JP2003259355A - Apparatus for monitoring surrounding of vehicle - Google Patents

Apparatus for monitoring surrounding of vehicle

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Publication number
JP2003259355A
JP2003259355A JP2002056009A JP2002056009A JP2003259355A JP 2003259355 A JP2003259355 A JP 2003259355A JP 2002056009 A JP2002056009 A JP 2002056009A JP 2002056009 A JP2002056009 A JP 2002056009A JP 2003259355 A JP2003259355 A JP 2003259355A
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JP
Japan
Prior art keywords
vehicle
image
means
display
monitoring device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2002056009A
Other languages
Japanese (ja)
Other versions
JP3805702B2 (en
Inventor
Yoshiharu Morihiro
義晴 森廣
Original Assignee
Mitsubishi Electric Corp
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp, 三菱電機株式会社 filed Critical Mitsubishi Electric Corp
Priority to JP2002056009A priority Critical patent/JP3805702B2/en
Publication of JP2003259355A publication Critical patent/JP2003259355A/en
Application granted granted Critical
Publication of JP3805702B2 publication Critical patent/JP3805702B2/en
Application status is Active legal-status Critical
Anticipated expiration legal-status Critical

Links

Abstract

(57) [Problem] To provide a vehicle periphery monitoring device capable of reliably preventing an accident caused by a time delay due to digital signal transmission. SOLUTION: A photographing means 1 for photographing a rear side and a rear end of a vehicle, a compression means 3 for compressing an image signal obtained by digitally converting a photographed image, a transmission means 4 for transmitting a compressed digital image signal, and a transmission Expansion means 5 for returning the expanded signal to the original digital image signal, analog conversion means 7 for converting the expanded digital image signal into analog, and a vehicle rear end for determining the rear end of the vehicle from the expanded digital image signal Unit determination means 6, vehicle behavior measurement means 10 for measuring the behavior of the vehicle from the time of photography to display, vehicle movement image generation means 15 for calculating the amount of movement of the vehicle and converting it into image data, An image synthesizing unit 16 for synthesizing the image signal and image data corresponding to the movement of the vehicle, and a display unit 17 for displaying the synthesized image are provided.

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention
The rear of the vehicle with the camera
Transmission on the vehicle's console
For monitoring the surroundings of a vehicle displayed on a vehicle (display)
In particular, the time delay caused by digital signal transmission
Regarding the action to be corrected. 2. Description of the Related Art A conventional vehicle periphery monitoring device is provided at a rear portion of a vehicle.
Take a picture of the rear of the vehicle with the camera
Transmitted as a analog signal and installed directly on the vehicle console
On the displayed display means (display). Further
In addition, Japanese Patent Application Laid-Open No. 9-193710
As shown in the report, the distance display and the vehicle width display are superimposed and displayed
And Japanese Unexamined Patent Application Publication No. 11-334470.
As described above, an example in which the predicted travel trajectory is superimposed and displayed,
As shown in Japanese Patent Publication No. 0-175482, traveling of rear wheels
An example in which trajectories are superimposed and displayed,
As shown in the official gazette of No. 2
There is also an example of displaying it. In addition, Japanese Patent Application Laid-Open No. 10-175482 and
In Japanese Patent Application Laid-Open No. 11-334470, the steering angle and vehicle speed
Calculates the trajectory of the rear wheels and the expected trajectory of travel based on the sensor detection values
And the coordinate system on the screen to capture the camera from the coordinate system on the road surface
(So-called graphic display coordinate system)
Hand to convert and display on display means (display)
The law is shown. In addition, JP-A-11-334470
In Japanese Unexamined Patent Application Publication No. 2000-313292,
The switch determines whether the lever is in the reverse position.
And the shift lever enters the reverse position
Only the rear view image and additional information are displayed on the display (display
The method of display is shown in a). Conventional analog signal
In the image transmission by the number, the shooting time and the
Time between the display time when the captured image is displayed on the display means
There was little delay. [0004] However, recently, in-vehicle
Network (LAN: Local Area Network)
It is becoming increasingly common to transmit signals digitally. this
Digital audio recording media such as CDs and MDs are
In addition, video signals such as DVD are originally compressed and recorded
Digital video recording media is becoming popular,
These players and playback devices (for example, CD players and
Speaker, DVD player and display) in the vehicle.
The digital signal on the vehicle.
This is because transmission has begun over networks. same
The camera installed for monitoring the rear of the vehicle
To transmit an image signal over a vehicle network
Was also considered. [0005] However, it is installed for monitoring the rear of the vehicle.
Image signals captured by the camera
Is difficult to transmit due to the large amount of data
And became a problem. For example, if the black-and-white luminance signal for each pixel is 8
640 x 480 pixels
If data is sent at 30 sheets per second, about 73.7
Mbps. For color signals, three times this
221 Mbps. Digitize image signal
An example of storing in a memory is also described in JP-A-6-124397.
Can be seen. Therefore, digital image data is stored in an MPEG format.
Data compression using techniques such as and MovingJPEG
Was considered to be transmitted. This method uses this data
Compression processing for data volume compression, and
Decompression processing for decompressing and restoring an image is necessary.
It takes time, and there is a time delay between the shooting time and the display time.
Occurs and what is actually displayed is taken
There is a problem that the image is not clear. This delay time
Differs depending on the image data compression method.
In the system, a time delay of several seconds is actually measured. Further, the compressed digital signal is transmitted.
If you try to use the sending method for the vehicle periphery monitoring device,
If you are watching the image and monitoring the rear, the image
This time delay is an accident because you are monitoring the image
There is a problem that it can cause An example
For example, the vehicle runs at a very low speed of about 1 km / h (1 km / h)
On the line, the vehicle travels 28 cm per second. So curbs and
Even if you think you wo n’t hit the wall,
There was also a risk of hitting a child or dog passing behind. The present invention solves the above problems.
Time delay due to digital signal transmission.
Vehicles that can reliably prevent accidents caused by this
The purpose is to obtain a peripheral monitoring device. Means for Solving the Problems Around the vehicle according to the present invention
The monitoring device is installed at the rear of the vehicle and captures images around the vehicle.
Photographing means, and an image photographed by the photographing means.
Digital conversion means for converting the digital signals into digital signals,
Compression for compressing digital image signals from
Means and compressed digital data compressed by the compression means.
Decompression means for returning an image signal to an original digital image signal;
From the digital image signal expanded by the expansion means
A vehicle peripheral portion determining means for determining a peripheral portion of the vehicle;
Elevation of the vehicle between the time of shooting by the shadow means and the time of display
Vehicle behavior measuring means for measuring the movement of the vehicle;
From the behavior of the vehicle measured by the steps,
Moving amount of the vehicle from the vehicle periphery determined by the determination means
Vehicle image generation means for calculating the image data and converting the image data into image data
And an image signal expanded by the expansion means and the vehicle
Image of vehicle movement generated by moving image generation means
Image synthesizing means for synthesizing data and the image synthesizing means
Display means for displaying an image synthesized by
It is. [0010] Further, in place of the vehicle peripheral portion determining means,
A digital image signal expanded by the expansion means.
Vehicle rear object determining means for determining an object behind the vehicle
And a substitute for the vehicle movement image generation means.
The vehicle behavior measured by the vehicle behavior measurement means
From the rear determined by the vehicle rear object determining means.
Calculate the movement equivalent to the movement of the vehicle of the object, and
A rear object moving image generating means for converting the data into data
The image synthesizing means includes an image signal decompressed by the decompression means.
Signal and after being generated by the rear object moving image generating means
The feature is to combine with the image data of the movement of the object
It is assumed that. Further, the vehicle behavior measuring means is provided in front of the vehicle.
Steering angle detecting means for detecting a steering angle of a wheel;
A wheel speed measuring means for measuring a rotation speed of a driven wheel;
An image is taken from the detected values of the angle detecting means and the wheel speed measuring means.
Calculate the amount of movement of the vehicle from the time point to the display time point.
And a momentum calculation means. Further, based on the output from the expansion means,
A moving object image generating means for generating a moving object position image;
The image combining means also includes the moving object position image.
Characterized by being superimposed on the display means.
You. [0013] Further, the image synthesizing means includes:
Display images in a different color from the image of the vehicle movement.
It is a sign. [0014] Further, the image synthesizing means is located in a peripheral portion of the vehicle.
The image around the vehicle is shifted to a position that is
Combining moving images on digital image data
It is characterized by the following. Further, the image synthesizing means includes a vehicle peripheral image.
Move the image and fill the vacant area with the same color as the car body
It is characterized by the following. Further, the image synthesizing means may be located at a peripheral portion of the vehicle.
The object image behind the vehicle is shifted to the position
Combining the moved image on the digital image data
It is characterized by the following. Further, the image synthesizing means includes an object behind the vehicle.
Move the image and fill the vacant area with the same color as the ground
It is characterized by doing. [0018] Further, the vehicle peripheral portion judging means includes:
Judge the rear end by detecting the mark on the side
It is characterized by that. Further, the wheel speed from the wheel speed measuring means is obtained.
And if the speed is equal to or higher than a predetermined wheel speed,
The step does not display the rear image or prompts the driver to view
A control means for controlling display of a message is further provided.
It is characterized by that. Further, even if the movement amount in the peripheral portion of the vehicle is a part,
If the display range of the display means is exceeded, the display means
Does not display the rear shot image or prompts the driver to view it.
Further comprising control means for controlling to display a message.
It is characterized by having. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 shows the present invention.
Showing the configuration of the vehicle periphery monitoring device according to the first embodiment.
It is a lock figure. In FIG. 1, reference numeral 1 denotes an imaging unit.
Camera, lens, CCD image sensor, CCD drive circuit
Circuit, amplifier circuit, etc.
Output. The camera 1 has, for example, a wide-angle view (for example,
100-140 degrees, top and bottom 60-90 degrees, etc.)
It is installed at the upper part of both rear ends and is located behind and around the vehicle.
I am shooting a bumper and so on. As an example attached to live action
For example, an example in which the camera 1 is installed at the rear of the ceiling of an RV car
As shown in FIG. Reference numeral 2 denotes A / D conversion means, which is an anti-area
Zing filter, sample and hold circuit, A / D converter
Data from analog image signals
Convert to an image signal. Numeral 3 is a data compression means.
IC, transmission interface circuit, etc.
The digital image signal sent from the A / D conversion means 2 is compressed.
And reduce the data amount to, for example, 1/10 or less.
This compression method includes MPEG1, MPEG2, MPEG
4. There are methods such as MovingJPEG.
Although the amount of data compression and image quality differ depending on the degree of compression,
It is desirable to use an appropriate method for the photographed image. A / D
The conversion means 2 and the data compression means 3 are mainly for installing the camera 1
Placed around the place. Reference numeral 4 denotes a vehicle-mounted network (L
AN), and the image data compressed by the data compression means 3
To the intended recipient. 5 is data decompression means
Decompression dedicated IC, transmission interface circuit, multiple
It consists of an image memory for the screen, etc.
Expands the digital image signal sent from the data compression means 3.
And restore that data amount to the original image memory for one screen.
And save it as image data. 6 as the vehicle peripheral
It is a vehicle rear end determining means for determining a vehicle rear end, and an image
One image in the data decompression means 5 is constituted by a recognition IC or the like.
The bumper at the rear end of the vehicle is identified from the image data of the surface.
And determine where the rear end of the vehicle is. Once
If the camera is installed, the rear end of the vehicle will not change.
The determination may be made once each time the camera position changes. 7 is D
/ A conversion means, D / A converter, smoothing
One screen in the data decompression means 5 which is composed of filters, etc.
Digital image signal, which is image data for
Convert to an image signal. Numeral 10 denotes a vehicle behavior measuring means for detecting a steering angle.
Output means 11, wheel speed measurement means 12, vehicle movement amount calculation means
13. The steering angle detecting means 11 includes a steering wheel.
The steering angle sensor and steering wheel angle installed on the front wheels
Of the front wheels of the vehicle.
Detect the steering angle. The steering angle sensor has the same angular resolution
For example, it is desirable to have a fine resolution of 10 degrees or less. car
The wheel speed measuring means 12 is a vehicle mounted on each rear wheel of the vehicle.
It consists of a wheel speed sensor, etc., and the left and right rotation of the rear wheel
Count the numbers and calculate the travel distance for each. Vehicle movement
The amount calculation means 13 includes a calculation CPU and a program memory.
The steering angle detection value from the steering angle detection means 11
From the wheel speed measuring means 12 for the right rear wheel and the left rear wheel, respectively.
Of the travel distance of the vehicle at a certain time, for example, every 100 ms.
Measure and record, and display from the time of shooting based on the measured value
The amount of movement of the vehicle until the indicated time, especially the rear end of the vehicle
Calculate the amount. If the data compression method is decided,
Since the time interval is constant, the recorded value
The movement amount up to the present is, for example, every fixed time of 100 ms.
Calculate every time. Numeral 15 denotes a vehicle movement image generating means for calculating
For vehicle movement
The amount of movement of the rear end of the vehicle obtained from the
From the coordinate system on the screen, the coordinate system
Coordinate conversion to fit the graphic display coordinate system)
The position of the vehicle rear end determined by the vehicle rear end determination means 6
The current vehicle at a position shifted by the amount of vehicle movement
A line segment of the moving position image is created and converted into image data. 1
Reference numeral 6 denotes an image synthesizing unit, such as a superimpose circuit.
And the analog image sent from the D / A conversion means 7.
The vehicle transmitted from the vehicle movement image generation means 15 to the image signal
The moving position images are superimposed. 17 is a display means,
Display, backlight, display drive circuit
And an image signal transmitted from the image combining means 17.
Is displayed. FIG. 3 shows an example displayed on the display means 17.
Is shown. FIG. 3 shows the rear end of the vehicle and the rear of the vehicle.
The white lines on the right and left behind the vehicle are reflected on the camera.
The vehicle movement position image is displayed on top of that image.
You. This vehicle moving position image can be easily understood by the driver.
And use prominent colors, such as yellow or orange
It is desirable. In FIG. 3, the vehicle moves to the upper right of the screen.
This shows an example of operation. Reference numeral 18 denotes control means, which is a CPU for calculation,
Shift lever reverse
Switch 19 is connected and the shift lever is
Judge whether the shift lever is in the reverse position.
Command is issued to the display means 17 when the
It controls to display the one photographed image. Also, wheel speedometer
Each wheel speed from the measuring means 12 is determined, and the wheel speed is determined.
If the value exceeds a certain value, the vehicle movement position image cannot be synthesized
Command to the display means 17 and shoot backward
Control not to display the image. For example, camera installation position and camera direction
On the road behind the vehicle that can be photographed and displayed according to the camera angle of view
The distance on the coordinates is determined, but assuming that this is 5m, compression transmission
Causes a time delay of 3 seconds, the vehicle speed is 6 km /
h is the limit at which the vehicle movement position image can be synthesized. Also,
If it is 10 seconds and 2 seconds, the vehicle speed is 18 km / h
You. Controlling so that the rear shot image is not displayed
Not only is the image impossible, but it is displayed at this speed
Because the image is a time-delayed image, look at the displayed image and
Driving on it can be dangerous. This
Not only does not display the rear image,
To inform the driver of the ruggedness, for example,
Please confirm. " here
The vehicle movement amount calculation means 13 and the vehicle movement image generation means 1
5 and the control means 18 can use the same CPU.
You. The vehicle periphery according to the first embodiment having the above configuration
The operation of the edge monitoring device is mainly controlled by the control unit 18.
This will be described with reference to the flowchart shown in FIG.
You. Note that the flowchart shown in FIG.
Processing starts when accessory power is turned on)
It has become so. First, in step S1, this processing is performed.
Set various initial values required for processing. Note on steering angle and wheel speed
Clear the recorded value. Next, shift lever reverse switch
The state of the switch 19 is checked (step S2), and the shift
Bar reverse switch 19 is off (not reverse)
If so, turn off the display of the display means (display) 17
(Step S3), returning to step S2. In step S2, the shift lever reverse switch
If the switch 19 is on, the steering angle of the front wheels of the vehicle is detected.
(Step S4). Also, shift the left rear wheel and the right rear wheel respectively.
The moving distance is calculated (step S5). And these
The steering angle value and the moving distance are recorded (step S6). Next
The shift lever reverse switch 19 is turned on
The elapsed time is determined (step S7), and within a predetermined time
If so, the process returns to step S4. This predetermined time
The time between the point in time and the display
This is the time corresponding to the time delay associated with the transmission extension. After this predetermined time
It does not mean that the processing after step S8 is not performed within
You. After the predetermined time has elapsed in step S7,
If there is, it is longer than the recorded steering angle value and travel distance for a certain period of time.
Calculate the amount of movement of the rear end of the vehicle from the previous recorded value to the present
(Step S8). Next, the amount of movement of the rear end of the vehicle
From the coordinate system on the screen, the coordinate system
Coordinate conversion to fit the graphic display coordinate system)
(Step S9), determined by the vehicle rear end determination means 6
A position shifted from the position of the rear end of the vehicle by the amount of movement of the vehicle
A line segment of the current vehicle movement position image is created in
(Step S10). And analog images
The vehicle movement position image is superimposed on the signal (step S1)
1). Next, the wheel speed is determined (step S1).
2) If the wheel speed exceeds a certain level, drive the danger
Inform others. For example, "Please visually check the back"
Is displayed (step S13). Wheel speed
If the degree is below a certain level, display the superimposed image
(Step S14). Step S13, Step S14
After the processing of, the process returns to step S2. Although not mentioned in this flowchart,
The rear image taken by the imaging means (camera) 1 is turned on.
If it is, it is always photographed, A / D converted, and data compressed
Transmitted, decompressed, and D / A converted.
You. Further, the rear end of the vehicle is also determined. However,
Turn off the power when the lever reverse switch 19 is off.
And may not operate. Therefore, according to the first embodiment, the display
Even if the image is later than the actual one,
Location and the position of the rear object, so you can hit the curb or wall.
Operation can be performed safely and digital signal transmission
Accidents caused by time delays caused by traffic accidents
Can be. Embodiment 2 In the first embodiment described above,
Moves behind the vehicle such as stones, curbs, walls, bollards, white lines, etc.
I explained that there is no object, but there is a child behind the vehicle
Moving objects such as dogs and dogs may cross. Embodiment 2
Will be described for the case where there are these moving objects. FIG. 5 shows a vehicle according to a second embodiment of the present invention.
It is a block diagram which shows the structure of both periphery monitoring apparatuses. In FIG.
1 to 7, 10 to 13, and 15 to 19 are shown in FIG.
The description is omitted because it is the same as that of the first embodiment. new
The reference numeral 14 denotes a moving object image generating means,
It consists of an arithmetic CPU, program memory, etc.
Move from the image data for a plurality of screens in the decompression means 5.
If there are moving objects, remove
Calculate the direction and speed of movement of the object between screens,
It is assumed that the direction and speed are the same, and the time is later than the latest image.
Estimating the position of the moving object after
Generate a line segment of the image. The output of the moving object image generating means 14 is
The image synthesizing unit 16 sends the D / A
The analog image signal sent from the conversion means 7 includes a vehicle moving image.
Vehicle moving position image and moving object sent from image generating means 15
The moving object position images sent from the image generating means 14 are superimposed.
This is displayed on the display means 17. This moving object position
The images are also displayed in prominent colors, for example yellow or orange
Is desirable. The moving object position image is a vehicle moving position image.
If the image and the color are different, the driver can easily understand and drive
For example, to make it easier for
It is desirable to use colors that call for more attention. FIG.
Displayed on the display means (display) of the vehicle periphery monitoring device
FIG. 6 shows an example of an image obtained when a dog is present.
The example which displays the estimated moving position is shown. Also figure
In 6, the estimated movement position of only the dog's head is displayed.
However, the estimated movement position of the whole dog body may be displayed. Next, a vehicle periphery monitoring device according to Embodiment 2
The operation of the device will be described. This operation is shown in FIG.
Similar to the flowchart showing the operation according to the first embodiment.
And moved between step S10 and step S11
You only need to add a step to generate an object position image.
Therefore, a detailed description of the flowchart is omitted. Therefore, according to the second embodiment, the rear
It will no longer hit children or dogs that cross
You can drive. Also, the moving image of the moving object is
By displaying in a different color from the moving position of the stationary object,
It can provide the driver with easy-to-understand images,
The moving image of the moving object in a color that calls attention
Drivers are more cautious when moving dangerous dogs and children
can do. Embodiment 3 In the first embodiment,
The current vehicle movement position image is superimposed on the rear image
However, conversely, stones and rims behind the vehicle
Overlaid moving position images of stones, walls, car stops, white lines, etc.
You can also. In the third embodiment, these rear objects are
A case where the position images are displayed in an overlapping manner will be described. FIG. 7 shows a vehicle according to Embodiment 3 of the present invention.
It is a block diagram which shows the structure of both periphery monitoring apparatuses. In FIG.
1 to 7, 10 to 13, and 16 to 19 are shown in FIG.
The description is omitted because it is the same as that of the first embodiment. new
The reference numeral 21 denotes a vehicle rear end determining means shown in FIG.
6 is a rear object determining means provided in place of
For one screen in the data decompression means 5
From the image data of
Recognize objects. Reference numeral 22 denotes a vehicle movement image generation hand shown in FIG.
Rear object moving image generating means provided in place of the step 15;
And a calculation CPU, a program memory, etc.
Movement of the vehicle rear end obtained from the vehicle movement amount calculation means 13
The coordinates in the screen where the camera captures the amount from the coordinate system on the road surface
To match the system (so-called graphic display coordinate system)
Target object, and the rear object obtained by the rear object determination means 21
From the current position to a position shifted by the amount of vehicle movement from the current position.
Create a line segment of the object position image, convert it to image data,
It is sent to the image synthesizing means 16. In the image synthesizing means 16, the D / A converting means 7
Generates a moving image of the rear object based on the analog image signal sent from
The rear object moving position image sent from the means 22 is superimposed.
Is displayed on the display unit 17. This rear object position image
The images are also displayed in prominent colors, for example yellow or orange
Is desirable. FIG. 8 shows a case where the vehicle has moved the same distance as in FIG.
It is an example displayed on the display means (display) of the case,
The movement positions of the bollard and the white line are shown. Next, a vehicle periphery monitoring device according to a third embodiment will be described.
The operation of the device will be described. This operation is shown in FIG.
Flowchart showing operation according to Embodiment 1 of the present invention
The vehicle movement image generation in step S10
Can be changed to the step of generating a backward moving object image
Therefore, detailed description of the flowchart is omitted.
You. Therefore, according to the third embodiment, the display
Even if the image lags behind the actual object
Location so you can safely avoid hitting curbs and walls
You can drive. Embodiment 4 Display as in the third embodiment
If you do, as in Embodiment 2, such as children and dogs
If there is a moving object, the position of the moving object
The sum of the amount of accompanying movement and the estimated moving distance of the moving object itself
Calculate and overlay them. In Embodiment 4
This is an embodiment of the present invention. FIG. 9 shows a vehicle according to Embodiment 4 of the present invention.
It is a block diagram which shows the structure of both periphery monitoring apparatuses. Also,
FIG. 10 shows the display means (display) of the vehicle periphery monitoring device.
It is a figure which shows the example of the image displayed at a). Figure 9
And 1 to 5, 7, 10 to 14, 16 to 19, 21, 22
Is the same as the first embodiment shown in FIG.
Is omitted. As shown in FIG.
In addition to the case of the second embodiment, the vehicle movement amount calculating means 13
Also sends the amount of movement of the rear end of the vehicle. Moving object image generator
The stage 14 is for image data of a plurality of screens in the data decompression means 5.
Remove the objects that do not move from the
The moving direction and speed of the object between multiple screens.
Calculate the degree, estimate that the direction and speed are the same,
From the image, estimate the position of the moving object after the time delay
You. Furthermore, the vehicle obtained from the vehicle movement amount calculating means 13
Camera movement of the rear end is calculated from the coordinate system on the road surface
In the coordinate system in the screen (so-called graphic display coordinate system)
The coordinates are converted to fit, and the vehicle is calculated from the estimated position of the moving body.
Line segment of the moving object position image at a position shifted by the moving amount of
Is created, converted to image data, and sent to the image combining means 16.
You. In the image synthesizing means 16, the D / A converting means 7
An analog image signal sent from the
Moving object image and moving object sent from moving means 22
The moving object position images sent from the image generating means 14 are superimposed.
This is displayed on the display means 17. This moving object position
The images are also displayed in prominent colors, for example yellow or orange
Is desirable. The moving object position image is the rear object moving position.
If the color is different from the image,
To make it easier for people to recognize the danger, for example, red
It is desirable to use colors that call for more attention, such as Next, a vehicle periphery monitoring device according to a fourth embodiment will be described.
The operation of the device will be described. This operation is shown in FIG.
Flowchart showing operation according to Embodiment 1 of the present invention
The vehicle movement image generation in step S10
Is changed to the step of generating the backward moving object image, and the backward moving
Move between the step of generating the object image and step S11
Steps corresponding to the object image generating means 14 may be added.
Therefore, a detailed description of the flowchart is omitted. Therefore, according to the fourth embodiment, the
Hit children and dogs that cross behind, as in form 2
And it can be driven safely. Also,
The moving image of the moving object is displayed in a different color from the moving position of the stationary object.
By presenting the image, the driver can easily understand the image.
Can be provided, and the moving image of the moving object can be further improved.
The warning color indicates that the driver is a dangerous dog.
And be alerted to the movement of children. Embodiment 5 In the first embodiment,
Image synthesis by the image synthesis means 16 is performed on an analog signal.
From the position of the rear end of the vehicle,
Draw the line segment of the current vehicle movement position image at the shifted position
However, the case where the image is displayed so as to be superimposed on the rear photographed image has been described.
You can combine images on digital image data.
No. This eliminates the superimpose circuit, etc.
It can be made inexpensively. Furthermore, behind the vehicle
To draw the part image itself so that it moves to that position
Can be displayed in a way that is easier for the driver to understand.
You. FIG. 11 shows Embodiment 5 of the present invention.
It is a block diagram showing composition of a vehicle circumference monitoring device. Ma
FIG. 12 shows a display means (display) of the vehicle periphery monitoring device.
FIG. 15 is a diagram illustrating an example of an image displayed on (ray). In FIG.
1 to 5, 7, 10 to 13, and 17 to 19 are shown in FIG.
Since it is the same as the first embodiment shown, the description is omitted. 3
Reference numeral 1 denotes a vehicle rear end image extracting means, which is an image recognition IC.
The image data for one screen in the data decompression means 5
The entire rear end of the vehicle (vehicle rear + bumper)
And extract it as a vehicle rear end image. 32 is behind the vehicle
It is an edge image moving means, and includes a calculation CPU and a programme.
Mori, consisting of a screen memory for one screen, etc.
The amount of movement of the rear end of the vehicle obtained from the
From the coordinate system on the screen, the coordinate system
Coordinate conversion to fit the graphic display coordinate system)
The vehicle rear end image is shifted to the position shifted by the amount of vehicle movement.
The rear end image of the vehicle extracted by the extracting means 31 is moved.
Create an image. At this time, the vehicle rear end image
Move it toward the display image that seems to float in the air from the bottom of the screen
Therefore, this portion (the portion indicated by the hatched portion in FIG. 12)
Should be painted in the same color as the car body. Reference numeral 33 denotes digital image synthesizing means.
From the image data for one screen in the data decompression means 5,
Extract the vehicle rear end image and add the vehicle rear end image to the image
The image of the rear end of the vehicle after moving sent from the moving means 32 is superimposed.
I'll make it. At this time, if there is a blank image part,
Fill with image data of ground. This digital image synthesis
The image behind the vehicle superimposed by the means 33 is a D / A conversion
In step 7, the image signal is converted into an analog image signal,
Is shown. That is, the digital image synthesizing means 33
By moving the peripheral image of the vehicle,
Fill in the same color, and image the object behind the vehicle
And fill the vacant area with the same color as the ground
To do. Next, a vehicle periphery monitoring device according to a fifth embodiment will be described.
The operation of the device will be described. This operation is shown in FIG.
Similar to the flowchart showing the operation according to the first embodiment.
The vehicle movement image generation in step S10 is performed after the vehicle.
You only need to change to the step of generating the edge moving image.
Therefore, a detailed description of the flowchart will be omitted. Therefore, according to the fifth embodiment, the vehicle
Drive more because you can see the rear end image as it is
It can provide easy-to-understand information. Embodiment 6 FIG. As in the fifth embodiment,
In the case of digital image synthesis, the second embodiment is
In the third and fourth embodiments, the digital image
The image combining means 33 is placed in front of the D / A conversion means 7 and
Extract body images and moving object images and move those images
Can be implemented. Also after the vehicle
The entire image can be moved. Therefore, according to the sixth embodiment, the embodiment
In the same way as in condition 5, the vehicle rear object image can be viewed as it is.
To provide more intuitive information to drivers
it can. Embodiment 7 FIG. Like at night, dusk or rain
If it is relatively dark or the body is dark, such as black or dark blue
In the case of dark colors, the color of the ground and the color of the body are distinguished.
Difficult cases occur. To solve this problem,
At the rear end, for example, a white or bright colored line or circle mark on the bumper
Marking makes it easy and reliable to determine the rear end of the vehicle
Can be That is, the vehicle rear end determination means 6
Easily determines the rear end of the vehicle by detecting landmarks
be able to. FIG. 13 shows a vehicle periphery monitor according to the first embodiment.
Attached to the bumper at the rear end of the vehicle
It is a figure showing an example of a mark. In FIG. 13, (a) is white
(B) is an example in which a plurality of circles are attached.
You. The mark is not limited to this, and the identification of the rear end of the vehicle body
Anything that is easy to do is acceptable. Therefore, according to the seventh embodiment, the rear end of the vehicle
Detection of the rear part of the vehicle body by detecting the mark
More reliable and easier. Embodiment 8 FIG. In Embodiments 1 to 6 above
Display means (display) according to the wheel speed
Is displayed and turned off, but is not limited to this.
Instead of the display range even if the amount of movement at the rear end of the vehicle is partly
When it is exceeded, the display is turned off or a message
A message may be output. This is the handle
This is effective when is operated at a steep angle. Therefore, according to the eighth embodiment, the rear end of the vehicle
If the movement of any part exceeds the display range, the display
Since it turned off and output a message, driving
Can inform the driver of the danger, and the driver can rely on the displayed image.
Can reduce the accidents caused by
You. Embodiment 9 FIG. Each of the embodiments described above is a vehicle
The case of surveillance on both sides has been described, but it is not limited to this.
Even when monitoring the side of the vehicle or the front, the captured image
It is exactly the same as long as the body is in it
is there. As described above, according to the present invention, the display
Even if the image is later than the actual one,
Driving safely without hitting curbs or walls
can do. The displayed image is delayed from the actual image.
Even if you know the actual position of the rear object,
It is possible to drive safely without hitting. Further, the vehicle behavior measuring means allows the vehicle to be accurately measured.
Both movements can be calculated. The displayed image is delayed from the actual image.
Even if you know the actual position of the moving object behind,
It will not hit children or dogs that cross the road. Further, attention is drawn to dangerous moving objects.
Therefore, the driver can be provided with information that is easy to understand. In addition, the image of the rear end of the vehicle can be viewed as it is.
Can provide more intuitive information to drivers
Wear. It is also possible to view the object image behind the vehicle as it is.
To provide more intuitive information to drivers
it can. Since a mark is attached to the rear end of the vehicle,
The determination of the rear part is more reliable and easier. When a certain wheel speed is exceeded, a display is displayed.
Since it turned off and output a message, driving
Can inform the driver of the danger, and the driver can rely on the displayed image.
Can reduce the accidents caused by
You. Further, even if the amount of movement of the rear end of the vehicle is partly
When the display range is exceeded, the display is turned off or a message is
Notifying the driver of danger
Can be caused by the driver relying on the displayed image
Can reduce the number of accidents.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a configuration of a first embodiment of the present invention. FIG. 2 is a diagram illustrating an example of an image displayed on a display unit (display) according to the first embodiment of the present invention. FIG. 3 is a diagram showing an example in which the photographing means (camera) according to Embodiment 1 of the present invention is mounted on an actual vehicle. FIG. 4 is a flowchart showing the operation of the first embodiment of the present invention. FIG. 5 is a block diagram showing a configuration of a second embodiment of the present invention. FIG. 6 is a diagram illustrating an example of an image displayed on a display unit (display) according to the second embodiment of the present invention. FIG. 7 is a block diagram showing a configuration of a third embodiment of the present invention. FIG. 8 is a diagram illustrating an example of an image displayed on a display unit (display) according to Embodiment 3 of the present invention. FIG. 9 is a block diagram showing a configuration of a fourth embodiment of the present invention. FIG. 10 is a diagram illustrating an example of an image displayed on a display unit (display) according to Embodiment 4 of the present invention. FIG. 11 is a block diagram showing a configuration of a fifth embodiment of the present invention. FIG. 12 is a diagram illustrating an example of an image displayed on a display unit (display) according to Embodiment 5 of the present invention. FIG. 13 is a diagram illustrating an example of a mark attached to a bumper, which is a rear end portion of a vehicle, according to the seventh embodiment of the present invention. [Description of Signs] 1 camera, 2 A / D conversion means, 3 data compression means, 4 transmission means, 5 data decompression means, 6 vehicle rear end determination means, 7 D / A conversion means, 10 vehicle behavior measurement means, 11 steering angle detecting means, 12 wheel speed measuring means, 1
3 vehicle movement amount calculation means, 14 moving object image generation means,
15 vehicle moving image generating means, 16 image synthesizing means, 1
7 display means, 18 control means, 19 shift lever reverse switch, 21 rear object determination means, 22 rear object movement image generation means, 31 vehicle rear end image extraction means, 32 vehicle rear end image movement means, 33 digital image synthesis means.

Claims (1)

  1. Claims: 1. A photographing means installed at a rear part of a vehicle for photographing a periphery of the vehicle, a digital converting means for converting an image photographed by the photographing means into a digital signal, and the digital converting means. Compression means for compressing the digital image signal from the digital camera, expansion means for returning the compressed digital image signal compressed by the compression means to the original digital image signal, and peripheral parts of the vehicle from the digital image signal expanded by the expansion means. Vehicle behavior determination means for measuring the behavior of the vehicle from the time of photography by the photography means to the time of display, from the behavior of the vehicle measured by the vehicle behavior measurement means, A vehicle movement image for calculating the amount of movement of the vehicle from the vehicle periphery determined by the vehicle periphery determination means and converting the calculated amount into image data Generating means, image synthesizing means for synthesizing the image signal expanded by the expanding means and image data for the movement of the vehicle generated by the vehicle moving image generating means, and an image synthesized by the image synthesizing means. A vehicle periphery monitoring device comprising a display means for displaying. 2. The vehicle periphery monitoring device according to claim 1, wherein an object behind the vehicle is determined from a digital image signal expanded by the expansion unit instead of the vehicle periphery determination unit. And a movement corresponding to the movement of the vehicle of the rear object determined by the vehicle rear object determination means from the behavior of the vehicle measured by the vehicle behavior measurement means instead of the vehicle movement image generation means. Calculating a minute and converting the image data into image data, wherein the image synthesizing unit includes an image signal expanded by the expansion unit and a movement of the rear object generated by the rear object moving image generation unit. A vehicle periphery monitoring device that combines the image data with the image data of the vehicle. 3. The vehicle periphery monitoring device according to claim 1, wherein the vehicle behavior measurement unit includes a steering angle detection unit that detects a steering angle of a front wheel of the vehicle, and rotation of each driven wheel of the vehicle. A wheel speed measuring means for counting the number of the vehicle, and a moving amount calculating means for calculating a moving amount of the vehicle from a photographing time to a display time based on the detected values of the steering angle detecting means and the wheel speed measuring means. A vehicle periphery monitoring device, characterized in that: 4. The vehicle periphery monitoring device according to claim 1, further comprising: a moving object image generating unit configured to generate a moving object position image based on an output from the extending unit. Means for displaying the moving object position image on the display means in a superimposed manner. 5. The vehicle periphery monitoring device according to claim 4, wherein the image combining unit displays the moving object position image in a different color from the image of the vehicle movement. . 6. The vehicle periphery monitoring device according to claim 1, wherein the image synthesizing unit moves the vehicle periphery image to a position displaced from the vehicle periphery by a moving amount of the vehicle. A vehicle periphery monitoring device characterized in that synthesized images are synthesized on digital image data. 7. The vehicle periphery monitoring device according to claim 6, wherein the image synthesizing unit moves the vehicle periphery image and paints a vacant portion in the same color as the vehicle body. . 8. The vehicle periphery monitoring device according to claim 2, wherein the image synthesizing unit moves the vehicle rear object image to a position displaced from a vehicle peripheral portion by a moving amount of the vehicle. A vehicle periphery monitoring device characterized in that images are synthesized on digital image data. 9. The vehicle periphery monitoring device according to claim 8, wherein the image synthesizing unit moves the vehicle rear object image and paints a vacant portion in the same color as the ground. . 10. The vehicle periphery monitoring device according to claim 1, wherein the vehicle periphery determination unit determines the rear end by detecting a mark attached to the vehicle periphery. A vehicle periphery monitoring device characterized in that: 11. The vehicle periphery monitoring device according to claim 1, wherein a wheel speed from said wheel speed measuring means is determined, and when the wheel speed is equal to or higher than a predetermined wheel speed, said display means is positioned rearward. A vehicle periphery monitoring device further comprising control means for controlling not to display a captured image or to display a message prompting a driver to view the image. 12. The vehicle periphery monitoring device according to claim 1, wherein the display unit moves rearward when at least a part of the movement amount of the periphery of the vehicle exceeds the display range of the display unit. A vehicle periphery monitoring device further comprising control means for controlling not to display a captured image or to display a message prompting a driver to view the image.
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006135797A (en) * 2004-11-08 2006-05-25 Matsushita Electric Ind Co Ltd Ambient status displaying device for vehicle
JP2006235923A (en) * 2005-02-24 2006-09-07 Auto Network Gijutsu Kenkyusho:Kk Driving support device
JP2008005711A (en) * 2006-06-27 2008-01-17 Kubota Corp Back-monitoring device of combine
KR101377035B1 (en) 2010-02-25 2014-03-26 주식회사 만도 Method for determining target of vehicle collision reduction apparatus and vehicle collision reduction apparatus therefor
WO2016194039A1 (en) * 2015-05-29 2016-12-08 日産自動車株式会社 Information presentation system
JP2017022660A (en) * 2015-07-14 2017-01-26 シャープ株式会社 Display device, display system, and program

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006135797A (en) * 2004-11-08 2006-05-25 Matsushita Electric Ind Co Ltd Ambient status displaying device for vehicle
JP4583883B2 (en) * 2004-11-08 2010-11-17 パナソニック株式会社 Ambient condition display device for vehicles
JP2006235923A (en) * 2005-02-24 2006-09-07 Auto Network Gijutsu Kenkyusho:Kk Driving support device
JP2008005711A (en) * 2006-06-27 2008-01-17 Kubota Corp Back-monitoring device of combine
KR101377035B1 (en) 2010-02-25 2014-03-26 주식회사 만도 Method for determining target of vehicle collision reduction apparatus and vehicle collision reduction apparatus therefor
WO2016194039A1 (en) * 2015-05-29 2016-12-08 日産自動車株式会社 Information presentation system
JPWO2016194039A1 (en) * 2015-05-29 2018-05-31 日産自動車株式会社 Information presentation system
US10144351B2 (en) 2015-05-29 2018-12-04 Nissan Motor Co., Ltd. Information presentation system
RU2677256C1 (en) * 2015-05-29 2019-01-16 Ниссан Мотор Ко., Лтд. Information provision system
JP2017022660A (en) * 2015-07-14 2017-01-26 シャープ株式会社 Display device, display system, and program

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