両１０２
及び第３車両１０３の映像を合成する（Ｓ１５）。Finally, the calculation unit 15 of the first vehicle 101
Of the images of the second vehicle 102 and the third vehicle 103 whose coordinates of the display viewpoint are stored in the storage unit 14 of the first vehicle 101, the image of the new shooting time or the image of high resolution after conversion to the display viewpoint is displayed. Priority is given to these second vehicles 102
Then, the video of the third vehicle 103 is synthesized (S15).
【００５１】第１車両１０１の演算部１５が、合成され
た映像の映像信号を第１車両１０１の表示部１６へ出力
すると、この表示部１６が合成映像を表示する（Ｓ１
６）。When the calculation unit 15 of the first vehicle 101 outputs the video signal of the synthesized video to the display unit 16 of the first vehicle 101, the display unit 16 displays the synthesized video (S1).
6).
【００５２】図３（Ｃ）は、第１車両１０１の表示部１
６に表示される合成映像を示す。この図３（Ｃ）では、
第１車両１０１の表示部１６にて表示される、予め設定
された映像の表示視点は、第１車両１０１の後方から、
この第１車両１０１を臨む視点に設定されており、第１
車両１０１の死角を減少させている。FIG. 3C shows the display unit 1 of the first vehicle 101.
6 shows the composite image displayed. In FIG. 3C,
The display viewpoint of a preset image displayed on the display unit 16 of the first vehicle 101 is from behind the first vehicle 101.
The viewpoint is set so as to face the first vehicle 101, and the first vehicle 101
The blind spot of the vehicle 101 is reduced.
【００５３】一方、図３（Ａ）は、第２車両１０２のカ
メラ１１が撮影して第１車両１０１へ送信した座標変換
前の映像である。撮影枠Ａ内に、後方から見た第１車両
１０１及び第４車両１０４が映っている。また、図５
（Ｂ）は、第３車両１０３のカメラ１１が撮影して第１
車両１０１へ送信した座標変換前の映像である。撮影枠
Ｂ内に、後方から見た第１車両１０１及び第５車両１０
５が映っている。On the other hand, FIG. 3A shows an image before the coordinate transformation, which is taken by the camera 11 of the second vehicle 102 and transmitted to the first vehicle 101. The first vehicle 101 and the fourth vehicle 104 viewed from behind are shown in the photographing frame A. FIG.
(B) shows a state in which the camera 11 of the third vehicle 103 shoots the first
5 is an image before coordinate conversion transmitted to the vehicle 101. The first vehicle 101 and the fifth vehicle 10 viewed from behind in the photographing frame B
5 is shown.
【００５４】図３（Ｃ）に示す合成映像を作成するため
に、撮影枠Ａと撮影枠Ｂの位置、方位及びスケールは、
第２車両１０２と第３車両１０３のそれぞれで撮影した
映像の表示視点の相対位置に基づいて、撮影枠Ａの映像
と撮影枠Ｂの映像における同一被写体（例えば第１車両
１０１）が重なるように、座標変換によって調整され
る。つまり、撮影枠Ａは、撮影枠Ｂよりも左側を撮影し
ているため、図３（Ｃ）の合成映像の表示枠Ｃにおい
て、撮影枠Ｂよりも左に配置される。また、撮影枠Ａ
は、撮影枠Ｂよりも近距離で撮影されているため、表示
枠Ｃにおいて撮影枠Ｂよりも縮小される。In order to create the composite image shown in FIG. 3C, the positions, orientations and scales of the photographing frames A and B are
Based on the relative positions of the display viewpoints of the images shot by the second vehicle 102 and the third vehicle 103, the same subject (eg, the first vehicle 101) in the image of the shooting frame A and the image of the shooting frame B overlaps. Is adjusted by coordinate transformation. That is, since the photographing frame A photographs the left side of the photographing frame B, the photographing frame A is arranged on the left side of the photographing frame B in the display frame C of the composite video in FIG. In addition, shooting frame A
Is photographed at a shorter distance than the photographing frame B, and is therefore reduced in the display frame C compared to the photographing frame B.
【００５５】以上のように構成されたことから、上記実
施の形態によれば、次の効果を奏する。With the above-described configuration, the above-described embodiment has the following advantages.
【００５６】第１車両１０１の車両用視覚支援装置１０
では、第２車両１０２、第３車両１０３のカメラ１１に
て撮影した映像を予め設定された表示視点の映像に変換
し、この変換した映像を、表示部１６に表示することか
ら、第２車両１０２、第３車両１０３のカメラ１１で撮
影した被写体を第１車両１０１の利用者（運転者を含
む）が認識し易いように表示できる。この結果、第１車
両１０１の運転操作性を向上させることができるので、
車両の走行安全性を高めることができる。The vehicle vision support device 10 of the first vehicle 101
Then, the video captured by the camera 11 of the second vehicle 102 and the third vehicle 103 is converted into a video of a preset display viewpoint, and the converted video is displayed on the display unit 16. 102, the subject photographed by the camera 11 of the third vehicle 103 can be displayed so that the user (including the driver) of the first vehicle 101 can easily recognize it. As a result, the driving operability of the first vehicle 101 can be improved,
The traveling safety of the vehicle can be improved.
【００５７】以上、本発明を上記実施の形態に基づいて
説明したが、本発明はこれに限定されるものではない。Although the present invention has been described based on the above embodiment, the present invention is not limited to this.
【００５８】例えば、上記実施の形態では、第２車両１
０２、第３車両１０３のカメラ１１にて撮影された２枚
の映像を合成して合成映像が作成される場合を述べた
が、３台以上の車両のカメラ１１にて撮影された３枚以
上の映像により合成映像を作成してもよい。For example, in the above embodiment, the second vehicle 1
02, the case where a composite video is created by combining two videos taken by the camera 11 of the third vehicle 103 has been described, but three or more taken by the camera 11 of three or more vehicles have been described. A composite video may be created from the video.
【００５９】また、例えば第２車両１０２のカメラ１１
にて撮影された映像のみを第１車両１０１の表示部１６
に表示させる場合には、上記映像の表示視点を座標変換
した映像のみを、他の映像と合成することなくカメラ１
１の表示部１６に表示してもよい。For example, the camera 11 of the second vehicle 102
Only the video taken at the display section 16 of the first vehicle 101
Is displayed on the camera 1 without synthesizing only the video image obtained by converting the display viewpoint of the video image with other video images.
1 may be displayed on the display unit 16.
【００６０】[0060]
【発明の効果】請求項１に記載の発明に係る車両用視覚
支援方法によれば、他車両にて撮影した被写体の映像
を、自車両の利用者が認識し易いように表示できる。According to the visual support method for a vehicle according to the first aspect of the present invention, it is possible to display an image of a subject taken by another vehicle so that a user of the own vehicle can easily recognize the image.
【００６１】請求項７に記載の発明に係る車両用視覚支
援装置によれば、他車両にて撮影した被写体の映像を、
自車両の利用者が認識し易いように表示できる。According to the vision assisting device for a vehicle according to the seventh aspect of the present invention, an image of a subject taken by another vehicle can be
It can be displayed so that the user of the own vehicle can easily recognize it.
【図１】本発明に係る車両用視覚支援装置の一実施の形
態を示すブロック図である。FIG. 1 is a block diagram showing one embodiment of a vehicular visual assistance device according to the present invention.
【図２】図１の車両用視覚支援装置を搭載した車両の位
置関係を示す俯瞰図である。FIG. 2 is an overhead view showing a positional relationship of a vehicle equipped with the vehicle vision support device of FIG. 1;
【図３】図２の車両に搭載された車両用視覚支援装置が
撮影した映像を示す図である。FIG. 3 is a diagram showing an image captured by a vehicular visual assistance device mounted on the vehicle of FIG. 2;
【図４】映像受信側の車両（第１車両１０１）における
車両用視覚支援装置が実行するフローチャートである。FIG. 4 is a flowchart executed by the vehicular vision support device in the vehicle (first vehicle 101) on the video receiving side.
【図５】映像送信側の車両（第２車両１０２、第３車両
１０３）における車両用視覚支援装置が実行するフロー
チャートである。FIG. 5 is a flowchart executed by a vehicular visual assistance device in a vehicle (a second vehicle 102, a third vehicle 103) on a video transmission side.
１０ 車両用視覚支援装置 １１ カメラ １２ 位置取得部 １３ 無線通信部 １４ 記憶部 １５ 演算部 １６ 表示部 １００ 車両 １０１ 第１車両 １０２ 第２車両 １０３ 第３車両 Ａ、Ｂ 撮影枠 Ｃ 表示枠 REFERENCE SIGNS LIST 10 vehicle visual support device 11 camera 12 position acquisition unit 13 wireless communication unit 14 storage unit 15 calculation unit 16 display unit 100 vehicle 101 first vehicle 102 second vehicle 103 third vehicle A, B shooting frame C display frame
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） Ｂ６０Ｒ 21/00 ６２４ Ｂ６０Ｒ 21/00 ６２４Ｃ ６２４Ｇ ６２４Ｈ ６２６ ６２６Ｅ ６２８ ６２８Ｃ Ｆターム(参考） 3D020 BA04 BA09 BA20 BC01 BD05 3D044 BA14 BA21 BB01 BD01 BD13 5H180 AA01 BB04 CC04 FF04 FF05 FF07 FF22 FF27 FF32 FF38──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. 7 Identification symbol FI Theme coat ゛ (Reference) B60R 21/00 624 B60R 21/00 624C 624G 624H 626 626E 628 628C F-term (Reference) 3D020 BA04 BA09 BA20 BC01 BD05 3D044 BA14 BA21 BB01 BD01 BD13 5H180 AA01 BB04 CC04 FF04 FF05 FF07 FF22 FF27 FF32 FF38
Claims (12)
相互に伝達し、各車両において他の車両で撮影した映像
を表示する車両用視覚支援方法であって、 自車両の位置情報を他車両に送信するとともに、上記他
車両で撮影した映像及びその他車両の位置情報を上記自
車両が受信し、 当該自車両では、当該自車両にて表示する映像の表示視
点を予め設定し、当該自車両の位置情報、上記他車両の
位置情報及び上記他車両のカメラ設置情報に基づいて、
予め設定した上記表示視点に対する、上記他車両で撮影
した映像の表示視点の相対位置を算出し、 更に、当該自車両では、上記相対位置情報に基づき、上
記他車両で撮影した映像を予め設定した上記表示視点の
映像に変換し、この変換した映像を表示することを特徴
とする車両用視覚支援方法。1. A vehicular visual assistance method for mutually transmitting image information between different vehicles by communication and displaying an image taken by another vehicle in each vehicle, wherein position information of the own vehicle is transmitted to another vehicle. While transmitting, the own vehicle receives the image captured by the other vehicle and the position information of the other vehicle. In the own vehicle, the display viewpoint of the image displayed by the own vehicle is set in advance, and the own vehicle's display viewpoint is set. Based on the position information, the position information of the other vehicle and the camera installation information of the other vehicle,
The relative position of the display viewpoint of the image taken by the other vehicle with respect to the previously set display viewpoint is calculated, and in the own vehicle, the image taken by the other vehicle is set in advance based on the relative position information. A visual assistance method for a vehicle, comprising: converting the image into a video of the display viewpoint; and displaying the converted video.
により得られ、且つ予め設定された表示視点に変換した
複数の他車両の映像を、一つの映像に合成して表示する
ことを特徴とする請求項１に記載の車両用視覚支援方
法。2. The self-vehicle according to claim 1, wherein a plurality of other vehicle images obtained by communication with a plurality of other vehicles and converted to a preset display viewpoint are combined into one image and displayed. The visual support method for a vehicle according to claim 1, wherein:
点に変換した複数の他車両の映像の合成に際し、撮影時
刻が新しい映像、または上記表示視点への変換後に解像
度の高い映像を優先して用いることを特徴とする請求項
２に記載の車両用視覚支援方法。3. The self-vehicle, when combining images of a plurality of other vehicles converted to a predetermined display viewpoint, gives priority to an image with a new shooting time or a high-resolution image after conversion to the display viewpoint. The visual support method for a vehicle according to claim 2, wherein the visual support method is used.
の間の車間距離に関する情報を、映像に重ねて表示する
ことを特徴とする請求項１乃至３のいずれかに記載の車
両用視覚支援方法。4. The vehicle according to claim 1, wherein the own vehicle displays information on an inter-vehicle distance between the own vehicle and another vehicle so as to be superimposed on an image. Visual assistance method.
る情報は、上記自車両と上記他車両との通信における送
受信時間に基づいて決定されることを特徴とする請求項
４に記載の車両用視覚支援方法。5. The vehicle according to claim 4, wherein the information on the inter-vehicle distance between the host vehicle and another vehicle is determined based on a transmission / reception time in communication between the host vehicle and the other vehicle. For visual assistance method.
る情報は、上記自車両の位置情報と上記他車両の位置情
報に基づいて決定されることを特徴とする請求項４に記
載の車両用視覚支援方法。6. The vehicle according to claim 4, wherein the information on the inter-vehicle distance between the host vehicle and the other vehicle is determined based on the position information of the host vehicle and the position information of the other vehicle. For visual assistance method.
相互に伝達し、各車両において他の車両で撮影した映像
を表示する車両用視覚支援装置であって、 自車両の周囲を撮影するカメラと、 自車両の位置を検出する位置検出部と、 他車両との間で、映像情報、位置情報及び上記カメラの
設置情報を相互に通信する無線通信部と、 上記自車両におけるカメラの設置情報及び上記自車両で
表示する映像の表示視点に関し予め設定された情報を記
憶する記憶部と、 上記位置検出部からの上記自車両の位置情報、上記無線
通信部で得られた上記他車両の位置情報及びカメラ設置
情報、並びに記憶部に記憶された表示視点の情報に基づ
き、上記他車両で撮影した映像を、予め設定された上記
表示視点の映像に変換し、この変換した映像に関する映
像信号を出力する演算部と、 この演算部にて出力された映像信号を映像として表示す
る表示部と、を有して構成されたことを特徴とする車両
用視覚支援装置。7. A visual assistance device for a vehicle for mutually transmitting video information between different vehicles by communication and displaying a video captured by another vehicle in each vehicle, comprising: a camera for capturing images around the own vehicle; A position detection unit that detects the position of the own vehicle, a wireless communication unit that mutually communicates image information, position information, and the installation information of the camera between other vehicles; A storage unit for storing preset information regarding a display viewpoint of an image displayed by the own vehicle; position information of the own vehicle from the position detection unit; position information of the other vehicle obtained by the wireless communication unit And, based on the camera installation information and the information of the display viewpoint stored in the storage unit, the image captured by the other vehicle is converted into the image of the preset display viewpoint, and the image signal related to the converted image is converted. An arithmetic unit for outputting a vehicular visual assistance system, characterized in that the output video signal is configured to have a display unit for displaying a picture at the operation unit.
しての通信により得られ、且つ予め設定された表示視点
に変換した複数の他車両の映像を、一つの映像に合成し
て表示するよう構成されたことを特徴とする請求項７に
記載の車両用視覚支援装置。8. The operation unit of the host vehicle combines a plurality of other vehicle images obtained by communication via a wireless communication unit and converted into a preset display viewpoint into one image. The visual assistance device for a vehicle according to claim 7, wherein the visual assistance device is configured to display.
表示視点に変換した複数の他車両の映像の合成に際し、
撮影時刻が新しい映像、または上記表示視点への変換後
に解像度の高い映像を優先して用いるよう構成されたこ
とを特徴とする請求項８に記載の車両用視覚支援装置。9. The arithmetic unit of the host vehicle, when synthesizing a plurality of images of other vehicles converted to a preset display viewpoint,
The visual assistance device for a vehicle according to claim 8, wherein a video having a new shooting time or a video having a high resolution after conversion to the display viewpoint is preferentially used.
と他車両との間の車間距離に関する情報が、映像に重ね
て表示されることを特徴とする請求項７乃至９のいずれ
かに記載の車両用視覚支援装置。10. The information display device according to claim 7, wherein information on an inter-vehicle distance between the own vehicle and another vehicle is superimposed on a video image on the display unit of the own vehicle. 4. The visual support device for a vehicle according to claim 1.
他車両間の車間距離に関する情報を、当該自車両と上記
他車両との通信における送受信時間に基づいて決定する
よう構成されたことを特徴とする請求項１０に記載の車
両用視覚支援装置。11. The arithmetic unit of the host vehicle is configured to determine information on an inter-vehicle distance between the host vehicle and another vehicle based on a transmission / reception time in communication between the host vehicle and the other vehicle. The vehicle vision support device according to claim 10, wherein:
他車両間の車間距離に関する情報を、当該自車両の位置
情報と上記他車両の位置情報に基づいて決定するよう構
成されたことを特徴とする請求項１０に記載の車両用視
覚支援装置。12. The calculation unit of the host vehicle is configured to determine information on an inter-vehicle distance between the host vehicle and another vehicle based on the position information of the host vehicle and the position information of the other vehicle. The vehicle vision support device according to claim 10, wherein:
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|---|---|---|---|
| JP2001176513A JP4643860B2 (en) | 2001-06-12 | 2001-06-12 | VISUAL SUPPORT DEVICE AND SUPPORT METHOD FOR VEHICLE |
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|---|---|---|---|
| JP2001176513A JP4643860B2 (en) | 2001-06-12 | 2001-06-12 | VISUAL SUPPORT DEVICE AND SUPPORT METHOD FOR VEHICLE |
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|---|---|
| JP2002367080A true JP2002367080A (en) | 2002-12-20 |
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| JP4643860B2 JP4643860B2 (en) | 2011-03-02 |
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ID=19017489
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| JP2001176513A Expired - Fee Related JP4643860B2 (en) | 2001-06-12 | 2001-06-12 | VISUAL SUPPORT DEVICE AND SUPPORT METHOD FOR VEHICLE |
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