JP2005328237A - Vehicle peripheral visual recognition device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle peripheral visual recognition device by which a user can easily execute visual recognition of an obstacle around the vehicle. <P>SOLUTION: Each one camera device and clearance sonar are installed to right and left fronts of own vehicle by making them to correspond to each other. A picked-up image related to the right and left directions is acquired from each camera device. The picked-up images are properly composited and displayed on a display in own vehicle. It is sensed whether or not the obstacle exists in the vicinity of own vehicle in the photographing direction of each camera device by the clearance sonar. For example, when it is sensed that the obstacle exists in the vicinity of own vehicle by the clearance sonar, a range for displaying to the picked-up image from the camera device corresponding to the clearance sonar is expanded. Namely, the range of an image adopted for displaying from among the picked-up images is reduced, and the obstacle is displayed relatively larger when the obstacle does not exist in a prescribed reference distance from own vehicle within photographing ranges of both camera devices compared with when the obstacle exists in the prescribed reference distance. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicle periphery visual recognition device that is mounted on a vehicle and displays a captured image of the periphery of the vehicle in a vehicle interior.

  When an automobile reaches an intersection, left and right safety checks are required, but at an intersection where the left and right sights are poor, the driver needs to slightly enter the vehicle and check the left and right. For this reason, it takes time to confirm the safety and also requires a caution, which is a mental burden on the driver.

  Therefore, a technique has been proposed in which light from both the left and right sides are collected on the CCD using a mirror at the tip of the vehicle so that the left and right images of the vehicle are displayed side by side (for example, Patent Document 1).

  Prior art documents relating to such technology include the following.

Japanese Patent Laid-Open No. 2001-138813

  However, in the above-described technique, the relative positional relationship between the vehicle and the obstacle is not considered, and the left and right images of the vehicle are displayed in a certain display mode. For example, the obstacle is located far away. In this case, the obstacle is displayed small on the display screen, and it is difficult to visually recognize the obstacle.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle periphery visual recognition device that facilitates visual recognition of obstacles around the vehicle.

  In order to solve the above-described problems, the invention of claim 1 is a vehicle periphery visualizing device that is mounted on a vehicle and displays a captured image of the vehicle periphery in a vehicle interior, and relates to a predetermined visual field range around the vehicle. A first camera device that captures an image, a display device that is installed in a vehicle interior and displays a first image captured by the first camera device, and the imaging range of the first camera device Adopting a first obstacle detection unit for detecting a first state where an obstacle exists within a predetermined reference distance from the vehicle, and an image relating to a first display range from the first image, An image processing unit to be displayed on the display device, and a changing unit that changes the first display range according to a detection result by the first obstacle detection unit.

  The invention according to claim 2 is the vehicle periphery visual recognition device according to claim 1, wherein the change unit is more in the case where the first state is detected by the first obstacle detection unit. The first display range is changed so that the first display range is relatively larger than when the first state is not detected.

  Further, the invention of claim 3 is the vehicle periphery visual recognition device according to claim 1 or claim 2, further comprising a second camera device that captures an image related to a predetermined visual field range around the vehicle, The image processing unit generates a composite image using both the first and second images captured by the first and second camera devices, respectively, and displays the composite image on the display device.

  According to a fourth aspect of the invention, there is provided the vehicle periphery visual recognition device according to the third aspect, wherein the photographing directions of the first and second camera devices are different from each other.

  The invention according to claim 5 is the vehicle periphery visual recognition device according to claim 3 or claim 4, wherein an obstacle is within a predetermined reference distance from the vehicle within the photographing range of the second camera device. A second obstacle detection unit that detects a second state that exists, wherein the image processing unit adopts an image related to a second display range from the second image, and It is displayed on an apparatus, and the change unit changes the second display range in accordance with a detection result of the second obstacle detection unit.

  The invention according to claim 6 is the vehicle periphery visual recognition device according to claim 5, wherein the change unit is detected when the second state is detected by the second obstacle detection unit. The second display range is changed so that the second display range is relatively larger than when the second state is not detected.

  The invention according to claim 7 is the vehicle periphery visual recognition device according to claim 5 or claim 6, wherein the change unit is configured to perform the first and second obstacle detection by the first and second obstacle detection units. When only the first state is detected among the states, only the first image is adopted as an image used for display of the display device among the first and second images. Features.

  According to the invention according to any one of claims 1 to 7, since an image according to a range corresponding to a distance from the image captured by the camera device to the obstacle is adopted and displayed, the vehicle and the obstacle It is possible to provide a vehicle periphery visualizing device that easily recognizes an obstacle around the vehicle in consideration of a relative positional relationship with an object.

  According to the invention described in claim 2 or claim 6, when the obstacle is not within the predetermined reference distance, the image is captured by the camera device when the obstacle is not within the predetermined reference distance. By reducing the range of the image adopted for display from the displayed image, for example, a distant obstacle is displayed relatively large, so that the obstacle around the vehicle is easily visible.

  According to the third aspect of the present invention, since a composite image is created using images picked up by a plurality of camera devices and displayed on a single screen, obstacles existing in a wide area around the vehicle are present. It becomes easy to visually recognize.

  According to the fourth aspect of the present invention, since the shooting directions of the plurality of camera devices are different, obstacles existing in a wide area around the vehicle can be easily seen.

  Further, according to the invention described in claim 5, since the image according to the range according to the distance to the obstacle from the images captured by the plurality of camera devices is adopted and displayed, there is an obstacle around the vehicle. Furthermore, it becomes easy to visually recognize.

  According to the seventh aspect of the present invention, when there is an obstacle within a predetermined reference distance within the shooting range for only one camera device, an image captured by the one camera device. Therefore, for example, an obstacle around the vehicle can be visually recognized by paying particular attention to an obstacle at a short distance that has a high possibility of contact.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  As shown in FIGS. 1 and 2, a vehicle periphery visual recognition apparatus 1 according to an embodiment of the present invention is installed in a host vehicle 10 such as an automobile and captures a predetermined field of view around the host vehicle 2L, 2R. And a display device (display) 3 that is installed in the passenger compartment of the host vehicle 10 and displays captured images captured by the camera devices 2L and 2R, and an obstacle present in the shooting direction of each of the camera devices 2L and 2R is detected. Images for displaying on the display 3 an image related to a range corresponding to a detection result by the clearance sonars 4L and 4R from the captured images captured by the clearance sonars 4L and 4R and the camera devices 2L and 2R (hereinafter, “ And a control unit 5 that is displayed on the display 3.

  As shown in FIG. 2, the camera devices 2L and 2R are respectively housed and installed inside the left and right corner portions (bumper corner portions) 11L and 11R in front of the host vehicle 10, and the corner portions 11L and 11R. The front left and right sides of the host vehicle 10 are imaged through the openings provided in the outer wall of the vehicle. Specifically, the camera device 2L installed in the left front corner portion 11L has its imaging direction PL directed obliquely left front, and the camera device 2R installed in the right front corner portion 11R has its imaging direction PR The camera devices 2L and 2R are configured so that the shooting directions thereof are different from each other by being installed obliquely right frontward.

  Further, the imaging directions PL and PR of the camera devices 2L and 2R are included in the upper part of the imaging ranges WL and WR of the camera devices 2L and 2R, and at the lower edge portion of the imaging ranges WL and WR. It is set to be inclined downward so that the vicinity of the host vehicle is included. With this setting, for example, when the host vehicle 10 enters an intersection as shown in FIG. 3, the captured images GL and GR captured by the camera devices 2L and 2R are as shown in FIGS. The vicinity of the subject vehicle is reflected on the lower edge portion, and the image includes a distant view of a vehicle approaching from a distance. In the camera devices 2L and 2R, for example, imaging is performed every 1/30 seconds, and an image signal related to the captured image is transmitted to the control unit 5.

  Each clearance sonar 4L, 4R is constituted by an ultrasonic sensor or the like, and is provided at the left and right corner portions 11L, 11R of the host vehicle 10 in correspondence with each camera device 2L, 2R. The clearance sonars 4L and 4R detect the presence or absence of an obstacle that may come into contact with the host vehicle 10, and the distance between the obstacle present in the shooting ranges WL and WR and the host vehicle 10. More specifically, the clearance sonars 4L and 4R are in a state where there is an obstacle that may come into contact with the host vehicle 10 within a predetermined reference distance from the host vehicle 10 within the shooting range of the camera devices 2L and 2R. (Hereinafter referred to as “contact attention state”) is detected, and a signal indicating the detection result is supplied to the control unit 5.

  The control unit 5 includes an image processing unit 50 that performs various image processing using the captured images GL and GR transmitted from the camera devices 2L and 2R as original images and displays a display image on the display 3. The image processing unit 50 uses a range (hereinafter referred to as “display range”) for use in the display image for each of the captured images GL and GR according to the detection results from the clearance sonars 4L and 4R. A display range changing unit 50a that is set while being changed is provided.

  When the detection result indicating the contact attention state is transmitted from the clearance sonars 4L and 4R, the display range changing unit 50a changes the size of each display range. Specifically, as shown in FIGS. 4 and 5, when the detection result indicating the contact attention state is not transmitted from the clearance sonars 4L and 4R, each display range is a partial range AL1 indicated by a broken line in the drawing. , AR1, while the detection results indicating the contact attention state are transmitted from the clearance sonars 4L, 4R, the display ranges are set to the entire ranges AL2, AR2 of the captured images GL, GR. Is done. In other words, when the contact attention state is changed from the non-contact attention state, the display ranges are changed from the partial ranges AL1 and AR1 of the captured images GL and GR to the entire ranges AL2 and AR2, which are relatively large ranges. . In other words, the display range is relatively larger when the contact attention state is detected by the clearance sonars 4L and 4R by the display range changing unit 50a than when the contact attention state is not detected. The display range is changed so that

  As described above, when the display ranges are changed from the partial ranges AL1 and AR1 to the entire ranges AL2 and AR2, as shown in FIG. 2, the horizontal viewing angle related to the display image is a part of the shooting ranges WL1 and WR1. The horizontal viewing angle related to the relatively narrow ranges WL2 and WR2 is changed to the wider horizontal viewing angle related to the imaging ranges WL1 and WR1.

  Then, the image processing unit 50 adopts an image related to the display range set as described above from each of the captured images GL and GR as a display image, and displays a composite image for display using the adopted left and right images. It is created and displayed on the same display 3 as one display image. The display 3 can also be used as a display screen of a car navigation system, and outputs and displays a display image input from the image processing unit 50 every 1/30 seconds.

  Hereinafter, functions of the vehicle periphery visual recognition device 1 will be further described with reference to display examples on the display 3.

  For example, when the host vehicle 10 enters an intersection as shown in FIG. 3, assuming that there is no obstacle (for example, telephone pole) OB <b> 1, the image processing unit 50 displays the captured images GL and GR. The images related to the partial ranges AL1 and AR1 for use are adopted as display images, and the adopted left and right images are arranged adjacent to each other to create a composite image for display so that one display image G1 ( It is displayed on the display 3 as FIG.

  However, here, as shown in FIG. 3, there is an obstacle (here, a telephone pole) OB1 on the left front side of the host vehicle 10, and this obstacle OB1 is within the shooting range of the camera device 2L. It exists within a predetermined reference distance from the vehicle 10. Therefore, the contact attention state is detected by the clearance sonar 4L, and in response to the detection of the contact attention state by the clearance sonar 4L, the display range relating to the captured image GL is changed from the partial range AL1 to the full range AL2 by the display range changing unit 50a. And changed.

  On the other hand, an obstacle (here, a vehicle) OB2 is present on the right front side of the host vehicle 10, and this obstacle OB2 is within a predetermined reference distance from the host vehicle 10 within the shooting range of the camera device 2R. Does not exist. Therefore, the contact attention state is not detected by the clearance sonar 4R, and the display partial range AR1 related to the captured image GL is maintained.

  In this way, the image processing unit 50 adopts the image related to the entire display range AL2 as the display image from the captured image GL, and the image related to the display partial range AR1 as the display image from the captured image GR. Thus, the left and right images are displayed on the display 3 as one display image G2 (FIG. 7) arranged adjacent to each other. Note that the display image G2 shown in FIG. 7 is synthesized so that the image relating to the entire display range AL2 is compressed by about half in the horizontal direction, and then adjacent to the image relating to the display partial range AR1. It is created by that.

  Thus, when entering an intersection or the like, if there is no obstacle in the vicinity of the host vehicle 10, images (partial images) related to the display ranges AL1 and AR1 corresponding to a part of the captured images GL and GR are displayed. It is displayed on the display 3. Therefore, since the obstacle (vehicle OB2 etc.) approaching from the far side in the left-right direction of the intersection is displayed relatively large, it is easy to visually recognize the obstacle.

  On the other hand, when an obstacle (such as a telephone pole OB1) exists in the vicinity of the host vehicle 10, images related to the entire ranges AL2 and AR2 of the captured images GL and GR are displayed on the display 3. Therefore, it is easy for the driver to grasp the sense of distance from the obstacle in the vicinity of the own vehicle, and even if the positional relationship between the own vehicle 10 and the obstacle OB1 changes a little while passing through the intersection, the driver will see the obstacle on the display 3. You can continue to display images. Therefore, the driver can pass through the intersection so as not to touch the obstacle in the vicinity of the host vehicle by visually checking the obstacle through such display.

  As described above, the vehicle periphery visual recognition device 1 according to the present embodiment employs an image related to the display range corresponding to the distance from the captured images GL and GR captured by the camera devices 2L and 2R to the obstacle. Display on the display 3. Specifically, the camera device captures an image when there is no obstacle within a predetermined reference distance, compared to when there is an obstacle within a predetermined reference distance from the host vehicle within the imaging range of the camera devices 2L and 2R. The range of the image adopted for display is reduced from the image to be displayed. As a result, obstacles that are farther than the reference distance from the host vehicle will be displayed relatively large on the display, so the surrounding area of the vehicle taking into account the relative positional relationship between the host vehicle and the obstacle. It is possible to provide a vehicle periphery visual recognition device that makes it easy to visually recognize the obstacle.

  In addition, since a composite image is created and displayed on the same display 3 using images captured by the plurality of camera devices 2L and 2R, obstacles existing in a wide range around the vehicle can be easily seen.

  In addition, since the shooting directions of the plurality of camera devices 2L and 2R are different from each other, obstacles existing in a wide range around the vehicle are easily visible.

  In addition to the display range changing unit 50a changing the size of the display range according to the detection results by the clearance sonars 4L and 4R, the display range is changed according to the pressing operation of the camera display switch (SW) by the driver. The unit 50a may change the display range.

  Such a vehicle periphery visual recognition device 1 is very effective for improving the visibility around the vehicle by being mounted on various vehicles such as automobiles.

<Modification>
As mentioned above, although embodiment of this invention was described, this invention is not limited to the thing of the content demonstrated above.

  For example, in the above-described embodiment, the images related to the two camera devices 2L and 2R are always combined and displayed. However, the present invention is not limited to this. For example, when the host vehicle 10 enters an intersection as shown in FIG. When the detection result indicating that the contact attention state is detected from only one of the clearance sonars 4L and 4R is transmitted to the clearance sonar 4L of the captured images GL and GR by the control unit 5. Only the captured image GL related to the corresponding camera device 2L may be selectively adopted as an image to be displayed on the display 3. With such a configuration, for example, the entire range AL2 of the captured image GL is adopted as a display image, and the captured image GL is displayed on the entire display 3 as shown in FIG. The driver pays particular attention to an obstacle at a short distance, and the obstacle around the vehicle can be visually recognized. As a result, it becomes easy to pass through the intersection so as not to contact an obstacle in the vicinity of the host vehicle.

  In the above-described embodiment, two (generally plural) camera devices 2L and 2R are used. However, the present invention is not limited to this. For example, the camera device is installed only in one of the left and right fronts. In response to the detection result that the contact attention state from the clearance sonar corresponding to the camera device is detected, the display range for the captured image related to one camera device may be changed and displayed on the display.

  However, when the host vehicle enters an intersection or the like, in order to improve the visibility of obstacles existing in the left-right direction, for example, the two camera devices 2L and 2R are mounted on the host vehicle as in the above-described embodiment. It is preferable to install them at the left and right front of 10. In other words, in order to make it easier to visually recognize obstacles around the host vehicle, the range of the images captured by two (generally, a plurality of) camera devices is set according to the distance to the obstacle. By adopting and displaying such an image, it is preferable to perform display in consideration of the relative positional relationship between the host vehicle 10 and the obstacle. With such a configuration, it is possible to check obstacles existing at a short distance from the own vehicle 10 and to be present at a long distance from the own vehicle 10 for a plurality of directions viewed from the own vehicle 10 only by looking at one display. Obstacles can be confirmed effectively.

  In the above-described embodiment, the camera devices 2L and 2R are installed on the left and right front sides of the host vehicle 10. However, the present invention is not limited to this. For example, at least one camera device is installed behind the host vehicle 10 or the like. Similarly to the embodiment described above, the display may be changed according to the detection result (distance to the obstacle) by the back sonar instead of the clearance sonar.

  In the above-described embodiment, the clearance sonars 4L and 4R cause obstacles that may come into contact with the host vehicle 10 within a predetermined reference distance from the host vehicle 10 within the shooting ranges of the camera devices 2L and 2R. Although an existing state is detected, the present invention is not limited to this. For example, a predetermined reference from the own vehicle 10 within the shooting range of each camera device 2L, 2R by image recognition using an image captured by each camera device 2L, 2R. You may detect the state in which the obstacle which may contact the own vehicle 10 exists within the distance. As a method of this image recognition, for example, in the state where the host vehicle is moving, an object in the vicinity of the host vehicle is relatively more distant than an object located far from the host vehicle between sequentially updated captured images. A method of detecting whether or not an obstacle exists in the vicinity of the host vehicle by using a phenomenon that moves greatly can be cited.

It is a block diagram of a vehicle periphery visual recognition device concerning an embodiment of the present invention. It is a figure which shows the installation form to the vehicle of a camera apparatus. It is a figure which shows the use condition of a vehicle periphery visual recognition apparatus. It is a figure which shows the image imaged with the left front camera apparatus. It is a figure which shows the image imaged by the right front camera apparatus. It is a figure which shows the example of a display in a display apparatus. It is a figure which shows the example of a display in a display apparatus. It is a figure which shows the example of a display in the display apparatus which concerns on a modification.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle periphery visual recognition apparatus 2L, 2R Camera apparatus 3 Display 4L, 4R Clearance sonar 5 Control part 6 Camera display SW
10 own vehicle 50 image processing unit 50a display range changing unit AL, AR display range GL, GR captured image OB1, OB2 obstacle WL1, WL2, WR1, WR2 shooting range

Claims (7)

A vehicle periphery visual device that is mounted on a vehicle and displays an image of the periphery of the captured vehicle in a vehicle interior,
A first camera device that captures an image of a predetermined field of view around the vehicle;
A display device installed in a passenger compartment and displaying a first image captured by the first camera device;
A first obstacle detection unit that detects a first state in which an obstacle exists within a predetermined reference distance from the vehicle within a photographing range of the first camera device;
An image processing unit that employs an image related to a first display range from the first image and displays the image on the display device;
A changing unit for changing the first display range according to a detection result by the first obstacle detecting unit;
A vehicle periphery visual recognition device comprising: The vehicle periphery visual recognition device according to claim 1,
In the case where the first state is detected by the first obstacle detection unit, the change unit is not limited to the first state, but the first display range. The vehicle periphery visual recognition device, wherein the first display range is changed so that is relatively large. The vehicle periphery visual recognition device according to claim 1 or 2,
A second camera device that captures an image related to a predetermined field of view around the vehicle;
The image processing unit generates a composite image using both the first and second images captured by the first and second camera devices, respectively, and causes the display device to display the composite image. Periphery visual recognition device. The vehicle periphery visual recognition device according to claim 3,
The vehicle periphery visual recognition device, wherein the photographing directions of the first and second camera devices are different from each other. The vehicle periphery visual recognition device according to claim 3 or 4,
A second obstacle detection unit for detecting a second state in which an obstacle exists within a predetermined reference distance from the vehicle within the imaging range of the second camera device;
The image processing unit adopts an image related to a second display range from the second image, and causes the display device to display the image.
The vehicle periphery visual recognition device, wherein the changing unit changes the second display range according to a detection result by the second obstacle detecting unit. The vehicle periphery visual recognition device according to claim 5,
In the case where the second state is detected by the second obstacle detection unit, the change unit has the second display range compared to the case where the second state is not detected. The vehicle periphery visual recognition device is characterized in that the second display range is changed so that is relatively large. The vehicle periphery visual recognition device according to claim 5 or 6,
The changing unit is
When only the first state of the first and second states is detected by the first and second obstacle detection units, the display device among the first and second images. Only the first image is adopted as an image used for display of the vehicle periphery visual recognition device.

Images