JP2004058919A - Preceding vehicle catching display device for controlling following of vehicle distance - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a preceding vehicle catching display device for controlling the following of a vehicle distance capable of displaying a preceding vehicle caught in an image ahead of own vehicle in a monitor quickly when the preceding vehicle appears by obtaining a system at a reduced cost without increasing a computation load. <P>SOLUTION: The vehicle provided with a vehicle distance following control system for making own vehicle follow the preceding vehicle running ahead of own vehicle for control is provided with a vehicle distance sensor 4 detecting a vehicle distance between own vehicle and the preceding vehicle, a CCD camera 3 photographing an image ahead of the vehicle, a monitor 10 displaying the photographed image, a block B4 calculating a preceding vehicle catching display position on the monitor corresponding to the vehicle distance to perform preceding vehicle catching display displaying the presence of the preceding vehicle at a vehicle distance equivalent position in the photographed image, and a block B6 displaying the preceding vehicle catching display by the block B4 in the monitor 10 by overlapping it to the image ahead of the vehicle by the CCD camera 3. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a technology of a preceding vehicle capture and display device that monitors and displays a captured preceding vehicle in a vehicle equipped with an inter-vehicle follow-up control system that travels while following the preceding vehicle while maintaining a following distance when the preceding vehicle is present. Belongs to the field.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, as a preceding vehicle capturing and displaying device for following distance control, for example, one described in Japanese Patent Application Laid-Open No. 7-81454 is known. In this conventional publication,
(1) An area surrounded by a straight line in the vertical direction is extracted, and among the extracted areas, an image which is symmetrical in the left-right direction and whose position does not move much in an image being successively captured is recognized as a preceding vehicle. .
(2) The distance between the own vehicle and the preceding vehicle is also recognized by using two images obtained by the stereo camera. In other words, the same image as the car image detected in one image is located at a position slightly shifted laterally in another image. Therefore, the position of the best matching image is determined while shifting one vehicle image one pixel at a time within the search area of the other image. The inter-vehicle distance is calculated based on the principle of triangulation from the degree of deviation between the two screens.
It is described.
[0003]
[Problems to be solved by the invention]
However, in the conventional inter-vehicle follow-up control display for preceding vehicle capture and display, since both the preceding vehicle recognition and the inter-vehicle distance calculation are performed using two images from the stereo camera, the calculation load is high. There is a problem that it takes time to recognize the preceding vehicle, and the use of a stereo camera increases the cost of the system.
[0004]
SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and a monitor display of a preceding vehicle quickly captured in an image ahead of the vehicle as soon as the preceding vehicle appears, without increasing the calculation load and using a low-cost system. It is an object of the present invention to provide a preceding vehicle capture and display device for inter-vehicle follow-up control capable of performing the following.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, according to the present invention, in a vehicle equipped with an inter-vehicle follow-up control system that performs control to follow a preceding vehicle traveling in front of the own vehicle, a distance between the subject vehicle and the preceding vehicle is detected. Inter-vehicle distance detection means, imaging means for capturing an image in front of the vehicle, a monitor for displaying the captured image, and a preceding vehicle capture display for displaying the presence of the preceding vehicle at a position corresponding to the inter-vehicle distance in the captured image. A preceding vehicle capturing display processing means for performing a preceding vehicle capturing display processing for performing, and a monitor display for displaying the preceding vehicle capturing display by the preceding vehicle capturing display processing means on the monitor by superimposing the preceding vehicle capturing display on the vehicle front image by the imaging means. And control means.
[0006]
Here, the "inter-vehicle distance detecting means" refers to means for obtaining preceding vehicle recognition information and inter-vehicle distance information in the inter-vehicle tracking control system, for example, a laser radar, a millimeter wave radar, or the like provided at the front of the vehicle.
[0007]
The “imaging unit” refers to, for example, a CCD camera or the like installed from the upper part of the vehicle interior of the front window toward the front of the vehicle.
[0008]
The “monitor” refers to, for example, a liquid crystal monitor or the like installed at a position in a vehicle cabin that can be visually recognized by a driver.
[0009]
The "preceding vehicle capture display processing means" refers to, for example, a means for determining a display position on the monitor of the captured preceding vehicle using a monitor coordinate value matching map corresponding to the inter-vehicle distance.
[0010]
The "monitor display control means" is, for example, as a display timing of a superimposed image of the front of the vehicle and the preceding vehicle capture display, an image is displayed at regular intervals, or only when the follow-up control is started or when the preceding vehicle is changed, for a predetermined time. Means for displaying images.
[0011]
【The invention's effect】
Therefore, in the preceding-vehicle catching display device for following-vehicle control according to the present invention, the preceding-vehicle presence information and the following-vehicle distance information are obtained by the following-distance detecting means. Because the preceding vehicle capture display is superimposed on the monitor and displayed on the monitor, compared to the case of using a stereo camera to obtain information on the presence of preceding vehicles and information on the distance between vehicles, it is possible to increase the computational load and reduce the cost of the system. When the preceding vehicle appears, the monitor display of the preceding vehicle captured in the image ahead of the vehicle can be quickly performed.
[0012]
BEST MODE FOR CARRYING OUT THE INVENTION
An embodiment for realizing a preceding vehicle capturing and displaying device for inter-vehicle follow-up control according to the present invention will be described below with reference to the drawings.
[0013]
(First embodiment)
First, the configuration will be described.
FIG. 1 is an operation block diagram showing a preceding vehicle capturing and displaying process in the apparatus of the first embodiment, and FIG. 2 is a block diagram showing a configuration of an inter-vehicle tracking control system to which the preceding vehicle capturing and displaying apparatus for inter-vehicle following control of the first embodiment is applied. It is.
[0014]
In FIG. 2, 1 is a set switch, 2 is a cancel switch, 3 is a CCD camera (imaging means), 4 is an inter-vehicle distance sensor (inter-vehicle distance detecting means), 5 is a vehicle signal transmitting means, 6 is a controller for following control, 7 Denotes an engine output control device, 8 denotes a transmission control device, 9 denotes a brake control device, and 10 denotes a monitor.
[0015]
The set switch 1 is operated by the driver when starting the following control, and the own vehicle speed at the time of operating the switch is set to the set vehicle speed. The cancel switch 2 is a switch operated by the driver to release the following distance control.
[0016]
The CCD camera 3 is installed from the upper part of the vehicle interior of the front window toward the front of the vehicle, and captures an image of the front of the vehicle.
[0017]
The inter-vehicle distance sensor 4 measures the inter-vehicle distance between the host vehicle and the preceding vehicle based on the presence or absence of the preceding vehicle using a laser radar, a millimeter wave radar, or the like, and the transmission / reception time when the presence of the preceding vehicle is detected.
[0018]
The vehicle signal transmitting means 5 transmits, for example, a vehicle speed signal and a brake switch signal to the follow-up control controller 6 as vehicle signals.
[0019]
When the automatic transmission 4 is in the D range, the following control controller 6 measures presence / absence of a preceding vehicle, an inter-vehicle distance, and a relative speed based on information from the inter-vehicle distance sensor 4. If there is no preceding vehicle, the vehicle travels at a constant speed set by the driver. If there is a preceding vehicle that is slower than the set vehicle speed, the vehicle will follow the preceding vehicle while maintaining the inter-vehicle distance according to the vehicle speed with the upper limit of the vehicle speed set by the driver. Furthermore, when a preceding vehicle that is slower than the vehicle speed set by the driver appears, the vehicle decelerates. When there is no preceding vehicle slower than the set vehicle speed, the vehicle slowly accelerates to the set vehicle speed. The following control controller 6 performs the preceding vehicle capturing and displaying process shown in FIG. 1 together with the following vehicle following control.
[0020]
The engine output control device 7, the transmission control device 8, and the braking control device 9 are provided with an electronic control throttle according to the constant speed traveling mode, the deceleration traveling mode, the following traveling mode, and the acceleration traveling mode of the following control controller 6. At least one of control of engine output by opening and closing of a valve, speed control of a transmission, and braking control by brake fluid pressure is executed.
[0021]
The monitor 10 is arranged in a vehicle cabin that can be visually recognized by a driver, and displays a preceding vehicle capturing display superimposed on an image in front of the vehicle from the CCD camera 3.
[0022]
The preceding vehicle capture display processing will be described based on FIG. In block B1, the ON operation of the set switch 1 causes the inter-vehicle distance sensor 4 to start capturing the preceding vehicle. In block B2, an image in front of the vehicle is captured from the CCD camera 3, and in block B3, the inter-vehicle distance sensor 4 receives the preceding image. An inter-vehicle distance signal is captured.
[0023]
Then, in block B4, a coordinate value matching map on the monitor of the preceding vehicle capture display corresponding to the inter-vehicle distance from block B5 is read, and the preceding vehicle capture display position on the monitor according to the inter-vehicle distance from block B4 is calculated ( Preceding vehicle capture display processing means).
[0024]
In the next block B6, the preceding vehicle capture display calculated in block B4 is overwritten on the image in front of the vehicle (monitor display control means).
[0025]
Next, the operation will be described.
[0026]
[Preceding vehicle capture display processing]
FIG. 3 is a flowchart showing the flow of the preceding vehicle capturing and displaying process executed by the follow-up control controller 6 of the first embodiment. Each step will be described below. This flowchart starts from the moment when the main switch of the following distance control system is turned on.
[0027]
In step S1, it is determined whether or not the main switch is OFF. If NO, the process proceeds to step S2, and if YES, the process proceeds to end.
[0028]
In step S2, it is determined whether or not control has been started (set switch 1 is ON). If YES, the process proceeds to step S3. If NO, the process returns to step S1.
[0029]
In step S3, an image in front of the vehicle is captured from the CCD camera 3, and the process proceeds to step S4.
[0030]
In step S4, an inter-vehicle distance signal is captured from the inter-vehicle distance sensor 4, and the process proceeds to step S5.
[0031]
In step S5, a coordinate value matching map (FIG. 4 (c)) on the monitor of the preceding vehicle capture display corresponding to the inter-vehicle distance from step S6 is read, and the preceding vehicle capture display on the monitor according to the inter-vehicle distance from step S4. The position (coordinate position determined by the XY axes in FIG. 4B) is calculated.
[0032]
In step S7, the preceding vehicle capture display (FIG. 4A) calculated in step S5 is overwritten on the vehicle front image captured in step S3, and the process proceeds to step S8.
[0033]
In step S8, it is determined whether or not the control is canceled based on the ON / OFF operation of the cancel switch 2. If the inter-vehicle follow-up control is canceled, the process returns to step S1. If the inter-vehicle follow-up control is not canceled, step S3 is performed. Then, the preceding vehicle capturing display is repeated.
[0034]
[Calculation of display position for preceding vehicle capture]
FIG. 4A is a diagram showing characteristic points of the preceding vehicle capture display by arrows. In the case of this arrow, four points A, B, C, and D are set as characteristic points.
[0035]
FIG. 4B is a diagram showing a monitor 10 for displaying the preceding vehicle. In this monitor 10, the upper left corner point is the reference point (0, 0) of the monitor coordinate value, the horizontal axis is the X axis, and the vertical axis is the vertical axis. When the preceding vehicle is captured and displayed on the monitor 10 on the Y axis, the monitor coordinate values (AX, AY), (BX, BY), (CX, CY),. . . Decide.
[0036]
FIG. 4C is a diagram showing an example of a coordinate value matching map on a monitor for determining the coordinate values of the characteristic points A, B, C, and D. The characteristic points A, B, and C for various inter-vehicle distances Kyori are shown. The coordinate values of C and D are determined in advance.
[0037]
Therefore, when the preceding vehicle is recognized by the following distance sensor 4 and the following distance is read between the own vehicle and the preceding vehicle, the coordinate value matching map on the monitor shown in FIG. 4C is extracted, and the detected following distance is obtained. The coordinate values of each of the characteristic points A, B, C, and D are determined, and the preceding vehicle capture display by the arrow shown in FIG. 4A is overwritten on the monitor 10 that displays the front image.
[0038]
For example, if the inter-vehicle distance is 35 m, the feature point A is displayed at the monitor coordinate position of the X coordinate 320 and the Y coordinate 180. Similarly, the coordinate values of each of the characteristic points B, C, and D are displayed, and these characteristic points A, B, C, and D are connected by a straight line and arrows are overwritten.
[0039]
Next, effects will be described.
The preceding vehicle capturing and displaying device for inter-vehicle follow-up control of the first embodiment can obtain the following effects.
[0040]
(1) An inter-vehicle distance sensor 4 that detects an inter-vehicle distance between a host vehicle and a preceding vehicle in a vehicle equipped with an inter-vehicle tracking control system that controls the host vehicle to follow a preceding vehicle traveling ahead of the host vehicle; A CCD camera 3 that captures a forward image, a monitor 10 that displays the captured image, and a preceding vehicle capture display that indicates the presence of a preceding vehicle at a position corresponding to the following distance in the captured image according to the following distance. Since a block B4 for calculating a preceding vehicle capture display position on the monitor and a block B6 for displaying the preceding vehicle capture display by the block B4 on the monitor 10 superimposed on the image in front of the vehicle by the CCD camera 3 are provided on the monitor 10, the stereo is provided. Compared to the conventional technology using a camera, when the preceding vehicle appears, the image ahead of the vehicle can be displayed quickly without increasing the calculation load and using a low-cost system. The monitor display of the preceding vehicle captured therein can be performed (corresponding to claim 1).
[0041]
(2) A block B4 for providing a monitor coordinate value adaptation map in which coordinate values on the monitor of the preceding vehicle corresponding to the inter-vehicle distance are set in advance, and calculating the preceding vehicle capture display position on the monitor according to the inter-vehicle distance, Using the inter-vehicle distance detected by the inter-vehicle distance sensor 4 and the coordinate value matching map on the monitor, the preceding vehicle capture display position on the monitor according to the inter-vehicle distance is obtained by map search. In addition, it is not necessary to perform the process of calculating the preceding vehicle capture display position on the monitor, the calculation load can be reduced, and the monitor display of the preceding vehicle captured with good response to the change in the inter-vehicle distance can be changed. Corresponding to).
[0042]
(Second embodiment)
The second embodiment is an example in which the display of the image and the preceding vehicle capture position is updated at a constant cycle Tr as a display method of the forward image and the preceding vehicle capture display. Since the configuration is the same as that of the first embodiment, illustration and description are omitted.
[0043]
Next, the operation will be described.
[0044]
[Preceding vehicle capture display processing]
FIG. 5 is a flowchart showing the flow of the preceding vehicle capturing and displaying process executed by the follow-up control controller 6 of the second embodiment. Each step will be described below. In this flowchart, steps S21 to S28 are the same as steps S1 to S8 in FIG. However, in step S23 ', an image in front of the vehicle is captured from the CCD camera 3, the timer value T is set to T = 0, and the process proceeds to step S4.
[0045]
In step S29, it is determined whether or not the timer value T is equal to or longer than a predetermined period Tr. If T <Tr, the process proceeds to step S28, and if T ≧ Tr, the process returns to step S23 '.
[0046]
[Advance vehicle capture display function]
When the preceding vehicle is captured, the flow proceeds to step S21 → step S22 → step S23 ′ → step S24 → step S25 step S27 → step S29 in the flowchart of FIG. 5, and in step S29, the timer value T is fixed. Until the cycle Tr is reached, the flow from step S28 to step S29 is repeated. When the timer value T reaches the fixed cycle Tr, the process returns to step S23 ', and the preceding vehicle capture display processing is newly performed.
[0047]
That is, when the following-to-vehicle control is started, T = 0 is set, and a front image is captured by the CCD camera 3 that captures a landscape image in front of the own vehicle (step S23 ′). An inter-vehicle distance signal from the preceding vehicle is captured by the distance sensor 4 (step S24). Then, the display position on the monitor 10 corresponding to the inter-vehicle distance is calculated using the coordinate value matching map on the monitor of the preceding vehicle capture display corresponding to the inter-vehicle distance (step S25), and the calculated preceding image calculated in the captured front image is calculated. The vehicle capture display is overwritten (step S27).
[0048]
Then, a new image is not captured until a certain period Tr elapses after capturing one image. If the control is canceled during the fixed period Tr, the image is terminated and the control is awaited.
[0049]
As described above, if the following-to-vehicle control is continued, the image is updated at a constant cycle Tr and is displayed frame-by-frame.
[0050]
Next, effects will be described.
In the preceding vehicle capturing and displaying device for the following distance control according to the second embodiment, the following effects can be obtained in addition to the effects of the first embodiment device.
[0051]
(3) Since the image obtained by superimposing the preceding vehicle capture display on the image in front of the vehicle at a constant period Tr is updated and displayed on the monitor, the preceding vehicle display position does not change with a minute change in the inter-vehicle distance. It is possible to reduce the burden on the driver (corresponding to claim 3).
[0052]
(Third embodiment)
In the third embodiment, the front image and the preceding vehicle capturing display are displayed on the monitor 10 for a predetermined time Tmax from the start of the following distance control and immediately after the detection of the preceding vehicle switching signal. This is an example. Since the configuration is the same as that of the first embodiment, illustration and description are omitted.
[0053]
Next, the operation will be described.
[0054]
[Preceding vehicle capture display processing]
FIG. 6 is a flowchart showing the flow of the preceding vehicle capturing and displaying process executed by the follow-up control controller 6 of the third embodiment. Each step will be described below. This flowchart starts from the moment when the main switch of the following distance control system is turned on.
[0055]
In step S31, it is determined whether or not the following control is started (set switch 1 is ON). If YES, the process proceeds to step S33, and if NO, the process proceeds to step S32.
[0056]
In step S32, it is determined whether or not the main switch is OFF. In the case of NO, the process proceeds to step S31, and in the case of YES, the process proceeds to end.
[0057]
In step S33, the monitor presentation (= monitor display) of the preceding vehicle captured display image is started simultaneously with the start of the following distance control, the timer value Ti is set to Ti = 0, and the process proceeds to step S34.
[0058]
In step S34, the preceding vehicle captured display image is updated at regular intervals Tr, and the process proceeds to step S35.
[0059]
Here, as described in the second embodiment, the preceding vehicle capture display image refers to a monitor display by frame advance updated with an image obtained by superimposing the preceding vehicle capture display on the vehicle front image at a constant cycle Tr. .
[0060]
In step S35, it is determined whether or not the timer value Ti is equal to or longer than the set time Tmax. If YES, the process proceeds to step S36, and if NO, the process proceeds to step S39.
[0061]
In step S36, when the set time Tmax has elapsed from the start of the following distance control, the monitor presentation of the preceding vehicle captured display image is ended.
[0062]
In step S37, it is determined whether or not the following distance control is OFF (set switch 1 is OFF). If YES, the process proceeds to step S31, and if NO, the process proceeds to step S38.
[0063]
In step S38, it is determined whether or not there is a preceding vehicle switching signal. If there is a preceding vehicle switching signal, the process proceeds to step S33, and if there is no preceding vehicle switching signal, the process proceeds to step S37.
[0064]
In step S39, if the timer value Ti is shorter than the set time Tmax, it is determined whether or not the following distance control is OFF (the set switch 1 is OFF). If YES, the process proceeds to step S31. If NO, the process proceeds to step S40. Transition.
[0065]
In step S40, it is determined whether or not there is a preceding vehicle switching signal. If there is a preceding vehicle switching signal, the process proceeds to step S33, and if there is no preceding vehicle switching signal, the process proceeds to step S34.
[0066]
[Advance vehicle capture display function]
* At the start of inter-vehicle tracking control
At the start of the following distance control, in the flowchart of FIG. 6, the process proceeds to step S31 → step S33 to start the monitor presentation of the preceding vehicle captured display image, proceeds to step S34 → step S35 from step S33, and as long as Ti <Tmax. The flow of steps S39 → S40 → S34 → S35 is repeated, and the monitor presentation of the preceding vehicle captured display image is maintained.
[0067]
When the timer value Ti reaches the set time Tmax, the process proceeds from step S35 to step S36, and the monitor presentation of the preceding vehicle capture display image ends.
[0068]
That is, at the start of the following distance control, the monitor display of the preceding vehicle captured display image is performed only for a certain period of time from the start to the set time Tmax.
[0069]
* When switching to the preceding car
In step S36, when the preceding vehicle is switched after the monitor presentation of the preceding vehicle capture display image is completed, the process proceeds from step S38 to step S33 in the flowchart of FIG. 6, and the monitor presentation of the preceding vehicle capture display image is started, and step S33 is performed. From step S34 to step S35, and as long as Ti <Tmax, the flow of step S39 → step S40 → step S34 → step S35 is repeated, the monitor presentation of the preceding vehicle captured display image is maintained, and the timer value Ti is set. When the time Tmax has been reached, the process proceeds from step S35 to step S36, and the monitor presentation of the preceding vehicle captured display image ends.
[0070]
In step S35, when the timer value Ti is less than the set time Tmax and the preceding vehicle is switched while the monitor display of the preceding vehicle capture display image is being maintained, the process proceeds from step S40 to step S33 in the flowchart of FIG. The monitor presentation of the preceding vehicle capture display image is started, and the process proceeds from step S33 to step S34 → step S35, and unless Ti <Tmax and a new preceding vehicle switching is not performed, step S39 → step S40 → step S34. → The flow of step S35 is repeated, and the monitor presentation of the preceding vehicle capture display image is maintained. When the timer value Ti reaches the set time Tmax, the process proceeds from step S35 to step S36, and the monitor presentation of the preceding vehicle capture display image ends. I do.
[0071]
That is, at the time of the preceding vehicle switching, the monitor display of the preceding vehicle capture display image is performed only for a certain time from the output time of the preceding vehicle switching signal to the set time Tmax. If a new preceding vehicle switch occurs between the time at which the preceding vehicle switching signal is output and the set time Tmax, the preceding vehicle is captured for a certain period of time from the time at which the new preceding vehicle switch occurs to the set time Tmax. The display image is displayed on a monitor.
[0072]
[On preceding vehicle switching logic]
In step S38 and step S40, it was determined whether or not there was a preceding vehicle switching signal. This preceding vehicle switching signal indicates that the preceding vehicle as the target for inter-vehicle follow-up control is switched to a new preceding vehicle due to interruption or departure. Output when
[0073]
Therefore, the preceding vehicle switching determination logic for determining that the preceding vehicle has been switched is required. For example, the following preceding vehicle switching determination logic is used.
[0074]
{Circle around (1)} In the case where a distance signal having a difference equal to or more than a certain value is generated in a plurality of distance signals taken at substantially the same time as a premise of a scanning distance sensor, in addition to the first candidate, the currently following vehicle. If the detection direction has a difference equal to or more than a certain value, it is determined that the second candidate has been detected. Then, when the first candidate is not detected and only the second candidate is detected, it is determined that the preceding vehicle to be controlled has switched from the first candidate to the second candidate. If the first candidate and the second candidate are both detected but the second candidate is detected at a position closer to the first candidate for a certain period of time, the preceding vehicle to be controlled is changed from the first candidate to the first candidate. It is determined that the two candidates have been switched.
[0075]
(2) It is determined that the preceding vehicle has switched if the distance information obtained by simply taking in only the distance information with a laser radar etc. at a fixed cycle and the distance information taken each time is more than a fixed value from the previous distance information at each capture. I do.
[0076]
(3) As described in JP-A-2002-087109, the change of the preceding vehicle is determined from the inter-vehicle distance information and the change in the relative speed between the preceding vehicle.
[0077]
(4) A laser radar is used as the inter-vehicle distance sensor, and the sweep angle data of the sensor is acquired as a pair with the inter-vehicle distance data, and the inter-vehicle distance data at a sweep angle different from the old preceding vehicle is smaller than the inter-vehicle distance with the old preceding vehicle. In this case, it is determined that the preceding vehicle has been changed.
[0078]
Next, effects will be described.
In the preceding-vehicle catching display device for the following distance control according to the third embodiment, the following effects can be obtained in addition to the effects of the first and second embodiment devices.
[0079]
(4) As the monitor display control, when the following-to-vehicle control is started or when the preceding vehicle is changed, an image in which the preceding vehicle capturing display is superimposed on the image ahead of the vehicle is displayed, and the monitor display is continued from the start of the display until a predetermined time Tmax. As a result, the preceding vehicle capture information can be provided to the driver accurately when needed (at the start of control and at the time of changing the preceding vehicle). As a result, the driver can easily notice the state change (corresponding to claim 4).
[0080]
(Fourth embodiment)
The fourth embodiment is an example in which the display form of the preceding vehicle capturing information can be selected according to the driver's preference. Since the configuration is the same as that of the first embodiment, illustration and description are omitted.
[0081]
Next, the operation will be described.
[0082]
[Selection process of display type of preceding vehicle capture]
FIG. 7 is a flowchart showing the flow of the preceding vehicle capture display type selection process executed by the following control controller 6 of the fourth embodiment device. Each step will be described below. This flowchart is executed while the preceding vehicle is being captured (the inter-vehicle distance signal is present).
[0083]
In step S41, it is determined whether or not a white line dividing the lane can be identified in the image on the monitor 10. If the white line can be identified, the process proceeds to step S42. If the white line cannot be identified, the process proceeds to step S43. I do.
[0084]
In step S42, a display type corresponding to the case where the white line cannot be identified is extracted from the preceding vehicle capture display type candidate group (step S43) set in advance, and the process proceeds to step S44.
[0085]
In step S44, the user selects a desired one from the display types extracted in step S42, and the process proceeds to step S45.
[0086]
In step S45, the preceding vehicle is captured and displayed according to the display type selected in the image ahead of the vehicle on the monitor 10. As the selected display type, for example, as shown in the preceding vehicle capture display example 1 in FIG. 8, the tip position of the arrow, the size of the arrowhead, and the thickness and length of the line are determined according to the detected inter-vehicle distance signal. And the like.
[0087]
In step S46, the display type corresponding to the case where the white line can be identified is extracted from the preceding vehicle capture display type candidate group (step S43) set in advance, and the process proceeds to step S47.
[0088]
In step S47, the user selects a desired one from the display types extracted in step S46, and the process proceeds to step S48.
[0089]
In step S48, the preceding vehicle capture display is performed according to the display type selected in the vehicle front image on the monitor 10. The selected display type is, for example, as shown in the preceding vehicle capture display example 2 in FIG. 9, a horizontally long bar is displayed at the coordinate position estimated from the inter-vehicle distance over the full width of the detected white line, and the base is touched by the bar. This is a pattern or the like in which a shape distance display figure is overwritten.
[0090]
Next, effects will be described.
In the preceding-vehicle catching display device for the following distance control according to the fourth embodiment, the following effects can be obtained in addition to the effects of the first to third embodiment devices.
[0091]
(5) As the monitor display control, a corresponding display type is extracted from the preceding vehicle capture display type candidate group based on the presence or absence of the white line recognition on the monitor, and the user (driver) preferentially precedes the extracted display type as desired. Since the vehicle capture display type can be selected, the preceding vehicle capture display can be performed with an appropriate display type according to the presence or absence of white line recognition, and the preceding vehicle capture display with a display type that suits the driver's preference and feeling It can be performed.
[0092]
(Fifth embodiment)
The fifth embodiment is an example in which means for detecting the driver's line of sight is provided, and when the driver's line of sight has been watching the preceding vehicle capturing information for a certain period of time Td, the preceding vehicle capturing information is deleted. is there.
[0093]
As a configuration, a means for detecting a driver's line of sight (monitor monitor gaze detection) using a CCD for detecting a face image of a driver and using a method described in, for example, JP-A-7-61257 or JP-A-10-226351 is used. Means) was added. The other configuration is the same as that of the first embodiment, so that illustration and description are omitted.
[0094]
Next, the operation will be described.
[0095]
[Preceding vehicle capture display processing]
FIG. 10 is a flowchart showing the flow of the preceding vehicle capturing and displaying process executed by the follow-up control controller 6 of the fifth embodiment, and each step will be described below. This flowchart is executed during the preceding vehicle capture display.
[0096]
In step S51, the driver's line of sight is detected using the driver's face image detection CCD during the preceding vehicle capture display, and the process proceeds to step S52.
[0097]
In step S52, it is determined whether or not the driver's line of sight is directed to the preceding vehicle capture display, that is, whether or not the driver is looking at the preceding vehicle capture display. If YES, the process proceeds to step S53. It returns to S51.
[0098]
In step S53, it is determined whether or not a predetermined period of time Td has elapsed since the driver started viewing the preceding vehicle capture display. If NO, the process returns to step S52, and if YES, the process proceeds to step S54.
[0099]
In step S54, if the driver exceeds a certain time Td after starting to see the preceding vehicle capturing display, the preceding vehicle capturing display is deleted.
[0100]
[Advance vehicle capture display function]
During the preceding vehicle capture display, the driver's line of sight is directed to the monitor 10 where the driver's line of sight exceeds the predetermined time Td and the preceding vehicle capture display is performed by the driver's line of sight detection means using the CCD for detecting the face image of the driver. Then, in the flowchart of FIG. 10, the flow proceeds to step S51 → step S52 → step S53 → step S54. In step S54, the preceding vehicle capture display is forcibly erased from the monitor screen.
[0101]
Next, effects will be described.
The preceding vehicle catching and displaying device for the following distance control according to the fifth embodiment can obtain the following effects in addition to the effects of the second embodiment device.
[0102]
(6) During the preceding vehicle capture display, the driver's line of sight exceeds the fixed time Td by the driver's line of sight by the driver's line of sight detection means using the driver's face image detection CCD. When the vehicle is facing, the preceding vehicle capturing display is forcibly erased from the monitor screen, so that it is possible to suppress the driver from gazing at the monitor 10 for a long time and to urge the driver to gaze forward. 5).
[0103]
As described above, the preceding vehicle capturing and displaying device for following-up control according to the present invention has been described based on the first to fifth embodiments, but the specific configuration is not limited to these embodiments. Changes and additions to the design are permitted without departing from the spirit of the invention claimed in each claim.
[0104]
For example, the specific display pattern of the preceding vehicle capture display is not limited to the display pattern described in the embodiment, and various display patterns (graphics, characters, Picture, a combination of these).
[Brief description of the drawings]
FIG. 1 is an operation block diagram showing a preceding vehicle capturing and displaying process in the first embodiment device.
FIG. 2 is a block diagram showing a configuration of an inter-vehicle tracking control system to which the preceding vehicle capturing and displaying device for inter-vehicle tracking control according to the first embodiment is applied.
FIG. 3 is a flowchart showing a flow of a preceding vehicle capturing and displaying process executed by a follow-up control controller of the first embodiment device.
FIG. 4 is a diagram illustrating an example of a feature point of a preceding vehicle capture display by an arrow, a coordinate setting on a preceding vehicle image display monitor, and a coordinate value matching map on a monitor adopted in the apparatus of the first embodiment.
FIG. 5 is a flowchart illustrating a flow of a preceding vehicle capturing and displaying process executed by a follow-up control controller of the second embodiment apparatus.
FIG. 6 is a flowchart illustrating a flow of a preceding vehicle capturing and displaying process executed by a following control controller of the third embodiment device.
FIG. 7 is a flowchart showing a flow of a preceding vehicle capture display type selection process executed by a follow-up control controller of the fourth embodiment device.
FIG. 8 is a diagram showing a preceding vehicle capture display example 1 when a white line cannot be identified on a monitor image by the device of the fourth embodiment.
FIG. 9 is a diagram showing a preceding vehicle capture display example 2 when a white line can be identified on a monitor image by the device of the fourth embodiment.
FIG. 10 is a flowchart illustrating a flow of a preceding vehicle capturing and displaying process executed by a follow-up control controller of the fifth embodiment device.
[Explanation of symbols]
1 Set switch
2 Cancel switch
3 CCD camera (imaging means)
4 Inter-vehicle distance sensor (inter-vehicle distance detection means)
5 Vehicle signal transmission means
6 Tracking control controller
7 Engine output control device
8 Transmission control device
9 Brake control device
Block B4 preceding vehicle capture display processing means
Block B5 Monitor coordinate value matching map
Block B6 Monitor display control means

Claims (5)

In a vehicle equipped with an inter-vehicle tracking control system that performs control to make the vehicle follow a preceding vehicle traveling in front of the vehicle,
An inter-vehicle distance detecting means for detecting an inter-vehicle distance between the own vehicle and a preceding vehicle;
Imaging means for capturing an image in front of the vehicle;
A monitor for displaying the captured image,
A preceding vehicle capture display processing means for performing a preceding vehicle capture display process for performing a preceding vehicle capture display for displaying the presence of the preceding vehicle at a position corresponding to the inter-vehicle distance in the captured image,
Monitor display control means for superimposing a preceding vehicle capture display by the preceding vehicle capture display processing means on a vehicle front image by the imaging means and displaying the display on the monitor;
A preceding vehicle capturing and displaying device for inter-vehicle follow-up control, comprising: The preceding-vehicle catching display device for inter-vehicle follow-up control according to claim 1,
Provide a monitor coordinate value matching map that sets in advance the monitor coordinate values of the preceding vehicle corresponding to the inter-vehicle distance,
The preceding vehicle capture display processing means uses the inter-vehicle distance detected by the inter-vehicle distance detection means and the coordinate value matching map on the monitor, and performs a map search for a preceding vehicle capture display position on a monitor according to the inter-vehicle distance. A preceding vehicle capturing and displaying device for inter-vehicle follow-up control. The preceding vehicle capturing and displaying device for inter-vehicle follow-up control according to claim 1,
The preceding vehicle capture and display device for inter-vehicle follow-up control, wherein the monitor display control means updates an image obtained by superimposing a preceding vehicle capture display on a vehicle forward image at a predetermined cycle and displays the updated image on a monitor. The preceding vehicle capturing and displaying device for inter-vehicle following control according to any one of claims 1 to 3,
The monitor display control means displays an image obtained by superimposing the preceding vehicle capture display on the image ahead of the vehicle at the start of the follow-up control or at the time of changing the preceding vehicle, and continues the monitor display until a predetermined time from the start of the display. A preceding vehicle capturing and displaying device for inter-vehicle follow-up control. A preceding vehicle capturing and displaying device for following a vehicle following control according to any one of claims 1 to 4,
Provide a monitor gaze detection means to detect that the driver's line of sight is facing the monitor,
The preceding vehicle capture and display device for inter-vehicle follow-up control, wherein the monitor display control means deletes the monitor display when a monitor gaze time is equal to or longer than a predetermined time.

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