JP2004282510A - Device for monitoring vehicle surrounding - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device for monitoring vehicle surroundings for automatically displaying the video by a camera of a position at which a driver wants to look at a prescribed point. <P>SOLUTION: The device is mounted on a vehicle and comprises a plurality of video cameras for photographing for photographing surroundings of the vehicle and an indicator. When a point is registered and it is set to operate a video camera of which position of the vehicle at the point, the video camera corresponding to the point is made to operate when the vehicle is determined to arrive at the point, and an image from the video camera is displayed on the indicator. Thus the device for monitoring the vehicle surrounding can be provided. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicle periphery monitoring device that is mounted on a front portion, a rear portion, or the like of a vehicle, captures a field of view on the left and right sides of the vehicle, and presents the visual field image to a driver.
[0002]
[Prior art]
In recent years, what is called a so-called back monitor, in which a video camera is attached to a rear portion of a vehicle such as an automobile and an image taken by the video camera is displayed on a monitor arranged at a predetermined position in the vehicle. Various applications have been put to practical use. This back monitor is used mainly to improve safety during retreat by allowing the monitor to confirm the rear of the driver's seat, which is a blind spot, when reversing the vehicle. As a monitor in this case, a monitor for displaying a road map or the like near the current position during traveling is often used as a so-called car navigation device. Further, a display device dedicated to the back monitor may be arranged near the driver's seat.
[0003]
In addition, a car camera system that monitors the surroundings by mounting a plurality of cameras besides the rear part of the vehicle has also been devised, and a system that selects a camera to be displayed on a display by a steering angle or a direction indicator operation. It has been proposed (see Patent Document 1).
[0004]
Also, instead of the operation of the direction indicator, the vehicle travels along the route set by the navigation device in cooperation with the navigation device that provides a route to the destination based on the electronic map data and the current position data of the vehicle. In such a situation, a system for selecting a camera to be displayed on a display when traveling near a turning position on the route has been proposed (see Patent Document 2).
[0005]
[Patent Document 1]
JP-A-10-258682 [Patent Document 2]
JP 2002-225629 A
[Problems to be solved by the invention]
In the method of Patent Document 1, when the image of the camera to be displayed is determined not by the steering angle, the operation of the direction indicator or the position of the shift lever but by the shape of the garage, such as in a garage at home. However, there is a problem that an image of a camera at a position that the user really wants to see is not displayed.
[0007]
For example, in reverse parking, an image of a camera usually installed at the rear of the vehicle is displayed. However, the target when entering the garage is not necessarily behind the vehicle. In particular, in a home garage, the garage is often placed using objects that are not behind the vehicle, such as the distance from the fence on the passenger seat side and the relative position to the trees, as a guide. In addition, these targets differ depending on the driver who uses the same garage. Therefore, in a vehicle in which the image of the camera installed at the rear of the vehicle is automatically displayed when the shift position is set to the reverse position, the driver may not be able to obtain the information desired when entering the garage.
[0008]
The method of Patent Literature 2 is effective only in a situation where the vehicle is traveling on a route set by the navigation device. In this case, the driver cannot determine the camera position or the timing of switching the display of the camera image. The problem that the image of the camera at the position you really want to see is not displayed remains.
[0009]
In view of the above circumstances, an object of the present invention is to provide a vehicle periphery monitoring device that automatically displays an image of a camera at a position desired by a driver when parking in a predetermined garage.
[0010]
Means for Solving the Problems and Effects of the Invention
The present invention is a vehicle periphery monitoring device for solving the above problems. That is, a peripheral monitoring device for a vehicle, which is mounted on a vehicle and includes a plurality of video cameras for photographing around the vehicle and a display,
In the vehicle, a point is registered, and a position of the video camera of the vehicle to be operated at the point is set. If it is determined that the vehicle has arrived at the point, the point is set to the point. A corresponding video camera is operated, and an image from the video camera is displayed on the display.
[0011]
More specifically, it is a vehicle periphery monitoring device that is mounted on a vehicle and includes a plurality of video cameras for capturing images around the vehicle, and a display that displays an image captured by the video camera. ,
Registering means for registering a position of a predetermined garage of the vehicle; and setting a position of the video camera of the vehicle to be activated among the plurality of video cameras for shooting corresponding to the predetermined garage. Setting means, determining means for determining whether the vehicle has arrived at the predetermined garage, registered by the registration means, and when the determining means determines that the vehicle has arrived at the predetermined garage. Video camera operating means for operating a video camera corresponding to the predetermined garage set by the setting means, and display means for receiving an image from the video camera and sending the image to the display. It is configured as a vehicle periphery monitoring device.
[0012]
According to the present invention, when parking in a frequently used parking lot, such as at home or at work, the structure of the parking lot and places to be careful in parking are well known to the driver. For example, in the parking lot, when it is necessary to pay more attention to the right side of the vehicle than to the rear of the vehicle, register the video camera at the position to be operated corresponding to the position of the parking lot (in this case, the right side of the vehicle). If this is done, when the vehicle approaches the parking lot, the image is automatically switched to the image from the video camera, so that the driver can obtain necessary image information without performing any operation, thereby reducing the danger. It is possible to safely park while avoiding.
[0013]
As a part of the means for registering the position of the parking lot and the means for judging whether or not the vehicle has approached the parking lot, if a map data search function of the navigation device and a function of detecting the current position of the vehicle are utilized. In addition, the present invention can be realized with a cheap and simple configuration.
[0014]
As a method for determining that the vehicle approaches the parking lot and parks, in addition to the condition that the distance between the current position of the vehicle and the parking lot is equal to or less than a certain distance value, the vehicle speed of the vehicle is constant. If the condition that the speed is lower than the speed is added, more accurate approach determination can be performed.
[0015]
Similarly, as a method of determining that the vehicle approaches the parking lot and parks, in addition to the condition that the distance between the current position of the vehicle and the parking lot becomes equal to or less than a certain distance value, the method also determines that the vehicle moves backward. The approach determination can be performed even if a condition of detecting that the vehicle is performing is added.
[0016]
Further, if the present invention is applied, for example, if a road in a mountainous area where the width of a road is narrow and it is difficult to pass is registered, and when the vehicle passes an oncoming vehicle at this position, the situation of the road shoulder is projected by a video camera, it is dangerous. In advance and prevent fall accidents.
[0017]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to examples shown in the drawings. FIG. 1 is a block diagram showing the overall configuration of a vehicle periphery monitoring device according to one embodiment of the present invention, wherein a left front camera 1, a right front camera 2, a left camera 3, a right camera 4, and It comprises a rear camera 5, an image switching / combining ECU 6, a navigation device 7, a display 9, and a shift position switch 10.
[0018]
FIG. 2 is a block diagram showing a signal flow centering on the image switching / combining ECU 6.
[0019]
The left front camera 1, the right front camera 2, the left camera 3, the right camera 4, and the rear camera 5 are attached to the vehicle body and photograph the outside of the vehicle around the vehicle. The shaded portion in FIG. 1 is the shooting range of each camera. The captured image is sent to the image switching / combining ECU 6.
[0020]
The display 9 is constituted by a color liquid crystal display, and displays an image sent from the image switching / combining ECU 6.
[0021]
The camera selection operation start switch 12, the camera selection switch 13, and the storage switch 14 are respectively connected to the image switching / combining ECU 6, and are used when performing a predetermined operation. In addition to these switches, switches (not shown) such as a pointing cursor are also included.
[0022]
As the switch, for example, a touch switch or a mechanical switch integrated with the display 9 is used. The touch switch is composed of an infrared sensor that is finely arranged vertically and horizontally on the screen of the display 9. For example, when the infrared light is blocked by a finger or a touch pen or the like, the blocked position becomes a two-dimensional coordinate value (X, Y). ). With these switches, various instructions can be input.
[0023]
The shift position switch 10 transmits information corresponding to the shift lever position of the vehicle to the image switching and combining ECU 6.
[0024]
The navigation device 7 receives a positioning signal from a positioning satellite via a connected antenna (not shown), and performs positioning of the current position of the vehicle. As the positioning signal, for example, a signal practically used as a GPS (Global Positioning System) can be used. The current position of the measured vehicle is sent to the image switching / combining ECU 6.
[0025]
The image switching synthesis ECU 6 includes a control circuit 8 and a well-known signal processing circuit (not shown). The control circuit 8 is configured as a normal computer, and internally includes a well-known CPU 81, a ROM 82, a RAM 83, an I / O 84, and a bus line 85 connecting these components, as shown in FIG.
[0026]
Further, the CPU 81 performs control according to programs and data stored in the ROM 82 and the RAM 83. As shown in FIG. 3, the ROM 82 stores an operating system (hereinafter, referred to as OS) 82s and an image switching / synthesizing program 82p that operates on the OS 82s. The image switching / combining program 82p operates on the OS 82s in such a manner that the work memory 83w for the image switching / combining program is used as a work area. Further, a work memory 83s of the OS 82s is formed in the RAM 83.
[0027]
Further, the nonvolatile memory 11 is connected to the CPU 81 as shown in FIG. The nonvolatile memory 11 retains the stored contents even when the ignition switch of the vehicle is turned off, so that data such as the garage data 11a that needs to be constantly stored is stored.
[0028]
With such a configuration, when the power is turned on, the CPU 81 (FIG. 3) activates the image switching / combining program 82p, performs necessary initialization processing, and performs the necessary initialization processing. To start the operation. That is, the state of the camera selection operation start switch 12, the camera selection switch 13, the storage switch 14, and the shift position switch 10 is monitored, and processing is performed according to the state of the vehicle periphery monitoring device and the input of each switch. The operation of the image switching composition ECU 6 described later is executed by the image switching composition program 82p.
[0029]
First, the location of the garage and the camera position are set. FIG. 4 is a flowchart showing the flow of the setting operation. When the camera selection operation start switch 12 (FIG. 2) is depressed, the image switching / combining ECU 6 (FIG. 2) detects the depression of the switch and specifies the location of the garage to the navigation device 7 (FIG. 2). A signal requesting map data is sent (S1).
[0030]
The navigation device 7 (FIG. 2) sends necessary data including map data to the image switching and combining ECU 6 based on a request from the image switching and combining ECU 6 (FIG. 2). A screen for setting the location of the garage as shown in (a) is displayed. (S2)
[0031]
The location of the garage is set using a method of specifying a point on a map, a place search function based on a place name, an address, a telephone number, and the like, which are normally provided in the navigation device 7 (FIG. 2). When the parameters necessary for the location search have been input, the parameters are sent from the image switching / combining ECU 6 (FIG. 2) to the navigation device 7. The navigation device 7 searches for a location based on the received data, and sends coordinate value data of the search point and map data including the search point to the image switching and combining ECU 6.
[0032]
The image switching synthesis ECU 6 (FIG. 2) displays the data of the search result sent from the navigation device 7 (FIG. 2) on the display 9 (FIG. 2). If the search result is correct, proceed to the next step. If not correct, search again.
[0033]
When the location of the garage is determined, the image switching / combining ECU 6 (FIG. 2) requests the navigation device 7 (FIG. 2) for coordinate value data of the garage. The navigation device 7 sends coordinate value data corresponding to a request from the image switching and combining ECU 6.
[0034]
Next, a camera position desired to be displayed on the display 9 (FIG. 2) when the vehicle enters the vehicle is selected (S3). A setting screen as shown in FIG. 6B is displayed on the display 9. In this embodiment, the driver parks the vehicle as close as possible to the pillar 15 (FIG. 1) of the garage roof in order to secure a sufficient space for getting off the vehicle on the right side of the vehicle as shown in FIG. try to. For this reason, the driver tends to pay more attention to the state on the left side of the vehicle than behind the vehicle. Therefore, in this case, the left camera 3 (FIG. 1) is selected.
[0035]
When the garage location is set and the camera position is selected, the display on the display 9 (FIG. 2) is displayed on the camera position selection screen after setting the garage location as shown in FIG. A display method may be adopted in which the information is displayed as a subwindow and can be selected while checking the garage display position on the map. In addition to the sub-window method, a method of dividing the garage location setting screen and the camera position selection screen and displaying them simultaneously may be adopted.
[0036]
When setting the garage location and selecting the camera position, a parking method for performing forward parking or reverse parking may be set. This data may be stored in the garage data 11a of the nonvolatile memory 11 (FIG. 3). As a result, information from the shift position switch 10 (FIG. 2) can also be used to determine whether to park in the garage.
[0037]
When the designation of the garage location and the selection of the camera position are completed, the storage switch 14 (FIG. 2) is pressed (S4). At this time, the image switching synthesis ECU 6 (FIG. 2) stores the coordinate value data of the garage location and the camera position selected corresponding to the garage location as the garage data 11a (FIG. 3). Note that, as shown in FIG. 3, a plurality of garage locations and corresponding operation camera positions can be designated.
[0038]
With reference to the flowchart of FIG. 5, a process for automatically selecting a camera by determining that the vehicle is in a home garage based on position information from the navigation device 7 (FIG. 2) will be described.
[0039]
The image switching synthesis ECU 6 (FIG. 2) periodically issues a request to the navigation device 7 (FIG. 2) to acquire the coordinate value of the current position of the vehicle (S11). In addition, vehicle speed data is periodically acquired from a vehicle speed sensor (not shown) that is connected to the image switching and combining ECU 6 and measures the speed of the vehicle, or from the navigation device 7 (S12).
[0040]
Based on the acquired coordinate values and the garage coordinate value data in the garage data 11a (FIG. 3), it is determined whether the vehicle has come near the garage. The criterion is a case where the coordinate value of the current position of the vehicle matches the coordinate value data of the garage, and a case where the distance between the current position of the vehicle and the garage becomes equal to or less than a certain value.
[0041]
When the vehicle speed data falls below a predetermined speed (for example, 5 km / h) when it is determined that the vehicle has come near the garage, it is determined that the vehicle enters the garage (S13: YES), and the garage data is determined. The operation camera position data of the camera 11a (FIG. 3) is read, and an image from the camera is displayed on the display 9 (FIG. 2) (S14).
[0042]
The display on the display 9 (FIG. 2) is continued while an ignition switch (not shown) (not shown) is on (S15: NO), and stopped when the ignition switch is turned off (S15: YES).
[0043]
The display on the display 9 (FIG. 2) is not limited to the method of displaying only the image from the camera at the set position, and the image from the camera taken before entering the garage by dividing the screen. At the same time, a display method may be adopted. There are no particular restrictions on the screen division mode in this case as long as the image from the camera used when entering the garage can be sufficiently confirmed.
[0044]
When it is determined that the vehicle is performing a parking operation, when the vehicle speed exceeds a predetermined speed (for example, 5 km / h), or when the vehicle is separated from the garage by a predetermined distance or more, image switching synthesis is performed. The ECU 6 (FIG. 2) determines that the vehicle has stopped entering the vehicle, and returns the camera image displayed on the display 9 (FIG. 2) to the camera position displayed before the vehicle entered the warehouse.
[0045]
A method of using information from the shift position switch 10 (FIG. 2) as a parameter for determining that the vehicle enters the garage may be adopted. That is, in the above description, when it is determined that the vehicle has come near the garage, if the information from the shift position switch 10 indicates that the shift lever of the vehicle is in the retreat position, the vehicle enters the garage. You can judge that you do.
[0046]
Further, in the information stored in the garage data 11a (FIG. 3), in addition to the location of the garage and the camera position, information for performing reverse parking as a parking method is stored. When it is determined that the vehicle is near the garage, if the information of the shift position switch 10 indicates that the shift lever of the vehicle is in the reverse position, the vehicle may be determined to enter the garage. .
[0047]
When it is determined that the vehicle is performing the parking operation, if the information from the shift position switch 10 (FIG. 2) indicates that the shift lever of the vehicle is not in the reverse position, the image switching synthesis ECU 6 (FIG. 2) ) May determine that the vehicle has stopped entering the vehicle and return the camera image displayed on the display 9 (FIG. 2) to the camera position displayed before the vehicle entered the vehicle.
[0048]
When the information from the shift position switch 10 (FIG. 2) described above is used as a condition for determining that the vehicle enters the garage, the distance condition between the current position of the vehicle and the garage and the vehicle speed condition are used. In addition, it may be used, or the above-mentioned method may be used except for the vehicle speed condition.
[0049]
A method may be adopted in which the image switching synthesis ECU 6 (FIG. 2) and the navigation device 7 (FIG. 2) are integrated to realize the vehicle periphery monitoring device of the present invention as a part of the function of the navigation device 7. In this case, the display 9 (FIG. 2) becomes unnecessary if the display device of the navigation device 7 is used, and the camera selection operation start switch 12 (FIG. 2), the camera selection switch 13 (FIG. 2), and the storage switch 14 (FIG. 2). ) And other switches (not shown) become unnecessary if the operation switches of the navigation device 7 are used.
[0050]
In the present embodiment, the operation at the time of entry of the vehicle has been described. However, as a place where the image of the camera is switched to the one at the set position, a point other than the parking lot where the vehicle is not parked may be registered. In this case, the condition for determining the approach to the point can be met by using only the distance between the current position of the vehicle and the point or changing the threshold value of the vehicle speed. In addition, when registering a point, the state of the vehicle at the point (parking, stopping, slowing down, etc.) is set in addition to the operation camera position, and the behavior of the vehicle at the point matches the registered state. In such a case, a method of switching the camera image to the image at the set position may be adopted.
[0051]
Although the embodiments of the present invention have been described above, these are merely examples, and the present invention is not limited to these, and may be understood by those skilled in the art without departing from the scope of the claims. Various modifications based on the above are possible.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an overall configuration of a garage parking assist device as one embodiment of the present invention.
FIG. 2 is a block diagram illustrating the flow of signals of various parts centering on the image switching / combining ECU. FIG. 3 is a block diagram illustrating details of a control unit in the image switching / combining ECU. FIG.
FIG. 5 is a flowchart showing an operation during parking in a garage.
FIG. 6 is an explanatory diagram showing an example of a display screen when setting a garage and selecting a camera.
FIG. 7 is an explanatory diagram showing a modified example of a display screen when setting a garage and selecting a camera.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Left front camera 2 Right front camera 3 Left camera 4 Right camera 5 Rear camera 6 Image switching synthesis ECU
Reference Signs List 7 navigation device 8 control circuit 9 display 10 shift position switch 11 nonvolatile memory 12 camera selection operation start switch 13 camera selection switch 14 storage switch 15 support

Claims (6)

Mounted on the vehicle, a plurality of video cameras for shooting around the vehicle, and a vehicle surroundings monitoring device including a display that displays an image captured by the video camera,
In the vehicle, a point is registered, and a position of the video camera of the vehicle to be operated at the point is set. When it is determined that the vehicle has arrived at the point, the video camera is operated. And a control unit for displaying the image on the display unit. Mounted on the vehicle, a plurality of video cameras for shooting around the vehicle, and a vehicle surroundings monitoring device including a display that displays an image captured by the video camera,
Registration means for registering the position of a predetermined garage of the vehicle;
Corresponding to the predetermined garage, among the plurality of video cameras for shooting, setting means to set which position of the video camera of the vehicle to operate,
Determining means for determining whether the vehicle has arrived at the predetermined garage, registered by the registration means,
A video camera operating unit that operates a video camera corresponding to the predetermined garage set by the setting unit, when the determination unit determines that the vehicle has arrived at the predetermined garage,
Display means for receiving an image from the video camera and sending the image to the display;
A peripheral monitoring device for a vehicle, comprising: 3. The vehicle periphery monitoring device according to claim 2, wherein said display means comprises an image transmission means for transmitting image data from said video camera to said own display device. The determining means calculates a distance between the vehicle and the predetermined garage based on position detecting means for detecting a current position of the vehicle and current position data of the vehicle obtained from the position detecting means. The vehicle periphery monitoring device according to any one of claims 2 to 3, wherein it is determined that the vehicle has arrived at the predetermined garage when the distance is within a predetermined distance. The determining means calculates a distance between the vehicle and the predetermined garage based on position detecting means for detecting a current position of the vehicle and current position data of the vehicle obtained from the position detecting means. And determining that the vehicle has arrived at the predetermined garage when it is detected that the measured distance is within a predetermined distance and the vehicle speed measured for the vehicle is lower than the predetermined speed. The vehicle periphery monitoring device according to any one of claims 2 to 3. The determining means calculates a distance between the vehicle and the predetermined garage based on current position data of the vehicle obtained from the position detecting means, and the calculated distance is within a predetermined distance, and The vehicle periphery monitoring device according to any one of claims 2 to 3, wherein when detecting that the vehicle is moving backward, the vehicle is determined to have arrived at the predetermined garage.

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