JP2004056486A - Monitor around vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a monitor around a vehicle for enabling a driver or the like to notice with a high degree of certainty that a second vehicle is projected in displayed images picked up around the vehicle. <P>SOLUTION: In this monitor around vehicle, a display device displays the images ahead of the vehicle in left and right directions, which are picked up by an imaging camera, horizontally side by side. When an image recognizing part detects that vehicles exist in the left and right picked-up images, marks 15a and 15b are displayed together on the left and right picked-up images. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicle periphery monitoring device that is mounted on a vehicle and displays a captured image of the periphery of the vehicle in a vehicle interior.
[0002]
[Prior art]
As a conventional vehicle periphery monitoring device of this type, there is one that captures an imaging region in the left-right direction on the front side of a vehicle installed at the front end portion of a vehicle with an imaging camera and displays the captured image in a vehicle interior. . In this device, a captured image around a vehicle is displayed on a display device substantially as it is.
[0003]
[Problems to be solved by the invention]
However, in the above-described conventional vehicle periphery monitoring device, the captured image around the vehicle is only displayed substantially as it is on the display device. Therefore, even if another vehicle is displayed in the displayed captured image, the driving is not performed. May not notice it.
[0004]
In view of the above problems, the present invention provides a vehicle periphery monitoring device that can make a driver or the like notice with high accuracy that another vehicle is reflected in a displayed captured image around the vehicle. The purpose is to:
[0005]
[Means for Solving the Problems]
The technical means for achieving the object is provided in a vehicle periphery monitoring device that is mounted on a vehicle and displays a captured image of the periphery of the vehicle in the vehicle interior, and an imaging camera that captures the periphery of the vehicle, and provided in the vehicle interior. The display device, the other vehicle is detected by image recognition from the captured image captured by the imaging camera, and an image element for notification for notifying the detected vehicle is superimposed on the captured image, and And a control device for displaying on the display device.
[0006]
Preferably, the control device may superimpose and display a first graphic pattern as the image element for notification in the vicinity of the detected vehicle on the captured image.
[0007]
Also, preferably, the imaging camera is installed at a front end portion of the vehicle, and captures an imaging region in the left-right direction on the front side of the vehicle, and the control device captures the two imaging regions in the left-right direction captured by the imaging camera. Images are preferably displayed on the display device side by side.
[0008]
Still preferably, in a partial display region extending in a left-right direction provided on an upper side or a lower side in a display region of the display device, the control device may correspond to an upper side or a lower side of the detected vehicle. A second graphic pattern schematically showing the vehicle is displayed as the notification image element, and the display position of the second graphic pattern is changed according to the movement of the vehicle in the captured image. It is preferable to move in the left and right direction within the partial display area.
[0009]
Preferably, the control device may display a third graphic pattern schematically showing the own vehicle in a central portion of the partial display area or in the vicinity thereof.
[0010]
Furthermore, preferably, the control device further includes a display color of the image element for notification, and a constant display, in accordance with at least one of a detected distance between the vehicle and the vehicle and a speed of the vehicle. It is preferable to change at least one of the display state of display or blinking display.
[0011]
Preferably, the control device further includes a blinking cycle in a case where the display state of the image element for notification is blinking display, the distance between the detected vehicle and the vehicle and the speed of the vehicle. It is better to change according to at least one of them.
[0012]
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 is a block diagram of a vehicle periphery monitoring device according to one embodiment of the present invention. The vehicle periphery monitoring device is mounted on a vehicle and is used for monitoring a driver or the like for safety confirmation around the vehicle. As shown in FIG. It is configured to include a device 3 and a display device 5 provided in the vehicle interior.
[0013]
The imaging camera 1 is installed at the front end of the vehicle as shown in FIG. 2, and is configured to image left and right imaging regions 7L and 7R on the front side of the vehicle. For example, as shown in FIG. 2, left and right blind spots at an intersection or a T-junction are imaged by the imaging camera 1.
[0014]
The captured images 9L and 9R of the left and right imaging regions 7L and 7R captured by the imaging camera 1 are processed by the control device 3 and then displayed by the display device 5 as shown in FIG.
[0015]
As shown in FIG. 1, the control device 3 includes an image recognition unit 3a and a display processing unit 3b. Based on the captured images 9L and 9R of the left and right imaging regions 7L and 7R given from the imaging camera 1, the image recognition unit 3a determines whether or not the captured images 9L and 9R include an image of another vehicle in the image processing. Detect. Here, the detection by image recognition of whether or not a vehicle is included in the captured images 9L and 9R is performed, for example, when the own vehicle is in a stopped state (or at the time of slow driving), a predetermined size is included in the captured images 9L and 9R. As described above, it can be performed by detecting whether or not there is an image element that moves at a predetermined moving speed or higher. Also, even when the own vehicle is in a running state, whether or not there is an image element of a predetermined size or more that moves in a moving mode (direction, moving speed, etc.) different from the moving state of the background image in the captured images 9L, 9R By detecting the above, the vehicle can be detected. Alternatively, the vectors of the vehicles 13a and 13b included in the captured images 9L and 9R are detected (optical flow method), and the vehicles 13a and 13b in the captured images 9L and 9R approach the own vehicle using the detected vectors. You may make it determine whether it is a vehicle.
[0016]
The display processing unit 3b performs predetermined processing on the captured images 9L and 9R of the left and right imaging regions 7L and 7R captured by the imaging camera 1, and then, as shown in FIG. Are displayed side by side on the display device 5. In the display image of FIG. 3, a mask image 11 for dividing the left and right captured images 9L and 9R is displayed at the center of the captured images 9L and 9R so as to be superimposed.
[0017]
Further, when the image recognition unit 3a detects that the vehicles 13a, 13b are included in the left and right captured images 9L, 9R, the display processing unit 3b, as shown in FIG. , 9R, notification marks (notification image elements) 15a, 15b for notifying that vehicles 13a, 13b are included are displayed in a superimposed manner. The display color of the marks 15a and 15b is preferably a conspicuous color such as red, and the position where the marks 15a and 15b are superimposed and displayed is, for example, a portion where the background image is not as complicated as possible, for example, sky or road (asphalt). Is preferred.
[0018]
The marks 15a and 15b are displayed while the image recognition unit 3a detects the presence of the vehicles 13a and 13b in the captured images 9L and 9R (while the vehicles 13a and 13b are present in the captured images 9L and 9R). It is displayed and disappears as the vehicles 13a and 13b no longer exist in the captured images 9L and 9R. The display and deletion of the marks 15a and 15b are performed independently for each of the left and right captured images 9L and 9R.
[0019]
With such a configuration, as shown in FIG. 3, when the image recognition unit 3a detects that the vehicle is present in the left and right captured images 9L and 9R, the mark 15a is displayed on the left and right captured images 9L and 9R. , 15b are superimposed and displayed. For this reason, the display of the marks 15a and 15b draws attention to the driver and the like, and allows the driver and the like to notice with high accuracy that the vehicles 13a and 13b are present in the captured images 9L and 9R.
[0020]
In addition, since the captured images 9L and 9R in the left and right direction on the front side of the vehicle captured by the imaging camera 1 are displayed side by side on the display device 5, by confirming the displayed images, at an intersection, a T-shaped road, or the like. It is possible to easily confirm the safety of the left and right blind spot areas.
[0021]
Next, a first modification of the above embodiment will be described with reference to FIG. In this modification, as shown in FIG. 4, graphic patterns (first graphic patterns) 17a and 17b are displayed instead of the marks 15a and 15b. The graphic patterns 17a and 17b are superimposed and displayed near the vehicles 13a and 13b on the captured images 9L and 9R, for example, on a road (asphalt) near the lower side of the vehicles 13a and 13b. The display color is preferably a conspicuous color such as red. In the present modification, the graphic patterns 17a and 17b are configured by a plurality (three in this case) of small graphic patterns having a predetermined shape (here, circular) arranged in the left-right direction.
[0022]
According to this modification, the image patterns 17a and 17b are displayed on the roads near the lower side of the detected vehicles 13a and 13b on the captured images 9L and 9R as the notification image elements. It is possible to make the driver or the like notice with high accuracy that the vehicles 9a and 9b are included in the images 9L and 9R, and that the vehicles 13a and 13b are moving.
[0023]
Next, a second modification of the above embodiment will be described with reference to FIG. In this modified example, instead of the marks 15a and 15b, the display processing unit 3b extends in the left-right direction at the upper side edge (or the lower side edge) of the display area of the display device as shown in FIG. A mask image 19 corresponding to the partial display area is displayed, and graphic patterns (second graphic patterns) 21a and 21b schematically showing other vehicles are superimposed on the mask image 19 as image elements for notification. It is displayed. The left and right display positions of the graphic patterns 21a and 21b on the mask image 19 are set to corresponding positions on the upper side (or lower side) of the images of the vehicles 13a and 13b recognized by the image recognition unit 3a. , 13b are moved in the left-right direction. Also, a figure pattern 23 schematically showing the own vehicle and a figure pattern schematically showing the left and right imaging regions 7L and 7R on a portion where the center mask image 11 intersects the upper mask image 19 extending left and right. 25a and 25b are superimposed and displayed.
[0024]
Of the display elements (11, 21a, 21b, 23, 25a, 25b), for example, the mask images 11, 19 and the graphic patterns 23, 25a, 25b are always displayed while the left and right captured images 9L, 9R are displayed. It is displayed. When the image recognizing unit 3a detects that the vehicles 13a, 13b are included in the left and right captured images 9L, 9R, the graphic patterns 21a, 21b are displayed on the vehicle 13a on the mask image 19 as described above. , 13b. The display and deletion of the graphic patterns 21a and 21b are performed independently for each of the left and right captured images 9L and 9R as in the case of the above embodiment.
[0025]
According to this modification, the presence or absence of the display of the graphic patterns 21a and 21b displayed in response to the presence of the other vehicles 13a and 13b, the movement status of the display positions of the graphic patterns 21a and 21b, and the graphic patterns 21a and 21b Of the vehicles 13a and 13b in the captured images 9L and 9R to be displayed, the moving conditions of the vehicles 13a and 13b, and the It is possible for the driver or the like to recognize the approach status (feeling of distance) with the own vehicle with high accuracy.
[0026]
In addition, at the intersection of the center mask image 11 and the mask image 19 extending left and right, a figure pattern 23 schematically showing the own vehicle and figure patterns 25a and 25b schematically showing the left and right imaging regions 7L and 7R are displayed. Therefore, the own vehicle and the vehicles 13a, 13b are determined by the positional relationship on the display image between the graphic patterns 23, 25a, 25b corresponding to the own vehicle and the graphic patterns 21a, 21b corresponding to the other vehicles 13a, 13b. Can be easily recognized by the driver and the like.
[0027]
The display elements (11, 21a, 21b, 23, 25a, 25b) displayed in the second modification include the graphic patterns 17a, 17b according to the first modification near the lower sides of the vehicles 13a, 13b. May be additionally displayed.
[0028]
Next, a third modification of the above embodiment will be described with reference to FIG. In this modified example, the display colors of the notification image elements (15a, 15b, 17a, 17b, 21a, 21b) displayed in the above embodiment and the first and second modified examples, and the always-on or blinking display At least one of the display states is changed according to at least one of the distance between the vehicle 13a, 13b and the host vehicle detected by the image recognition unit 3a and the speed of the vehicle 13a, 13b. It has become. For example, in the display example of FIG. 6, the display colors of the graphic patterns 21a and 21b displayed in the second modification change according to the distance between the own vehicle and the vehicles 13a and 13b or the speed of the vehicles 13a and 13b. It is supposed to be. More specifically, for example, as the distance between the detected vehicles 13a, 13b and the vehicle decreases, or as the speed of the vehicles 13a, 13b increases, the display color of the graphic patterns 21a, 21b is changed to a higher alert level. (For example, switching from yellow to red).
[0029]
Alternatively, as another example, as the detected distance between the vehicle 13a, 13b and the host vehicle becomes smaller than a predetermined reference, or as the speed of the vehicle 13a, 13b becomes larger than the predetermined reference. The display state of the graphic patterns 21a and 21b is changed from a constant display (a state where the graphic patterns 21a and 21b are continuously displayed during a period in which the graphic patterns 21a and 21b are to be displayed) to a blinking display (the graphic patterns 21a and 21b are periodically displayed, (A state of erasing).
[0030]
As yet another example, the display state of the image elements (15a, 15b, 17a, 17b, 21a, 21b) (in the following description, the graphic patterns 21a, 21b are used as representative examples of these image elements) is changed from the constantly displayed state. When the display is switched to the blinking display, the blinking period of the graphic patterns 21a and 21b is reduced as the distance between the detected vehicles 13a and 13b and the own vehicle is reduced or as the speed of the vehicles 13a and 13b is increased. It may be.
[0031]
Here, the distance between the own vehicle and the detected vehicles 13a, 13b is, for example, the image size of the vehicles 13a, 13b (the size decreases as the distance increases) or the vehicle 13a in the captured images 9L, 9R. , 13b are detected by the image recognition unit 3a. The detected speeds of the vehicles 13a and 13b are based on, for example, image recognition based on the amount of change per unit time of the distance between the vehicle and the vehicles 13a and 13b detected by the image recognition unit 3a as described above. It is detected by the unit 3a.
[0032]
According to this modified example, by changing the display mode of the image elements (15a, 15b, 17a, 17b, 21a, 21b) as described above, the moving state such as the speed of the vehicles 13a, 13b based on the display image. In addition, it is possible to make the driver or the like accurately recognize the approach status (distance or the like) of the vehicles 13a and 13b to the own vehicle.
[0033]
In the above embodiment and the modified example, the left and right blind spot areas on the vehicle front side are imaged by the imaging camera 1. For example, the left and right blind spot areas on the vehicle rear side are imaged by the imaging camera 1. You may.
[0034]
【The invention's effect】
According to the first aspect of the invention, when an image of another vehicle is included in the captured image around the vehicle to be displayed, the vehicle is detected by image recognition, and an image element for notification is displayed. Since the information is displayed on the display device so as to be superimposed on the captured image, it is possible to call attention to a driver or the like by using the image element for notification, and as a result, the vehicle is included in the captured image. Can be noticed to a driver or the like with high accuracy.
[0035]
According to the second aspect of the present invention, since the first graphic pattern is displayed as an image element for notification in a manner superimposed on the vicinity of the detected vehicle on the captured image, the vehicle is included in the captured image to be displayed. It is possible to make the driver and the like aware with high accuracy that the vehicle is moving and the moving state of the vehicle.
[0036]
According to the third aspect of the present invention, the left and right captured images on the front side of the vehicle captured by the capturing camera are displayed side by side on the display device. It is possible to easily confirm the safety of the left and right blind spot areas in a junction or the like, and the driver or the like can recognize with high accuracy that a vehicle is included in the displayed left-right captured image.
[0037]
According to the fourth aspect of the invention, when another displayed vehicle is included in the displayed captured image, the vehicle is detected by the control device through image recognition, and the detected vehicle is schematically illustrated. Is displayed as an image element for notification at a corresponding position on the upper side or lower side of the vehicle in a partial display area provided on the upper side or lower side of the display device, Since the display position of the second graphic pattern is moved in the left-right direction in accordance with the movement of the vehicle in the captured image, the vehicle is included in the captured image to be displayed, and the vehicle is moved. The driver can be made aware of the situation and the like with higher accuracy.
[0038]
According to the fifth aspect of the present invention, since the third graphic pattern schematically showing the own vehicle is displayed at or near the center of the partial display area, the third graphic pattern corresponding to the own vehicle is displayed. The driver and the like can easily recognize the actual positional relationship between the host vehicle and the vehicle, the sense of distance, and the like based on the positional relationship on the display image between the vehicle and the second graphic pattern corresponding to another vehicle.
[0039]
According to the invention as set forth in claim 6, according to at least one of the detected distance between the vehicle and the vehicle and / or the speed of the vehicle, the display color of the image element for notification and the constantly displayed or blinked display Since at least one of the display states is changed, the movement state such as the speed of the vehicle and the approach state (distance, etc.) of the vehicle to the own vehicle can be accurately given to the driver or the like based on the display image. Can be recognized.
[0040]
According to the invention described in claim 7, the blinking cycle when the display state of the image element for notification is blinking display is at least one of the detected distance between the vehicle and the own vehicle and the speed of the vehicle. Therefore, it is possible for the driver or the like to more accurately recognize the moving state such as the speed of the vehicle and the approaching state (distance and the like) of the vehicle to the own vehicle based on the display image.
[Brief description of the drawings]
FIG. 1 is a block diagram of a vehicle periphery monitoring device according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating a state in which left and right blind spot areas on the front side of a vehicle are monitored.
FIG. 3 is a diagram showing an example of a display image of the vehicle periphery monitoring device of FIG. 1;
FIG. 4 is a diagram showing an example of a display image of a vehicle periphery monitoring device according to a first modification.
FIG. 5 is a diagram illustrating an example of a display image of a vehicle periphery monitoring device according to a second modification.
FIG. 6 is a diagram illustrating an example of a display image of a vehicle periphery monitoring device according to a third modification.
[Explanation of symbols]
Reference Signs List 1 imaging camera 3 control device 5 display device 11 mask image 13a, 13b vehicle 15a, 15b mark 17a, 17b figure pattern 19 mask image 21a, 21b, 23, 25a, 25b figure pattern

Claims (7)

In a vehicle periphery monitoring device that is mounted on a vehicle and displays the captured image of the periphery of the vehicle in the vehicle interior,
An imaging camera for imaging around the vehicle;
A display device provided in the vehicle interior;
Another vehicle is detected by image recognition from an image captured by the image capturing camera, and an image element for notification for notifying the detected vehicle is superimposed on the captured image and displayed on the display device. A control device;
A vehicle periphery monitoring device comprising: The vehicle periphery monitoring device according to claim 1,
The control device includes:
A vehicle periphery monitoring device, wherein a first graphic pattern is displayed as an image element for notification so as to be superimposed on a vicinity of the detected vehicle on the captured image. The vehicle periphery monitoring device according to claim 1 or 2,
The imaging camera is installed at the front end of the vehicle, and captures an imaging region in the left-right direction on the front side of the vehicle,
The vehicle periphery monitoring device, wherein the control device displays the captured images of the two imaging regions in the left and right direction captured by the imaging camera on the display device side by side. The vehicle periphery monitoring device according to claim 3,
The control device includes:
In a partial display area extending in the left-right direction provided on an upper side or a lower side in a display area of the display device, the vehicle is schematically located at a position corresponding to the detected upper side or lower side of the vehicle. The second graphic pattern shown is displayed as the notification image element, and the display position of the second graphic pattern is moved in the left-right direction within the partial display area according to the movement of the vehicle in the captured image. A vehicle periphery monitoring device, characterized in that: The vehicle periphery monitoring device according to claim 4,
The vehicle periphery monitoring device, wherein the control device displays a third graphic pattern schematically showing the own vehicle in a central portion of the partial display area or in the vicinity thereof. The vehicle periphery monitoring device according to any one of claims 1 to 5,
The control device further includes:
In accordance with at least one of the detected distance between the vehicle and the vehicle and / or the speed of the vehicle, at least one of a display color of the image element for notification and a display state of constantly displayed or blinking displayed. A vehicle periphery monitoring device characterized by changing one of them. The vehicle periphery monitoring device according to claim 6,
The control device further includes:
A blinking cycle when the display state of the notification image element is blinking display is changed according to at least one of a distance between the detected vehicle and the own vehicle and a speed of the vehicle. Vehicle periphery monitoring device.

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