JP2005318541A - Vehicle periphery monitoring system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To appropriately give a sense of security to a vehicle driver while driving and further to realize a vehicle periphery monitoring system without requiring a CPU having a high processing capability. <P>SOLUTION: If the detected distance to a detected obstacle is equal to or greater than a preset distance, then a vehicle periphery monitoring system 1 performs an image processing process to acquire the height of the obstacle. If the acquired height of the obstacle is less than a preset height, the obstacle is displayed as a safe obstacle. If the acquired height of the obstacle is equal to or greater than the preset height, then the obstacle is displayed as a dangerous obstacle. The vehicle periphery monitoring system is able to indicate to the vehicle driver whether the detected obstacle is dangerous or safe. Further, the vehicle periphery monitoring system is not required to perform the image processing process on the entire area of the captured image, and does not require a CPU having a high processing capability. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention includes an obstacle detection means for detecting the presence of an obstacle around the vehicle, and a control means capable of notifying the presence of the obstacle by the notification means when the obstacle detection means detects the presence of the obstacle. It is related with the vehicle periphery monitoring system provided with.

Conventionally, there are those that use sound waves (for example, refer to Patent Document 1) and those that use a contrast difference of a captured image (for example, Patent Document 2) to detect obstacles around the vehicle and notify the driver. reference).
JP 2002-59798 A JP-A-9-287915

  By the way, in the method of detecting an obstacle using sound waves, it is necessary to secure a certain detection distance in order to realize a certain detection range. However, due to the fact that sound waves are transmitted with a certain extent in the vertical direction, obstacles that cannot be dangerous obstacles such as pebbles and wheel stops on the ground if the detection distance exceeds a predetermined distance Therefore, there is a problem that it is impossible to appropriately give the driver a sense of security during driving. Further, in the method of detecting an obstacle using the contrast difference of the photographed image, it is necessary to perform image processing on the entire region of the photographed image, so that there is a problem that a CPU with high processing capability is required.

  The present invention has been made in view of the above circumstances, and its purpose is to appropriately notify the driver whether the detected obstacle is a dangerous obstacle or a safe obstacle. An object of the present invention is to provide a vehicle periphery monitoring system that can appropriately give a driver a sense of security during driving and can be realized without requiring a CPU with high processing capability.

  According to the first aspect of the present invention, the control means detects the presence of an obstacle around the vehicle by the obstacle detection means, and the detected distance of the detected obstacle is a predetermined distance (for example, all detected If the distance is greater than or equal to the maximum distance required to notify the obstacle as a dangerous obstacle, image processing is performed on the viewpoint-converted image obtained by changing the viewpoint of the captured image captured by the imaging unit. If the height is acquired and the height of the acquired obstacle is less than a predetermined height (for example, the maximum height allowed (for example, the height of a bumper) that does not hinder the vehicle), The detected obstacle is informed by the notification means as a safe obstacle, or the notification of the detected obstacle is prohibited. On the other hand, the height of the acquired obstacle is not less than a predetermined height. If the detected obstacle is a dangerous obstacle It is informed by the notification means as.

  Thus, for example, if a person is detected at a detection distance or more, the detected person is notified as a dangerous obstacle. On the other hand, for example, a pebble or a wheel stopper on the ground is detected at a detection distance or more. If the detected obstacle is a dangerous obstacle or a safe obstacle, the detected pebbles or wheel stops are notified as a safe obstacle or not. The driver can be notified appropriately, and a sense of security during driving can be appropriately given to the driver. In addition, in this case, since the height of the obstacle is acquired by performing image processing on the viewpoint conversion image, it is not necessary to perform image processing on the entire region of the captured image, and without requiring a CPU with high processing capability. Can be realized.

  According to the invention described in claim 2, if the height of the obstacle is less than the predetermined height, the control means causes the detected obstacle to be displayed on the display means so as to be superimposed on the photographed image as a safe obstacle. . Thereby, it is possible to visually notify the driver that the detected obstacle is a safe obstacle.

  According to the invention described in claim 3, if the height of the obstacle is less than the predetermined height, the control means causes the detected obstacle to be displayed as a safe obstacle on the bird's-eye image and displayed on the display means. . Thereby, also in this case, it is possible to visually notify the driver that the detected obstacle is a safe obstacle. In this case, since the obstacle is displayed on the bird's-eye view image, a sense of distance can be given to the driver.

  According to the invention described in claim 4, if the height of the obstacle is less than the predetermined height, the control means is a distance display line or a distance display mark indicating the distance of the detected obstacle from the vehicle end. At the same time, it is superimposed on the bird's-eye view image and displayed on the display means. Thus, the distance from the vehicle end to the obstacle can be visually notified to the driver.

  According to the fifth aspect of the present invention, the control means obtains the height of the obstacle by performing image processing on a part of the viewpoint converted image obtained by converting the viewpoint of the captured image captured by the imaging means. . As a result, the height of the obstacle is acquired by performing image processing on a (limited) part of the viewpoint conversion image, instead of performing image processing on the entire viewpoint conversion image. The load on the entire system can be reduced.

  According to the invention described in claim 7, when the presence of an obstacle around the vehicle is detected by the obstacle detection means, the control means converts the photographed image photographed by the photographing means into a viewpoint-converted image whose viewpoint has been transformed. The image processing is performed to obtain the height of the obstacle, and the obtained height of the obstacle is a predetermined height (for example, a maximum height that is allowed to prevent the vehicle from traveling (for example, a bumper). If it is less than height)), the detected obstacle is notified by the notification means as a safe obstacle, or the notification of the detected obstacle is prohibited, and the acquired obstacle is If the height is equal to or higher than the predetermined height, the detected obstacle is notified by the notification means as a dangerous obstacle.

  Thus, for example, if a person is detected regardless of the detection distance, the detected person is notified as a dangerous obstacle, and on the other hand, for example, pebbles or wheel stops on the ground are not related to the detection distance. If it is detected, the detected pebbles, wheel stoppers, etc. will be notified as safe obstacles or not, so the detected obstacle is a dangerous obstacle or a safe obstacle. Can be appropriately notified to the driver, and a sense of security during driving can be appropriately given to the driver. Moreover, in this case, since the height of the obstacle is acquired by performing image processing on the viewpoint conversion image, it is not necessary to perform image processing on the entire area of the captured image, and without requiring a CPU with high processing capability. Can be realized.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. First, FIG. 1 schematically shows the overall configuration of the system. The vehicle periphery monitoring system 1 is mounted on a vehicle 2 and includes a control device 3 (control means as used in the present invention), an in-vehicle camera 4 (photographing means as used in the present invention), and a sonic sonar 5 (obstacle detection means as used in the present invention). And a display device 6 (notifying means and display means in the present invention).

  The control device 3 includes a CPU, a RAM, a ROM, an I / O bus, and the like, and controls the overall operation of the system by executing a control program. The in-vehicle camera 4 is attached to the upper part of the rear side (right side in FIG. 1) of the vehicle 2, images the lower rear side of the vehicle 2, and outputs the captured image to the control device 3. The sonic sonar 5 is attached to the lower rear portion of the vehicle 2 and sends out sonic waves with a certain degree of spread in the vertical direction around the horizontal direction (see “P” in FIG. 1) toward the rear of the vehicle 2. Whether or not an obstacle exists is detected based on whether or not a reflected wave is received after the sound wave is transmitted, and the detection result is output to the control device 3. In this case, when detecting the obstacle, the sonic sonar 5 calculates the detection distance according to the time from when the sound wave is transmitted until the reflected wave is received, and outputs the detection distance to the control device 3. The display device 6 is disposed at a position that is easy to see for the driver in the passenger compartment, and has a display function for displaying an image and an operation reception function for receiving the operation of the driver by a touch panel.

  In the configuration described above, the region where the sonic sonar 5 sends out the sound wave (the region indicated by “P1” and “P2” in FIG. 1) and the region where the in-vehicle camera 4 captures (“Q1”, “Q2” in FIG. 1). In other words, the in-vehicle camera 4 captures an area where the sonic sonar 5 detects the presence of an obstacle. In this case, a part of the vehicle periphery monitoring system 1 may be configured by a car navigation device, and for example, the display device 6 may be configured by a monitor of the car navigation device.

  Next, the operation of the above configuration will be described with reference to FIGS. Here, FIG. 2 and FIG. 3 show the processing performed by the control device 3 as a flowchart. The control device 3 monitors whether the presence of an obstacle is detected by the sonic sonar 5 in the activated state of the system (step S1), and when the presence of the obstacle is detected by the sonic sonar 5 (step S1). In S1, “YES”), it is determined whether or not the detected distance of the obstacle is greater than or equal to a predetermined distance (step S2). In this case, the predetermined distance is the maximum distance at which all detected obstacles need to be notified as dangerous obstacles, and is, for example, “50 centimeters”.

  Here, if the detected distance of the obstacle is less than the predetermined distance (“NO” in step S2), the control device 3 takes a picture taken by the in-vehicle camera 4 with the detected obstacle as a dangerous obstacle. The image is superimposed on the image and displayed on the display device 6 (step S3). Thus, the driver detects an obstacle, and if the detected distance of the detected obstacle is less than a predetermined distance, the detected obstacle is superimposed on the captured image as a dangerous obstacle. 6, it can be confirmed that a dangerous obstacle exists in an area less than a predetermined distance from the vehicle 2 (in FIG. 1, the existence of the obstacle “Z1” can be confirmed). .

  On the other hand, if the detected distance of the obstacle is equal to or greater than the predetermined distance (“YES” in step S2), the control device 3 converts the captured image captured by the in-vehicle camera 4 into a viewpoint converted image. The height of the obstacle is calculated by performing image processing on (step S4). Here, the image processing will be described with reference to FIG. 3 and FIG.

  When the control device 3 shifts to the image processing, the viewpoint conversion is performed on each of the two photographed images captured by the in-vehicle camera 4 with the time difference from the viewpoint from directly above to generate two viewpoint conversion images. At this time, a viewpoint conversion image a obtained by converting the viewpoint of the captured image captured by the in-vehicle camera 4 when the vehicle 2 is located at a point indicated by “A” in FIG. 4 is moved from the point indicated by “A” to the point indicated by “B” in FIG. 4, and the photographed image taken by the in-vehicle camera 4 when the vehicle 2 is located at the point indicated by “B”. Is converted into a viewpoint conversion image b, the viewpoint conversion image a and the viewpoint conversion image b have two end portions (edges) of the obstacle (the lower left end portion and the upper right end portion in FIG. 4). Two feature points (see “a1”, “a2”, “b1”, and “b2” in FIG. 4).

  The control device 3 determines that the obstacle detection distance by the sonic sonar 5 is “L” and the detection error by the sonic sonar 5 is “La”. From the vehicle 2 from the point “L-La” in the viewpoint conversion image b. Image processing is performed in the direction of moving away, and the position of the feature point (“b1”) closer to the sonic sonar 5 is searched (step S11). If the search is successful ("YES" in step S12), the control device 3 calculates the searched position as an obstacle detection distance "L '" by image processing (step S13).

  Next, the control device 3 sets the height of the in-vehicle camera 4 to “H”, the temporary height of the obstacle to “X ′”, and calculates the search completion point “L3” from the following equation (1) ( Step S14). That is, the control device 3 limits the area where image processing is performed. Note that the temporary height “X ′” of the obstacle here is the maximum height that is allowed if there is no problem in traveling of the vehicle 2, for example, the height of the bumper.

L3 = (X ′ / (H−X ′)) × L ′ + La (1)
Next, the control device 3 performs image processing in a direction away from the vehicle 2 from the position of the feature point (“b1”) closer to the sonic sonar 5 specified earlier to the point “L3”. Then, the position of the feature point (“b2”) far from the sonic sonar 5 is searched (step S15). Then, when the search is successful (“YES” in step S16), the control device 3 is distant from the position of the feature point (“b1”) closer to the sonic sonar 5 (“b2”). The distance between the feature points up to the position “)” is calculated as “L2” (step S17). Then, the control device 3 calculates the height “X” of the obstacle from the following equation (2) (step S18).

X = (L2 / (L ′ + L2)) × H (2)
Note that if the control device 3 fails to search for the position of the feature point (“b2”) far from the sonic sonar 5 (“NO” in step S16), the controller 3 detects the detected obstacle as a dangerous obstacle. It is determined as an object (step S19).

  After calculating the height “X” of the obstacle in this way, the control device 3 determines whether or not the calculated height “X” of the obstacle is equal to or greater than a predetermined height (step S5). . In this case, the predetermined height is the same as the above-described temporary height “X ′” of the obstacle, that is, the maximum height that is allowed without any problem in traveling of the vehicle 2. Such as height.

  Here, if the height “X” of the obstacle is equal to or higher than the predetermined height (“YES” in step S5), the control device 3 superimposes the detected obstacle as a dangerous obstacle on the captured image. It is displayed on the display device 6 (step S3). Thereby, the driver detects an obstacle, the detected distance of the detected obstacle is not less than a predetermined distance, and the height “X” of the detected obstacle is not less than the predetermined height. Then, the detected obstacle is superimposed on the captured image as a dangerous obstacle and displayed on the display device 6, thereby confirming that a dangerous obstacle exists in an area of a predetermined distance or more from the vehicle 2. (In FIG. 1, the presence of the obstacle “Z3” can be confirmed).

  In contrast, if the height “X” of the obstacle is less than the predetermined height (“NO” in step S5), the control device 3 detects the detected fault as shown in FIG. An object is displayed on the display device 6 as a safe obstacle on the photographed image (step S6). Thereby, the driver detects an obstacle, the detected distance of the detected obstacle is not less than a predetermined distance, and the height (X) of the detected obstacle is less than the predetermined height. Then, the detected obstacle is superimposed on the captured image as a safe obstacle and displayed on the display device 6 to confirm that a safe obstacle exists in an area of a predetermined distance or more from the vehicle 2. (In FIG. 1, the presence of the obstacle “Z4” can be confirmed). In the present embodiment, the case where a wheel stop (see “M1” and “M2” in FIG. 5A) is detected and displayed as a safe obstacle is described, but other objects (pebbles) are described. The same applies to the case where a detected or curb is detected and displayed.

  By the way, the above describes the case where an obstacle is displayed superimposed on a photographed image. However, as shown in FIG. An object may be displayed superimposed on the bird's-eye view image. In this case, the distance display line (see “Sa”, “Sb”, “Sc” in FIG. 5B) indicating the distance from the rear end of the vehicle 2 to the obstacle, for example, A distance display mark (see “Ta”, “Tb”, and “Tc” in FIG. 5B) may be displayed superimposed on the bird's-eye view image. In addition, the above describes the case where the detected obstacle is displayed as a safe obstacle in a superimposed manner when the obstacle height “X” is less than the predetermined height. Obstacles may not be displayed (display may be prohibited).

  As described above, according to the present embodiment, in the vehicle periphery monitoring system 1, when the detected distance of the detected obstacle is equal to or greater than the predetermined distance, the viewpoint conversion image is subjected to image processing and the obstacle is detected. If the height (X) is acquired and the acquired height (X) is less than the predetermined height, the detected obstacle is displayed as a safe obstacle. Since the detected obstacle is displayed as a dangerous obstacle if the height of the acquired obstacle is a predetermined height or more, it is safe whether the detected obstacle is a dangerous obstacle. Therefore, it is possible to appropriately notify the driver of whether the vehicle is an obstacle, and to give the driver a sense of security while driving. Moreover, in this case, since the height (X) of the obstacle is acquired by performing image processing on the viewpoint conversion image, it is not necessary to perform image processing on the entire area of the captured image, and a CPU with high processing capability is required. It can be realized without doing.

  In addition, because it is configured to display the detected obstacle as a safe obstacle superimposed on the photographed image or bird's-eye view image, the driver is visually informed that the detected obstacle is a safe obstacle. can do. In this case, a distance display line (see “Sa”, “Sb”, “Sc”) indicating the distance from the rear end of the vehicle 2 to the detected obstacle or a distance display mark (“Ta”, “Tb”). , “Tc”) and the bird's-eye view image, the distance from the rear end of the vehicle 2 to the obstacle can be visually notified to the driver.

The present invention is not limited to the above-described embodiment, and can be modified or expanded as follows.
The configuration is not limited to visually notifying the driver of the presence of an obstacle, but may be configured to audibly notify the driver of the presence of an obstacle by sounding. It may be configured to be used in combination with the notification. In addition, when notifying the presence of an obstacle by ringing, it is possible to distinguish whether it is a dangerous obstacle or a safe obstacle by distinguishing the loudness, frequency, ringing pattern, etc. It may be.

The configuration is not limited to a configuration using a sonic sonar, and a configuration using an ultrasonic sonar or a radar sonar may be used.
When the obstacle detection distance is equal to or greater than a predetermined distance, the present invention is not limited to the configuration in which the height of the obstacle is calculated by performing image processing on the viewpoint conversion image obtained by converting the viewpoint of the captured image captured by the in-vehicle camera. Regardless of the obstacle detection distance, the height of the obstacle may be calculated by performing image processing on the viewpoint conversion image obtained by converting the viewpoint of the captured image captured by the in-vehicle camera.
As an image processing method, a configuration using a moving stereo method may be used.

The figure which shows the structure of one Embodiment of this invention roughly flowchart 2 equivalent diagram Diagram showing image processing Diagram showing an example of display

Explanation of symbols

In the drawings, 1 is a vehicle periphery monitoring system, 3 is a control device (control means), 4 is an in-vehicle camera (imaging means), 5 is a sonic sonar (obstacle detection means), and 6 is a display device (notification means, display means). It is.

Claims (7)

Obstacle detection means for detecting the presence of an obstacle around the vehicle;
A vehicle periphery monitoring system comprising: a control unit capable of notifying the presence of an obstacle by a notification unit when the presence of the obstacle is detected by the obstacle detection unit;
Equipped with photographing means for photographing the periphery of the vehicle,
When the obstacle detection distance detected by the obstacle detection means is a predetermined distance or more, the control means performs image processing on a viewpoint-converted image obtained by viewpoint-converting a photographed image photographed by the photographing means. To obtain the height of the obstacle, and if the obtained height of the obstacle is less than a predetermined height, the detected means is informed or detected as a safe obstacle Annunciating the detected obstacle is prohibited, and if the height of the acquired obstacle is equal to or higher than a predetermined height, the notifying unit is made to notify the detected obstacle as a dangerous obstacle. Vehicle perimeter monitoring system. In the vehicle periphery monitoring system according to claim 1,
The informing means includes a display means for displaying a photographed image photographed by the photographing means,
If the height of the obstacle is less than a predetermined height, the control means causes the detected obstacle to be superimposed on the photographed image as a safe obstacle and displayed on the display means. . In the vehicle periphery monitoring system according to claim 1,
The notification means includes a display means for displaying a bird's eye image obtained by bird's eye conversion of a photographed image photographed by the photographing means,
If the height of the obstacle is less than a predetermined height, the control means displays the detected obstacle as a safe obstacle on the bird's-eye view image and displays it on the display means. . In the vehicle periphery monitoring system according to claim 3,
If the height of the obstacle is less than a predetermined height, the control means superimposes the detected obstacle on the bird's-eye image together with a distance display line indicating a distance from the vehicle end and a distance display mark on the display means. A vehicle periphery monitoring system characterized by displaying. In the vehicle periphery monitoring system according to any one of claims 1 to 4,
The vehicle surrounding monitoring system characterized in that the control means obtains the height of an obstacle by performing image processing on a part of the viewpoint converted image obtained by converting the photographed image photographed by the photographing means. . In the vehicle periphery monitoring system according to any one of claims 1 to 5,
The vehicle obstacle monitoring system, wherein the obstacle detection means is constituted by a sonic sonar or an ultrasonic sonar that transmits a sound wave or an ultrasonic wave to detect the presence of an obstacle around the vehicle. Obstacle detection means for detecting the presence of an obstacle around the vehicle;
A vehicle periphery monitoring system comprising: a control unit capable of notifying the presence of an obstacle by a notification unit when the presence of the obstacle is detected by the obstacle detection unit;
Equipped with photographing means for photographing the periphery of the vehicle,
The control means obtains the height of an obstacle by performing image processing on the viewpoint converted image obtained by converting the viewpoint of the photographed image photographed by the photographing means, and the height of the obtained obstacle is predetermined. If the height is less than the height, the detected means is notified as a safe obstacle by the notification means or the detection of the detected obstacle is prohibited, and the height of the acquired obstacle is a predetermined height. If it is above, the detected surroundings are made to alert | report by the said alerting | reporting means as a dangerous obstacle, The vehicle periphery monitoring system characterized by the above-mentioned.

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