JP2005319851A - Vehicular display device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular display device capable of enhancing the safety by setting the right and left adequate allowance widths separately according to a driver's taste aptitude. <P>SOLUTION: The vehicular display device comprises an image pickup means 1 such as a camera to pick up an image in the advancing direction of a vehicle, a display means 8 to display the picked-up image, an estimated vehicle locus calculation means 5 to obtain the estimated traveling locus of the vehicle from the signal detected by a vehicle speed detection sensor and a steering angle detection sensor, an allowance width setting means 6 capable of individually setting desired allowance widths on the right and left sides of the vehicle, and an image synthesis means 7 which displays the estimated traveling locus calculated by the estimated vehicle locus calculation means on the picked-up image in a superposing manner as the estimated vehicle locus position image A of the width with the right and left allowance widths set by the allowance width setting means added to the vehicle width. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicle display device that displays an image in front of a vehicle, which is taken by a photographing means such as a camera installed in a vehicle, on a display means such as a liquid crystal display, and in particular, has a margin for the vehicle width of the host vehicle. The present invention relates to a vehicle display device that superimposes and displays an expected vehicle locus position image including a line segment corresponding to the added dimension as a predicted vehicle travel locus on a captured image.

  A conventional vehicle display device displays an image in front of the vehicle taken by an in-vehicle camera on a display means (display) installed on the console of the vehicle, and further superimposes a distance display and a vehicle width display on the forward photographed image. There are examples of displaying (for example, see Patent Document 1), examples of displaying an expected traveling locus in an overlapping manner (for example, see Patent Document 2), and the like. In addition, when there is an obstacle ahead, there is an example in which a line segment having a width of “vehicle width + α” is superimposed and displayed when the vehicle speed is equal to or less than a certain value (see, for example, Patent Document 3). In the example of this patent document 3, when the road width is narrow, increasing the margin width α is also disclosed.

JP-A-9-193710 (first page, FIG. 1) JP-A-11-334470 (first page, FIG. 1) Japanese Patent Laid-Open No. 11-259798 (first page, FIG. 1)

  In the conventional apparatus as described above, although the line segment of “vehicle width + α” is used, the left and right margin widths are set to the same width. However, the driver feels a sense of margin on the left and right sides of the vehicle, and the ability to measure the distance between the left and right sides of the vehicle and the sense of distance also differ depending on which of the left and right effects. In addition, the margins left and right of the car differ depending on the driver's preference, habit, skill, etc., and they differ depending on whether the driver's seat is the right seat or the left seat. Therefore, if the margin width of the line drawn on the outer side of the certain margin width from the vehicle width is the same on the left and right, it is difficult for some drivers to use, and I think that there is a margin even when the margin is taken. There was a problem that if it passes, it may touch an obstacle and cause an unexpected accident.

  The present invention has been made in order to solve the above-described problems of the prior art, so that an appropriate margin width can be set separately on the left and right according to the driver's preference and suitability. An object is to provide an enhanced display device for a vehicle.

  The display device for a vehicle according to the present invention includes an imaging unit that captures the traveling direction of the vehicle, a display unit that displays the captured image, and an expected traveling locus of the vehicle based on signals detected by the vehicle speed detection sensor and the steering angle detection sensor. Predicted vehicle trajectory calculating means, margin width setting means capable of individually setting desired margin widths on the right and left sides of the vehicle, and the predicted traveling trajectory calculated by the predicted vehicle trajectory calculating means Image synthesizing means for superimposing and displaying on the image photographed by the photographing means as an expected vehicle locus position image having a width dimension obtained by adding the left and right margin widths set by the margin width setting means to the vehicle width of the vehicle It is.

  In the present invention, the driver can set the margin width suitable for the characteristics such as his / her sense of distance, preference, skill, etc., so that the driver can contact obstacles caused by the individuality of the driver. The risk is reduced and safety is enhanced.

Embodiment 1 FIG.
1 to 4 illustrate a vehicle display device according to Embodiment 1 of the present invention. FIG. 1 is a block diagram showing the configuration, and FIG. 2 is displayed on a display means (display) of the vehicle display device. FIG. 3 is a diagram schematically illustrating an example in which a photographing unit (camera) is mounted on an actual vehicle, and FIG. 4 is a perspective view illustrating an example of a driver operation unit in the margin width setting unit. It is. In FIG. 1, a camera 1 as a photographing means is composed of, for example, a lens, a CCD imaging device, a CCD drive circuit, an amplifier circuit, and the like, and outputs an analog image signal. The camera 1 has a field of view (for example, 90 to 140 degrees left and right, 30 to 90 degrees up and down, etc.) with respect to the front, and is installed near the upper rearview mirror in the vehicle interior as shown in FIG. Shooting direction.

  The vehicle behavior estimation means 2 includes a steering angle detection means 3 having a steering angle detection sensor (not shown), a wheel speed measurement means 4 having a vehicle speed detection means (not shown), and an expected vehicle trajectory calculation means 5. The steering angle detection means 3 includes a steering angle detection sensor installed on a steering handle or a link mechanism portion thereof, a means for converting the steering angle of the steering wheel into the steering angle of the front wheel of the vehicle (all not shown), and the like. Detect the front wheel steering angle. Note that the steering angle detection sensor preferably has a fine resolution of 10 degrees or less, for example.

  The wheel speed measuring means 4 is composed of, for example, a vehicle speed detection sensor that outputs a signal corresponding to the rotation of a wheel (not shown) installed on each wheel of the vehicle, and calculates the rotational speeds of the left and right wheels of the front and rear wheels. It detects and calculates the distance and speed of each movement and the speed of the vehicle itself. The predicted vehicle trajectory calculation means 5 is composed of a calculation CPU, a program memory, etc., and the steering angle detection value from the steering angle detection means 3 and the distance traveled so far by the front, rear, left and right wheels from the wheel speed measurement means 4, Based on the moving speed, an estimated travel locus of the host vehicle is estimated and calculated.

  The margin width setting unit 6 includes a driver operation unit 61 (shown in FIG. 4), a calculation CPU (not shown), a program memory, and the like, and is a vehicle vehicle obtained from the predicted vehicle locus calculation unit 5. Calculate the line segment with the margin set by the driver outside the expected travel locus corresponding to the width, so that it fits the coordinate system in the screen (so-called graphic display coordinate system) from the coordinate system on the road surface Convert coordinates to. The image synthesizing means 7 is composed of a superimpose circuit or the like. The analog image signal sent from the camera 1 is placed outside the expected travel locus corresponding to the vehicle width of the vehicle sent from the margin width setting means 6. Are overlapped with the predicted vehicle locus position image A (shown in FIG. 2), which is a line segment to which the set margin width is added. Reference numeral 8 denotes a display means, which includes a display, a backlight, a display drive circuit, and the like, and displays the image signal sent from the image composition means 7.

  FIG. 2 schematically shows an example of an image displayed on the screen 8 a of the display means 8. In FIG. 2, the screen 8a shows a road, a left lane (outer left line) 1a, a center line 1b, a right lane (outer right line) 1c, an oncoming vehicle 1d, and the like. The vehicle locus position image A is displayed with two line segments in this example. The predicted vehicle trajectory position image A is preferably displayed with high brightness and saturation using a conspicuous color such as yellow or orange or a bright color so that the driver can recognize it well.

  Reference numeral 9 denotes a switch means, which manually outputs an image signal from another device that outputs an image signal, for example, the image signal from the navigation device 10 or the like and the image signal sent from the image composition means 7 in the first embodiment, or For example, an example is shown in which the display means 8 is shared with other devices because it can be automatically switched in conjunction with a function selection operation.

  As shown in FIG. 4, the margin width setting means 6 can set the right margin width and the left margin width independently on the driver operation unit 61 with a rotary changeover switch as an interface with the driver. On the scale, the numerical value of the setting margin is entered. In FIG. 4, 20, 30, 40, 50, 60, 70, 80, and 90 cm are written on the left and right, respectively, but the present invention is not limited to this. By turning the knobs 62L and 62R of the rotary changeover switch and adjusting the arrows displayed on the knobs 62L and 62R to the values to be set, the setting width can be arbitrarily set independently. FIG. 4 shows an example in which the left and right are set to 50 cm.

  The driver operation unit 61 and the setting method are not limited to those exemplified above, and can be configured using, for example, a push button switch, a variable resistor, a touch panel, or the like. Further, the setting value may be displayed on the display means 8 during the setting operation. Further, the predicted vehicle trajectory calculating means 5 and the margin width setting means 6 can be configured using the same CPU. Further, the predicted vehicle trajectory position image A superimposed on the two line segments may be selected in color and brightness according to the driver's preference.

  Next, the operation of the vehicle display device according to Embodiment 1 configured as described above will be described. FIG. 5 is a flowchart showing the overall operation of the first embodiment. Note that this processing starts when the vehicle is powered on. In step S1, various initial values necessary for this processing are set. The recorded values of steering angle and wheel speed are also cleared. Next, in step S2, it is determined whether or not it is every fixed time, and the processes in and after step S3 are performed every fixed time. For example, the predetermined time is preferably 0.01 second to 1 second. First, the steering angle of the vehicle front wheel is detected (step S3). Next, the movement distances of the front, rear, left and right wheels are calculated (step S4). Next, the steering angle value and the movement distance value are recorded (step S5). Next, the moving amount of the vehicle up to the present from the recorded value for a certain period of time is calculated, and the predicted traveling locus of the vehicle is estimated and calculated from the current steering angle value (step S6).

  Next, the setting value of the margin width of the driver operation unit 61 in the margin width setting means 6 is read, and (step S7) a line obtained by adding the margin width to the outside of the vehicle width of the predicted traveling locus of the vehicle calculated above. Minutes are calculated (step S8). Next, the line segment is coordinate-converted from the coordinate system on the road surface to a coordinate system (so-called graphic display coordinate system) in a screen shot by the camera (step S9), and the line segment is converted into image data (step S9). Step S10). Next, the predicted vehicle locus position image A is superimposed on the analog image signal photographed by the camera 1 (step S11). After step S11 is completed, the process returns to step S2, and the processes from step S3 to step S11 are repeated at regular time intervals.

  Although not mentioned in this flowchart, the forward image taken by the camera 1 as the photographing means is always taken if the power is turned on, and the result of the composition of the image synthesizing means 7 in step S11 is, for example, FIG. Is displayed on the display means 8 as shown in FIG. The driver confirms the distance between the predicted vehicle trajectory position image A indicated by the two line segments and, for example, the lane or guardrail in the front screen of the vehicle displayed by the camera 1, The risk of contact can be easily confirmed in advance.

  As described above, according to the first embodiment, the driver himself / herself can set the left and right margins according to his / her distance feeling, preference, skill and other characteristics, so that he / she touches an obstacle or the like. Since the danger can be avoided in advance, the danger is reduced and the vehicle can be operated more safely. Although the predicted vehicle locus position image A is shown by two straight lines, a curved line or the like can be displayed by a curved line.

Embodiment 2. FIG.
FIG. 6 is a block diagram showing a configuration of a vehicle display device according to Embodiment 2 of the present invention, and FIG. 7 is a flowchart for explaining a main part of its operation. In FIG. 6, reference numeral 11 denotes a lane detection means, which is composed of an A / D converter, a calculation CPU, a program memory, and the like. Is detected, and the center line of the driving lane is calculated. Data such as the presence / absence of lane detection and the center line of the traveling lane are sent to the margin width setting means 6. The other reference numerals are the same as those in FIG. The calculation CPU may be configured using the same CPU as the predicted vehicle locus calculation means 5 and the margin width setting means 6.

  Next, the operation of the vehicular display device according to the second embodiment configured as described above will be described. Note that, during the series of operations, steps S1 to S7 and S8 to S11 in the flowchart shown in FIG. 5 described in the first embodiment are the same in the second embodiment, and thus illustration and description are omitted. 7 will be described with reference to FIG. 7 mainly based on steps S71 to S79 showing the operation of the lane detecting means 11 added between step S7 and step S8 of FIG.

  In FIG. 7, after the setting value of the margin width is read in the same manner as in the first embodiment (step S7), the lane in which the host vehicle is traveling (the left outer line, the center line) is detected by the lane detecting means 11 from the captured image. Is detected (step S71). Next, the margin width setting means 6 determines whether or not a lane has been detected (step S72), and if a lane can be detected, calculates the center line of the traveling lane which is the center of the left outer line and the center line (step S72). S73). Next, the deviation from the center of the vehicle (the center in the width direction) is calculated, and how much the vehicle center is shifted to the left or right from the center line of the traveling lane is calculated (step S74). Next, it is determined whether the center of the vehicle has shifted to the right from the center line of the travel lane (step S75). If the vehicle has shifted to the right, the value obtained by adding the shift width to the set value of the right margin width is used as the new margin width. (Step S76). Next, the process proceeds to step S8, and a line segment is superimposed and displayed on the display means 8 as in the first embodiment.

  If not shifted to the right in step S75, similarly, the margin width setting means 6 determines whether the vehicle center is shifted to the left from the center line of the traveling lane (step S77). A value obtained by adding the deviation width to the set value of the margin width is set as a new margin width (step S78), and the process proceeds to step S8. If it is not shifted to the left in step S77, the margin is not changed and the set value is left as it is (step S79), and the process proceeds to step S8. When the lane cannot be detected in step S72, the margin width is not changed and the set value is left as it is (step S79), and the process proceeds to step S8.

  As described above, according to the second embodiment of the present invention, when the center portion in the width direction of the vehicle is gradually shifted to the left or right from the center line of the traveling lane, the displayed margin width is set according to the amount of deviation. By increasing and displaying, the driver can recognize that his / her vehicle has shifted to the left or right earlier by comparing the above line segment with the lane in the captured image. The steering wheel can be operated so that the vehicle moves to the center line of the traveling lane. As a result, not only the margin width suitable for the driver's eyelid can be displayed, but also an effect of safer driving can be obtained.

Embodiment 3 FIG.
FIG. 8 is a block diagram showing a configuration of a vehicle display device according to Embodiment 3 of the present invention. In FIG. 8, the wheel speed measuring means 4 calculates the speed of the vehicle itself, that is, the vehicle speed from the moving speed of each wheel, and sends the vehicle speed information to the margin width setting means 6. Other configurations and reference numerals are the same as those of the first embodiment shown in FIG.

  Next, the operation of the vehicle display device according to the third embodiment configured as described above will be described with reference to the flowchart shown in FIG. The basic operation is the same as that in the flowchart showing the operation according to the first embodiment shown in FIG. 5, and steps S701 to S704 are corrected according to the vehicle speed between step S7 and step S8 in FIG. Since steps S1 to S7 and S8 to S11 are the same as those in the first embodiment, illustration and description thereof are omitted.

  In FIG. 9, after setting the margin width setting value in the same manner as in the first embodiment (step S7), the vehicle speed is detected (step S701). Next, it is determined whether or not the vehicle speed exceeds a certain value, for example, 80 km / h (step S702). When the vehicle speed is exceeding a certain value and the vehicle is traveling at a high speed, a certain width is added to the set value of the left and right margins. The value is set as a new margin (step S703). Next, the process proceeds to step S8, and a line segment obtained by adding a fixed width to the set value of the left and right margin widths is superimposed and displayed on the display means 8 as in the first embodiment.

If the vehicle speed is traveling at a low speed without exceeding a certain value in step S702, the setting values for the left and right margins are not changed (step 704), and the process proceeds to step S8.
The value of the constant width is not particularly limited. However, if the value is too small, the degree of the effect is small, and even if the value is too large, the degree that the driver feels uncomfortable becomes high. It can be selected as appropriate, for example, within a range of about 20%. In addition, an example in which a margin width obtained by adding a certain width only once when a certain vehicle speed is exceeded is described, but the present invention is not limited to this. For example, a certain width according to the vehicle speed is set. You may make it change a value and increase a fixed value range, so that speed becomes high.

  As described above, according to the third embodiment of the present invention, when the vehicle is traveling at a high speed, even if a slight steering operation is performed, the vehicle often moves to the left and right, resulting in an accident. In this case, the left and right margins to be displayed are increased and displayed so that the driver can notice the deviation of the driving lane from the center line earlier, and can encourage the driver to drive more safely. An effect is obtained.

Embodiment 4 FIG.
FIG. 10 is a block diagram showing a configuration of a vehicle display device according to Embodiment 4 of the present invention. In FIG. 10, the wheel speed measuring means 4 is the same as in the third embodiment, from the rotation speed measured by the wheel speed sensor or the like installed on each wheel of the vehicle. The speed is calculated and the measurement result is sent to the predicted vehicle locus calculation means 5, and the calculation result is sent to the margin width setting means 6 as vehicle speed information. In the fourth embodiment, the margin width setting means 6 generates image information to be synthesized from the information of the wheel speed measurement means 4, the lane detection means 11, and the predicted vehicle trajectory calculation means 5. Other reference numerals and configurations correspond to the combination of the configuration of the second embodiment shown in FIG. 6 and the configuration of the third embodiment shown in FIG.

  Next, the operation of the fourth embodiment configured as described above will be described. The basic operation corresponds to the combination of the flowchart of the second embodiment shown in FIG. 7 and the flowchart of the third embodiment shown in FIG. 9, and specifically, step S76 in FIG. Steps S78, S79, and Step S8 are added with steps to be corrected according to the vehicle speed shown in the procedure from Step S701 to Step S704 in FIG. In short, in the fourth embodiment, as shown in FIG. 7, after changing the margin width according to the deviation between the center of the vehicle and the center of the lane, the margin width according to the speed when the vehicle speed further exceeds a predetermined value. To make changes.

  According to the fourth embodiment of the present invention, in addition to the effects of the second embodiment, when the vehicle speed exceeds a certain value as in the third embodiment, a value obtained by adding a certain width is set as a new margin width. And is displayed on the display means 8, so that the driver can be alerted more appropriately and safer driving can be achieved.

Embodiment 5. FIG.
FIG. 11 is a block diagram showing a configuration of a vehicle display device according to Embodiment 5 of the present invention. In FIG. 11, reference numeral 12 denotes a warning means, which receives information sent from the margin width setting means 6, sends an image indicating attention to the image composition means 7 in accordance with the information, and displays the image superimposed on the display means 8. Or flashing the display or generating an alarm sound, voice, vibration or the like to directly alert the driver. Other reference numerals and configuration are the same as those of the fourth embodiment shown in FIG.

  Next, the operation of the fifth embodiment configured as described above will be described with reference to the flowchart shown in FIG. The operation of the fifth embodiment determines the alert shown in FIG. 12 between step S8 and step S9 in the description of the operation of the vehicle display device according to the fourth embodiment of the present invention shown in FIG. Since this corresponds to the addition of steps S81 to S82, only the additional steps are shown.

  In FIG. 12, after calculating a line segment obtained by adding a margin width to the vehicle width of the predicted traveling locus of the vehicle (step S8), the calculated line segment is detected by the alerting means 12 in the lane (left outer side) detected in step S71. It is determined whether or not the line deviates from the center line (step S81). Next, when the left line segment deviates from the left outer line or the right line segment deviates from the center line, a warning is given (step S82). Next, the process proceeds to step S9.

  Note that the means for alerting is not particularly limited, and various known methods can be used as appropriate. For example, an image such as a character to call attention or an icon is sent and displayed superimposed on the display means 8, and it is blinked, or an alarm sound or a sound is generated separately or simultaneously and sent from an in-vehicle speaker. Also good. In step S81, if the calculated line segment does not deviate from the lane (left outer line, center line) detected in step S71, the process proceeds to step S9. Since the subsequent steps are the same as those in the first to fourth embodiments, the description thereof is omitted.

  As described above, according to the fifth embodiment, when the vehicle is about to deviate from the lane, the user is alerted in advance with images, warning sounds, voices, etc., so even if the driver inadvertently operates It can be restored, and the driver can drive more safely.

Embodiment 6 FIG.
In the above description, the case where the present invention is used for monitoring the front of the vehicle has been described. However, the present invention is not limited to this. The same effect as that of the described embodiment can be expected. In addition, the camera 1 is provided both at the front and the rear of the vehicle, and in conjunction with the gear change, the front camera is used when moving forward, and the rear camera is used when moving backward, so that the vehicle always travels. You may comprise so that it may monitor.

  By the way, although the case where the navigation apparatus 10 was provided was demonstrated in description of the said embodiment, this navigation apparatus 10 is not necessarily essential. For example, when the navigation device 10 is not mounted, the switch 9 is not necessary. Further, instead of the navigation device 10, for example, a device using a television, a video, a DVD, or the like can be similarly configured. The display means 8 may be shared with the display devices of these other in-vehicle devices or may be separate. Moreover, the display apparatus for vehicles can also be comprised combining the structure of each embodiment arbitrarily. Furthermore, although the vehicle speed sensors are provided on all the wheels, the present invention is not necessarily limited thereto. For example, the vehicle speed sensor may be provided on one of the front wheels or the rear wheels, or a signal used for a vehicle speedometer may be used. Furthermore, the predicted vehicle trajectory position image A does not necessarily have to be two line segments, and may be displayed, for example, in a single band shape.

It is a block diagram which shows the structure of the display apparatus for vehicles by Embodiment 1 of this invention. It is a figure which shows typically the example of the image displayed on the display means shown in FIG. It is a figure which shows typically the example which mounted | wore the real vehicle with the imaging | photography means shown in FIG. It is a perspective view which shows the example of the driver | operator operation part in the margin width setting means shown in FIG. It is a flowchart which shows operation | movement of the display apparatus for vehicles by Embodiment 1 of this invention. It is a block diagram which shows the structure of the display apparatus for vehicles which concerns on Embodiment 2 of this invention. It is a flowchart which shows the principal part of operation | movement of the display apparatus for vehicles which concerns on Embodiment 2 of this invention. It is a block diagram which shows the structure of the display apparatus for vehicles which concerns on Embodiment 3 of this invention. It is a flowchart which shows the principal part of operation | movement of the display apparatus for vehicles which concerns on Embodiment 3 of this invention. It is a block diagram which shows the structure of the display apparatus for vehicles which concerns on Embodiment 4 of this invention. It is a block diagram which shows the structure of the display apparatus for vehicles which concerns on Embodiment 5 of this invention. It is a flowchart which shows the principal part of operation | movement of the display apparatus for vehicles which concerns on Embodiment 5 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Image | photographing means (camera), 2 Vehicle behavior estimation means, 3 Steering angle detection means, 4 Wheel speed measurement means, 5 Expected vehicle locus calculation means, 6 Margin width setting means, 61 Driver operation part, 62L, 62R knob, 7 Image synthesizing means, 8 display means, 8a screen, 9 switch means, 10 navigation device, 11 lane detection means, 12 alerting means, A predicted vehicle trajectory position image.

Claims (5)

  Photographing means for photographing the traveling direction of the vehicle, display means for displaying the photographed image, expected vehicle locus calculating means for obtaining an expected traveling locus of the vehicle from signals detected by the vehicle speed detection sensor and the steering angle detection sensor, A margin width setting means capable of individually setting a desired margin width on each of the right side and the left side of the vehicle, and setting the margin width to the vehicle width of the vehicle based on the predicted travel path calculated by the predicted vehicle path calculation means. A vehicle display apparatus comprising: an image composition unit that superimposes and displays an image of a vehicle trajectory position image having a width dimension obtained by adding left and right margins set by the unit on an image photographed by the photographing unit.   2. The predicted vehicle locus position image includes two line segments corresponding to a width dimension obtained by adding a left and right margin width set by the margin width setting means to a vehicle width of the vehicle. The vehicle display device described.   Lane detection means for detecting a lane on the road from image information photographed by the photographing means, and the margin width setting means, when the lane detection means detects a lane, Judgment is made, and if the judgment result is shifted to the left with respect to the driving lane, the left margin is increased from the set value, and if it is shifted to the right with respect to the driving lane, the right margin is set from the set value. The vehicle display device according to claim 1, wherein the vehicle display device is also increased.   4. The left and right margin widths are further increased when the vehicle speed detected by the vehicle speed detection sensor exceeds a predetermined value, wherein the margin width setting means further increases the left and right margin widths. The vehicle display device according to claim 1. The vehicle according to any one of claims 1 to 4, further comprising a warning means, wherein a warning is issued when a line segment displayed on the display means deviates from the lane. Display device.

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