JP2004213489A - Driving support device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device for a vehicle capable of suppressing the uncomfortable feeling of a driver by preventing the presentation of unnecessary display information to the driver. <P>SOLUTION: In this driving support device for a vehicle, an input image from an imaging device set in a vehicle is subjected to a visual point conversion process to an image from a specified virtual visual point, and the visual point-converted image is displayed on an image display means to assist the visual field. An obstacle image in the visual point-converted image is subjected to masking process, so that the display of the obstacle on the image display means is set to a state where only its circumferential profile position is recognizable. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicle driving assistance device that assists the traveling of a vehicle by assisting visual recognition of obstacles around the host vehicle, and particularly to a vehicle driving assistance device that is effective when parking.
[0002]
[Prior art]
Conventionally, as this main driving support device, there is a device as described in Patent Document 1, for example. This driving support device captures an image of the outside of the vehicle using a plurality of cameras installed in the vehicle, converts input images from the plurality of cameras into an image viewed from a specific virtual viewpoint, synthesizes the images, and combines the images. This is a method of displaying a synthesized image on a monitor device. At the time of the image synthesis, by performing synthesis processing so that the synthesized image becomes discontinuous near a three-dimensional object as an obstacle, a driver is The position of the three-dimensional object is estimated from the discontinuous portion, thereby trying to assist the driver in visually recognizing the obstacle.
[0003]
[Patent Document 1]
JP-A-2002-166802 [0004]
[Problems to be solved by the invention]
However, since the images are combined so as to be discontinuous in the vicinity of the three-dimensional object, the driver who sees the combined image feels a sense of discomfort with the discontinuous portion in the display image.
When the viewpoint conversion process is performed on the input image from the camera, an obstacle displayed in the image may be distorted and displayed, but the pattern in the obstacle may be distorted and displayed to the driver. Gives a sense of incongruity.
[0005]
In addition, in order to create a discontinuous surface near a three-dimensional object serving as an obstacle, it is necessary to adopt a configuration in which images from a plurality of cameras are combined, and there is also a problem that a plurality of cameras are necessarily required. .
The present invention focuses on the above points, and an object of the present invention is to provide a vehicle driving support device that can suppress a sense of discomfort given to a driver by not presenting unnecessary display information to the driver. And
[0006]
[Means for Solving the Problems]
In order to solve the above-described problems, the present invention performs an input image from an imaging device installed in the host vehicle, performs a viewpoint conversion process on an image from a specific virtual viewpoint, and displays the converted image on an image display unit. A driving assistance device for a vehicle that displays and assists in the field of view,
A masking process is performed on the obstacle image in the image after the viewpoint conversion process, so that the display of the obstacle on the image display means is in a state where only the outer contour position can be recognized. .
[0007]
【The invention's effect】
According to the present invention, when performing a viewpoint conversion process on an input image, for example, when converting to an image that is easy for a driver to recognize, an obstacle in the image may be distorted and displayed. Since the information in the object is masked and not presented to the driver, it is possible to reduce a sense of discomfort to the driver due to the distortion.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
Next, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 shows a schematic configuration diagram of a vehicle driving assistance device of the present embodiment.
In the figure, reference numeral 1 denotes a vehicle body of the host vehicle, and a CCD camera 2 constituting an imaging device is installed in an upper rear part of the vehicle body 1. The CCD camera 2 captures an image of the surrounding area of the vehicle at a position on the rear side of the vehicle outside the vehicle, and outputs information of the captured image to the assist controller 3. Further, a monitor 4 constituting image display means is installed in the vehicle.
[0009]
Further, on both sides of the vehicle body 1, distance measuring sensors 5 constituting distance measuring means are respectively installed. The distance measurement sensor 5 detects the distance to an obstacle located on the side of the vehicle around the vehicle and the direction (angle) of the obstacle with respect to the distance measurement sensor 5. The distance measuring sensor 5 emits an ultrasonic wave, a microwave, a millimeter wave, light, or the like, and measures a round-trip time until a reflected wave is received to measure a distance, or uses a principle of triangulation. And the like.
[0010]
Further, the vehicle is provided with a steering sensor 6 for detecting a steering angle of a steering wheel, a wheel speed sensor 7 for detecting a wheel speed, and a shift position detection sensor 8 for detecting a shift position of a shift lever.
Further, in the vicinity of the driver's seat, a parking assist switch 9 for instructing whether or not assistance for rear view is required at the time of parking is provided. A viewpoint conversion switch 10 is provided, and signals from the switches 9 and 10 are output to the assist controller 3.
[0011]
The assist controller 3 includes a controller main body 3A, an in-house position grasp processing unit 3B, and a surrounding map creating unit 3C that constitutes an obstacle map creating unit.
The in-house position grasp processing unit 3B starts operation in response to a command from the controller main unit 3A, sets global coordinates with the position of the own vehicle as the origin at the start of operation, and sets the steering sensor at predetermined sampling times. 6. Based on the detection signal from the wheel speed sensor 7, the position and direction of the own vehicle in the global coordinates are obtained and stored in the memory.
[0012]
In the surrounding map creating unit 3C, the processing shown in FIG. 2 is performed. That is, first, in step S200, the distance measuring sensor 5 is turned ON, and detection by the distance measuring sensor 5 is started, and the process proceeds to step S210.
In step S210, based on signals from the left and right distance measurement sensors 5, it is determined whether there is an obstacle such as a parked vehicle on the side of the own vehicle within a predetermined distance from the own vehicle position. If it is determined, the process proceeds to step S220. If it is determined that there is no obstacle, the process proceeds to step S230.
[0013]
In step S220, based on the signal from the distance measuring sensor 5, the distance and the orientation relationship between the own vehicle and the obstacle are obtained, and the position and direction of the own vehicle at that time calculated by the own company both position grasp processing unit 3B are obtained. Based on the information, where the obstacle position is located on the global coordinates is specified and stored in the memory, and the process proceeds to step S230.
[0014]
In step S230, based on the signal from the shift position sensor, it is determined whether or not the shift position is "R", that is, whether or not the vehicle has been switched to a state in which the vehicle can travel in the reverse direction. Moves to step S240 and performs an end process. If the shift position is not “R”, the process returns to step S210 to repeat the above-described obstacle detection.
[0015]
Here, since the obstacle position detection processing is performed substantially at every predetermined sampling time, for example, as shown in FIG. 3, when a plurality of parked vehicles are present in parallel on the left side in the forward traveling direction of the own vehicle. , A plurality of points along the traveling direction of the own vehicle are detected as obstacle positions for a surface portion (the front portion of the parked vehicle in FIG. 3) of each parked vehicle that faces the side of the own vehicle. In the figure, reference symbol P indicates an obstacle position.
[0016]
In step S240, as shown in FIG. 3B, a plurality of detected obstacle positions (coordinate points in global coordinates) are subjected to a summation process to perform grouping. Obstacle positions are grouped for each, and for each of the grouped obstacle position groups, the position of the opposing surface of each obstacle is specified by linear approximation using the least squares method, etc. I do.
[0017]
When the obstacle is a parked vehicle, as shown in FIG. 3B, each of the obtained straight lines represents the position of the parked vehicle surface (for example, the front position), and the line segment is the vehicle width of the parked vehicle. Is represented. Further, assuming parking in a parking lot, the obstacle facing the running own vehicle is usually a parked vehicle, a fence, a wall, or the like, so that the facing surface of the obstacle can be approximated by a straight line. . However, if it is determined that straight-line approximation is not possible because the surface of the obstacle facing the host vehicle is a curved surface having a predetermined curvature or more, for that part, the detected obstacle position is plotted, for example. What is necessary is just to specify the facing surface position so as to connect the adjacent obstacle positions.
[0018]
Further, the controller main unit 3A is activated when an operation signal is input from the parking assist switch 9, and performs the processing shown in FIG.
That is, first, in step S5, the in-house both position grasp processing section 3B is started, and during the driving support processing, the position and orientation of the own vehicle in the set global coordinate system can be always grasped. Thus, the process proceeds to step S10.
[0019]
In step S10, after the surrounding map creating unit 3C is activated to create surrounding map data, the process proceeds to step S20.
In step S20, it is determined whether or not the shift position is "R" based on a signal from the shift position detecting means. If the shift position is not "R", the process proceeds to step S120. On the other hand, if it is determined that the position of the shift lever is "R", the process proceeds to step S30.
[0020]
In step S30, after inputting the image captured by the camera 2, the process proceeds to step S40. In step S40, it is determined whether the viewpoint conversion switch is on. If the viewpoint conversion switch is off, the process proceeds to step S50. Then, the input image from the camera 2 is displayed on the monitor 4 as it is, and the process proceeds to step S120.
On the other hand, if it is determined in step S40 that the viewpoint conversion switch is on, the process proceeds to step S60, in which the input image from the camera 2 is subjected to viewpoint conversion processing, and as shown in FIG. The image is converted into an image viewed vertically downward from the virtual viewpoint set at the upper side position, so that the driver can easily recognize the situation behind the vehicle when driving the vehicle backward for parking or the like (rear image). (An image in which the sense of distance is easily grasped), and the process proceeds to step S70. The step S60 constitutes a viewpoint conversion processing means.
[0021]
In step S70, the position of the own vehicle is displayed as an illustration with respect to the image subjected to the viewpoint conversion, and the process proceeds to step S80.
In this processing, the roof of the host vehicle should be reflected in the image actually captured from the virtual viewpoint, but the camera 2 installed behind the vehicle cannot capture the roof of the host vehicle, and after the viewpoint is changed. This takes into account that the roof of the vehicle is not displayed in the image. By displaying the position of the rear part of the host vehicle as an illustration, the position of the host vehicle on the monitor 4 is specified. Regarding the size of the illustration of the own vehicle, the illustration is made in such a size that the width and the length of the own vehicle have a margin of several centimeters.
[0022]
In step S80, it is determined whether there is an obstacle (mainly a parked vehicle) in the image after the viewpoint conversion, and if there is no obstacle display, the process proceeds to step S110. Shifts to step S90.
In step S90, based on the position and orientation of the own vehicle at the time of inputting the image and the created surrounding map data, the obstacle position approximated by a straight line is plotted on the image by a thick dotted line, and the process proceeds to step S100. Step S100 and step S110 constitute a correction unit.
[0023]
In step S100, a known masking process is performed on the obstacle on the image, and the inside of the outer contour is displayed in one color so that only the outer contour can be visually recognized, that is, the display information inside the obstacle is erased. After the display is converted to a solid display, the process proceeds to step S110. Step S100 constitutes a masking means.
By this processing, a distorted pattern or the like in the outer contour of each obstacle is brought into a display state in which the obstacle is invisible.
[0024]
Here, in the present embodiment, for the side portion of the outer peripheral contour of the obstacle that approximates the thick dotted line position along the surface position of the obstacle, the outer peripheral contour is corrected so that the thick dotted line position is prioritized. After that, that is, the thick dotted line position is regarded as the outer peripheral contour position of the obstacle, and the masking process is performed.
In step S110, the image subjected to the various processes is output to the monitor 4 as an image to be displayed on the monitor 4, and the process proceeds to step S120. Thus, if the viewpoint conversion switch is off, the image as it is is displayed on the monitor 4 if the viewpoint conversion switch is on, and the image after the various conversion processes are performed is displayed.
[0025]
In step S120, it is determined whether or not the shift position is “P”. If the shift position is determined to be “P”, that is, if it is detected that the parking process has been completed, the process proceeds to step S130 to visually check the rear of the vehicle. After the end processing of the driving support processing for assisting, the assist processing is stopped. As the end processing, for example, an operation stop command is output to the in-house position grasp processing unit 3B.
[0026]
On the other hand, when the position of the shift lever is not “P”, the process shifts to step S20, and the image displayed on the monitor 4 is switched every predetermined cycling time by repeating the above processing.
Next, an operation, an operation, an effect, and the like of the driving support device will be described.
The example described below is a case where the host vehicle is parked in a parking lot where a plurality of vehicles are parked.
[0027]
When the own vehicle enters the parking lot and the driver turns on the parking assist switch 9 in consideration of using the parking assist, the global coordinates are set, the position of the own vehicle is grasped, and the own vehicle moves forward. During creation of the surrounding map data, the position of the facing surface of an obstacle (mainly a parked vehicle) around the vehicle is acquired, and when the shift position is changed to “R”, the plurality of obstacles Peripheral map data for predetermined global coordinates is created based on the detection data.
[0028]
Subsequently, while the shift lever is in the “R” position for parking the vehicle, that is, in a state where the vehicle can travel backward and in a state where the vehicle is actually traveling backward, the rear of the vehicle with the rear camera 2 is used. The image is taken and the image is displayed on the monitor 4 in the vehicle to assist the driver in assisting the driver to visually recognize the rear part of the rear part of the vehicle.
At this time, when the driver feels that it is difficult to grasp the sense of distance behind and turns on the viewpoint conversion switch, the driver views the image captured by the camera 2 from a virtual viewpoint above the rear of the vehicle. Convert to image. At this time, an obstacle image such as a parked vehicle is greatly distorted. This is because the distance and height cannot be determined with a single camera 2.
[0029]
On the other hand, in the present embodiment, the obstacle image is converted into a display in which the inside of the outer peripheral portion is solid-colored with one color so that only the information on the outer peripheral outline portion is displayed, and the obstacle information is converted. It is displayed on the monitor 4.
As a result, the driver looking at the monitor 4 can be less likely to feel discomfort due to the distorted display of the obstacle. In addition, since the distorted pattern in the obstacle image is not displayed, that is, unnecessary information is not displayed on the monitor 4, the distance between the host vehicle and the obstacle can be easily understood, and the driving can be performed more easily. This makes it easier for the user to visually recognize the obstacle behind the vehicle.
[0030]
Also, only one camera 2 needs to be used. Of course, multiple units may be used.
Further, by referring to the surrounding map data, as shown in FIGS. 7 and 8, the position of the side of the obstacle near the rear part of the retreating vehicle is corrected. Even if distortion occurs, the position of the obstacle is optimized at least for the corrected portion.
[0031]
In addition, the image captured from the virtual viewpoint should show the roof of the own vehicle as shown in FIG. 6, but the camera 2 installed behind the vehicle cannot capture the roof of the own vehicle, and the viewpoint conversion is performed. In this case, the roof of the host vehicle is not shown, but the rear part of the host vehicle is illustrated and displayed on the monitor 4 as shown in FIG. 7, so that the relative positional relationship between the obstacle and the rear part of the host vehicle retreating can be grasped. Also becomes easier.
[0032]
At this time, by setting the size of the illustration of the own vehicle to have a margin of several centimeters in both the width and the length of the own vehicle, it is easier to avoid a collision between the own vehicle and an obstacle.
In addition, it is possible to easily specify and display the position of the illustration of the own vehicle from the installation position of the camera 2 and the like.
[0033]
Then, when the parking operation is completed and the shift lever is set to "P", that is, the parking state, the above processing is stopped.
Here, when the traveling state is temporarily changed from the “R” to the forward traveling such as “D” during the parking operation, the driving assistance is unnecessary in the forward traveling state of the vehicle. Therefore, the display of the rear image on the monitor 4 is also temporarily hidden. Of course, the monitor 4 may be displayed even during temporary forward running, but an image in front of the host vehicle may be displayed during forward running.
[0034]
When the obstacle is a vehicle, the displayed wheel portion may be excluded from the masking processing. That is, a parked vehicle is extracted from the obstacles in the image, and a masking process is performed by excluding the displayed wheel portion from the masking target from the extracted parked vehicle. Here, it is considered that even if the wheels are displayed in a slightly distorted state, the driver does not feel uncomfortable. The part excluded from the masking processing may be only a part of the displayed wheel part (for example, only a part near the outer contour).
[0035]
Thus, by not masking the wheel portion, it is possible to accurately display the position of the portion closest to the host vehicle when the vehicle stops.
Note that, in the above embodiment, there is an example in which there are parked vehicles on both sides of the space where the vehicle is parked, but when parking in a garage or the like, obstacles on both sides of the space where the vehicle is parked are: It becomes a wall or a fence.
[0036]
Further, in the above embodiment, the case where the host vehicle is parked is described, but the application of the driving support device is not limited to this. In short, the present invention is applicable as long as the own vehicle travels backward.
Further, in the above-described embodiment, the case where the peripheral map data is created is exemplified. However, an apparatus configuration in which the above-described masking process is simply performed on an obstacle in an image whose viewpoint has been converted without creating the peripheral map data. It is good.
Further, in the above-described embodiment, a system assuming driving assistance by assisting the rear view during backward traveling is taken as an example. However, the present invention may be applied to driving assistance by assisting the front vision during forward traveling.
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing a device configuration according to an embodiment based on the present invention.
FIG. 2 is a diagram showing a process of a surrounding map creation unit according to the embodiment based on the present invention.
FIGS. 3A and 3B are diagrams illustrating a process of creating a surrounding map according to an embodiment of the present invention, wherein FIG. 3A illustrates a relationship between a host vehicle and an obstacle, and FIG. 3B illustrates an obstacle position in a global coordinate system. FIG.
FIG. 4 is a diagram showing processing of a controller main body according to the embodiment based on the present invention.
FIG. 5 is a diagram illustrating a virtual viewpoint according to the embodiment based on the present invention.
FIG. 6 is a diagram illustrating a case where an image is captured from a virtual viewpoint.
FIG. 7 is a diagram when a viewpoint is changed.
FIG. 8 is a diagram showing an image after masking.
[Explanation of symbols]
1 body 2 CCD camera (imaging device)
3 Assist controller 3A Controller main body 3B In-house both position grasping processor 3C Surrounding map generator 4 Monitor 5 Distance measuring sensor (ranging means)
6 steering sensor 7 wheel speed sensor 8 shift position detection sensor 9 parking assist switch 10 viewpoint conversion switch

Claims (7)

Vehicle driving assistance that performs viewpoint conversion processing on an input image from an imaging device installed in the own vehicle to an image from a specific virtual viewpoint, and displays the viewpoint-converted image on image display means to assist the field of view. A device,
A vehicle driving operation, wherein a masking process is performed on an obstacle image in the image after the viewpoint conversion process, so that the display of the obstacle on the image display means is in a state where only the outer contour position can be recognized. Support device. The vehicle according to claim 1, wherein when the obstacle is determined to be a vehicle, a masking process is performed on a vehicle body display portion, and at least a part of the wheel display portion is excluded from the masking process. Driving support device. An imaging device installed in the own vehicle and capable of imaging the outside of the vehicle, a viewpoint conversion processing unit for performing a viewpoint conversion process on an input image from the imaging device to an image from a specific virtual viewpoint, and a viewpoint after the viewpoint conversion by the viewpoint conversion processing unit. Masking means for converting the display of an obstacle in the image to an image in which only the outer contour position can be recognized, and image display means for displaying an image processed by the masking means. Driving support device for vehicles. 4. The vehicle according to claim 3, wherein when the obstacle is determined to be a vehicle, the masking unit excludes at least a part of the wheel display part from the processing target with respect to the vehicle body display part. For driving assistance. A distance measuring device mounted on the own vehicle to detect a relative positional relationship between the obstacle around the vehicle and the own vehicle; and, based on information detected by the distance measuring device, the position of the obstacle is represented on the same coordinates. Obstacle map creating means for creating obstacle map data representing the presence status,
5. The apparatus according to claim 3, further comprising a correction unit configured to correct an outer peripheral contour of the obstacle image in the image after the viewpoint conversion based on the obstacle map data created by the obstacle map creation unit. 6. Driving assist device for vehicles. 6. The vehicle driving method according to claim 5, wherein the obstacle map creating means acquires information for creating obstacle map data from the distance measuring means when the own vehicle is in a forward running state. Support device. The image pickup device is installed at the rear of the vehicle body so as to be able to photograph the rear of the host vehicle, and displays an image on the image display means at least when the vehicle is in a state where the vehicle can travel backward. The vehicle driving support device according to any one of claims 3 to 6.

Images