JP2006180326A - Status monitoring system for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a status monitoring system for a vehicle capable of exactly grasping a status around the vehicle in a case such as parking; passing each other with an oncoming car at a narrow road; avoiding an obstacle; exactly grasping a front road surface status, a traffic light status, an intersection status, and a traffic status etc.; and allowing a driver to perform operation of the vehicle easily and safely without feeling uneasy, by photographing and displaying images around and in front of the vehicle from sky using an imaging apparatus mounted on a flight object. <P>SOLUTION: The status monitoring system comprises a flight object carrying an imaging apparatus and launched from and collected by a vehicle, a remote control unit mounted on the vehicle and capable of controlling operation of the flight object and the imaging apparatus, and a display device mounted on the vehicle for displaying images photographed by the imaging apparatus. The remote control unit has a means for selecting a mode in which images photographed from above for a range of the vehicle and its surroundings are displayed on the display device. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicle situation monitoring system.

2. Description of the Related Art Conventionally, there has been proposed a monitoring device for taking an image around a vehicle with a camera mounted on a vehicle such as an automobile and assisting the driving of the vehicle (for example, see Patent Document 1). In this case, like the submarine of a submarine, a telescopic rod-like member is attached to the center of the vehicle, and a passenger in the rear seat operates the handle to expand or contract or rotate the rod-like member, which is attached to the upper end of the rod-like member. An image is taken by a surveillance camera.
Japanese Utility Model Publication No. 5-86686

  However, in the conventional monitoring device, the operability is poor, and it is necessary for the passenger in the rear seat to operate the steering wheel, so that the image required by the driver of the vehicle can be quickly provided to the driver. It was difficult, and the driver could not accurately grasp the situation around the vehicle. Therefore, while traveling in a traffic jam section, the reason and degree of the traffic jam cannot be grasped, and the driver feels anxiety and discomfort. Also, if the vehicle traveling ahead is a vehicle with a high vehicle height, such as a truck, bus, or one box car, it will be difficult to grasp the road surface conditions, traffic signal conditions, traffic conditions, etc. As a result, the driver feels uneasy. In particular, anxiety increases when it is impossible to grasp the situation of other vehicles entering the intersection and the situation of traffic signals when entering the intersection. Furthermore, in the case of a normal vehicle, the range of blind spots from the driver is wide, and it is difficult to drive the vehicle smoothly when parking, passing the oncoming vehicle on a narrow road, avoiding obstacles, and the like. In particular, when driving a large vehicle, it is difficult to accurately grasp the size of the vehicle, which makes driving more difficult.

  The present invention solves the problems of the conventional monitoring device and captures and displays images around and forward of the vehicle from above by an imaging device mounted on a remotely-controllable flying object or the like. It is possible to accurately grasp the situation around the vehicle when passing with an oncoming vehicle on a narrow road, avoiding obstacles, etc. Also, the road surface condition ahead, traffic signal situation, intersection situation, traffic It is an object of the present invention to provide a vehicle situation monitoring system that can accurately grasp the situation and the like, and can easily and safely drive the vehicle without feeling uneasy by the driver.

  Therefore, in the vehicle situation monitoring system of the present invention, an imaging device is mounted, a flying object that starts from the vehicle and is collected by the vehicle, and is mounted on the vehicle, and the operations of the flying object and the imaging device are performed. A remote control unit for controlling, and a display device that is mounted on the vehicle and displays an image captured by the imaging device. The remote control unit has a range including the vehicle and its surroundings from above the vehicle. Means for selecting a mode for displaying a photographed image on the display device.

  In another vehicle situation monitoring system of the present invention, the remote control unit further selects a mode for causing the display device to display a forward image taken from a position higher than the other vehicles ahead of the vehicle. Means.

  In still another vehicular situation monitoring system according to the present invention, the remote control unit controls the operation of the flying object so as not to contact an obstacle.

  In still another vehicle situation monitoring system according to the present invention, an image pickup device is mounted, and a telescopic member that can be extended toward the upper side of the vehicle, and the vehicle mounted on the vehicle to control operations of the telescopic member and the image pickup device. A remote control unit; and a display device that is mounted on the vehicle and displays an image captured by the imaging device. The remote control unit captures the vehicle and a range including the periphery from above the vehicle. Means for selecting a mode for displaying an image on the display device.

  According to the present invention, in the vehicle situation monitoring system, an imaging device is mounted, a flying object that starts from the vehicle and is collected by the vehicle, and is mounted on the vehicle, and the operations of the flying object and the imaging device are performed. A remote control unit for controlling, and a display device that is mounted on the vehicle and displays an image captured by the imaging device. The remote control unit has a range including the vehicle and its surroundings from above the vehicle. Means for selecting a mode for displaying a photographed image on the display device.

  In this case, the situation around the vehicle can be accurately grasped when parking, passing with an oncoming vehicle on a narrow road, avoiding an obstacle, etc., and the vehicle can be driven safely.

  In another vehicle status monitoring system, the remote control unit further includes means for selecting a mode for causing the display device to display a front image taken from a position higher than the other vehicles ahead of the vehicle. .

  In this case, it is possible to accurately grasp the road surface condition, traffic signal condition, intersection condition, traffic condition, etc. ahead of other vehicles ahead, so that the driver can easily and safely do not feel anxious. It is possible to drive the vehicle.

  In still another vehicle situation monitoring system, the remote control unit controls the operation of the flying object so as not to contact an obstacle.

  In this case, for example, a signboard located in front of a running vehicle, a tunnel, an obstacle such as an underpass at a three-dimensional intersection, or an obstacle such as an indoor parking lot or a parking lot ceiling when entering a parking lot It is possible to prevent the object from coming into contact.

  In still another vehicle situation monitoring system, an image pickup device is mounted and an extendable member that can be extended upward of the vehicle, and a remote control unit that is mounted on the vehicle and controls the operation of the extendable member and the image pickup device. And a display device that is mounted on the vehicle and displays an image captured by the imaging device, wherein the remote control unit captures an image of the vehicle and a range including the surroundings from above the vehicle. Means for selecting a mode to be displayed on the display device.

  In this case, the situation around the vehicle can be accurately grasped when parking, passing with an oncoming vehicle on a narrow road, avoiding an obstacle, etc., and the vehicle can be driven safely.

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

  FIG. 1 is a diagram showing an example of an image acquired by the vehicle situation monitoring system in the embodiment of the present invention, and FIG. 2 is a diagram showing an outline of the configuration of the vehicle situation monitoring system in the embodiment of the present invention.

  1 and 2, reference numeral 11 denotes a vehicle of the vehicle situation monitoring system according to the present embodiment, which may be of any type as long as it can travel on a road such as a passenger car, a truck, a bus, and a two-wheeled vehicle. In the present embodiment, for convenience of explanation, the vehicle will be described as a passenger car having four wheels.

  Reference numeral 12 denotes a flying object of the vehicle situation monitoring system, which carries an imaging device 34 described later and flies in the air. The flying object 12 is, for example, an air jet propelled flying object 12a, a small helicopter 12b, a small airship 12c, or the like as shown in FIG. 2, and is an apparatus that can fly in the air with an imaging device 34 mounted thereon. Any device may be used. The air jet propelled projectile 12a is a device that obtains floating force by jetting air downward, and the small helicopter 12b floats by rotating the propeller and sending air downward. The small airship 12c is a device that obtains floating force by a balloon filled with a gas lighter than air such as hydrogen gas or helium gas. The flying object 12 can be moved in the air up and down, left and right and up and down to change its position, and its posture can be changed.

  Then, a user of the vehicle situation monitoring system such as a driver or a passenger of the vehicle 11 controls a position and posture of the flying object 12 by operating a flying object control device 15 which will be described later. The imaging device control device 16 is operated to control the orientation and imaging magnification of the imaging device 34 so that a desired image is taken and displayed on the display device 24 described later as shown in FIG. Can do.

  In FIG. 1, 13 a is an image taken by the imaging device 34 displayed on the display device 24, and is an image showing a traffic situation that is a traffic situation in front of the vehicle 11. A range A in the image 13a shows a traffic jam situation further ahead of a truck which is another vehicle traveling ahead. As a result, the driver of the vehicle 11 can accurately grasp the traffic jam ahead and does not feel uneasy or uncomfortable. Reference numeral 13 b denotes an image taken by the imaging device 34 displayed on the display device 24, and is an image showing the situation of an intersection in front of the vehicle 11. A range B in the image 13b shows the situation of another vehicle entering the intersection further ahead of the truck, which is another vehicle traveling ahead. As a result, the driver of the vehicle 11 can accurately grasp the situation of the other vehicle entering the intersection at the front that is the blind spot of the truck, and does not feel uneasy.

  It should be noted that when taking a further forward image of another vehicle traveling ahead, it is desirable to raise the flying object 12 to a position higher than the vehicle height regulation value of the vehicle. Thereby, even if the other vehicle traveling ahead has a high vehicle height such as a truck, a forward image can be reliably captured. In addition, since the vehicle height regulation value of the current vehicle is 4.1 [m], for example, it is desirable to raise the flying object 12 to a height of about 5 [m] from the ground.

  Furthermore, 13c is an image taken by the imaging device 34 displayed on the display device 24, for example, an image showing the situation around the vehicle 11 when parked from above, and in a range including the vehicle 11 and its surroundings. It is an image. A range C1 in the image 13c represents the vehicle 11 itself, that is, the own vehicle, a range C2 represents a pedestrian existing behind the blind spot of the vehicle 11, and a range C3 is a lateral side serving as the blind spot of the vehicle 11. A range C4 indicates an oncoming vehicle that passes the side that is the blind spot of the vehicle 11, and a range C5 indicates a side groove that is present on the side that is the blind spot of the vehicle 11. . As a result, the driver of the vehicle 11 can accurately grasp the situation of pedestrians, other vehicles, obstacles, etc. existing in the blind spot of the own vehicle, and does not feel uneasy.

  In the example shown in FIG. 2, the air jet propelled vehicle 12 a, the small helicopter 12 b, and the small airship 12 c are connected to the vehicle 11 by lines, but the flying object 12 is controlled by the user who is on the vehicle 11. If it is possible, it is not always necessary to be connected to the vehicle 11 by a line. That is, the flying object 12 and the imaging device 34 mounted on the flying object 12 may be wired-controlled or wirelessly controlled. Further, the imaging device 34 does not necessarily have to be mounted on the flying object 12 as long as the range including the front and the vehicle 11 and its surroundings can be taken from above the vehicle 11, for example, mounted on the vehicle 11, What was attached to the front-end | tip of the expansion-contraction rod 14 as an expansion-contraction member which can be extended toward the upper direction of a vehicle may be used.

  Next, the configuration of the vehicle situation monitoring system will be described in detail.

  FIG. 3 is a diagram showing details of the configuration of the vehicle situation monitoring system according to the embodiment of the present invention.

  As shown in FIG. 3, the vehicle situation monitoring system includes a part mounted on the vehicle 11 and a part mounted on the flying object 12. The vehicle 11 includes a flying object control device 15, an imaging device control device 16, a mode selection device 17 as a mode selection unit, a memory 18 as a storage device, and a vehicle-side central control device (ECU: Electronic Control). Unit) 21, an obstacle detection sensor 22, a vehicle information acquisition device 23, a display device 24, and a vehicle-side transceiver 25 are mounted. The flying object 12 includes a flying object side central control unit (ECU) 31, a flying object control device 32, a power source 33, an imaging device 34, and a flying object side transceiver 35.

  Here, the flying object control device 15 starts and collects the flying object 12, controls the position by maneuvering the flying object 12 and moving it forward, backward, up, down, left and right, and also controls the posture. For example, the controller includes a joystick, a handle, a dial, a touch panel, buttons, and the like. The imaging device control device 16 is a controller for changing the orientation of the imaging device 34 up, down, left, and right, or changing the imaging magnification, that is, zooming in or out, for example, a joystick, a handle, A dial, touch panel, buttons, etc. are provided. The flying object control device 15 and the imaging device control device 16 function as a remote control unit.

  Further, the mode selection device 17 causes the flying object 12 and the imaging device 34 to perform a predetermined operation without using the flying object control device 15 and the imaging device control device 16, and thereby a predetermined range. For example, a joystick, a dial, a touch panel, buttons, and the like are provided to select an initial (default) setting mode. Note that the initial setting mode includes preset modes, for example, a mode for viewing the vehicle and the periphery for capturing an image such as the screen 13c in FIG. 1, and a screen 13a and a screen 13b in FIG. There is a mode to look forward for taking a good image. Further, the mode selection device 17 can select a manual mode for the user to determine the contents of the initial setting manually. When the manual mode is selected, the user inputs information on initial settings for controlling the position and orientation of the flying object 12, the orientation of the imaging device 34, and the imaging magnification, and displays an image in a desired range in a desired direction. It can be taken.

  The memory 18 is connected to the mode selection device 17 and stores setting information as information for controlling the flying object 12 and the imaging device 34 to be in a state corresponding to the initial setting mode. The state corresponding to the initial setting mode is, for example, a state of looking at the vehicle and the surroundings, a state of looking at the front, and the like. Flight setting information is stored in the memory 18 as information for controlling the position and orientation, the orientation of the imaging device 34, and the imaging magnification. In this case, in the state of looking forward, another vehicle that is traveling ahead is set so that the height of the flying object 12 is equal to or higher than the current vehicle height limit value, for example, about 5 m from the ground. Even when the vehicle height is high such as a truck, flight setting information that can reliably capture a forward image can be stored in the memory 18. Then, the mode selection device 17 transmits a control command according to the flight setting information stored in the memory 18 to the flying object 12 and the imaging device 34 mounted on the flying object 12.

  The obstacle detection sensor 22 is a sensor that detects an obstacle of the flying object 12. For example, the obstacle detection sensor 22 is an imaging element such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). It is equipped with a wave radar device or the like, and becomes an obstacle for the flying object 12 to fly, such as a signboard, a tunnel, an underpass at a three-dimensional intersection, a ceiling of an indoor parking lot or a three-dimensional parking lot that exists in front of the vehicle 11. Detect the presence of things. Further, when the vehicle 11 is equipped with a vehicle navigation device, map data provided in the vehicle navigation device can be referred to. In this case, the current position of the vehicle 11 is acquired from current position detection means including a GPS (Global Positioning System) sensor or the like provided in the vehicle navigation device, and the tunnel exists ahead in the traveling direction on the road on which the vehicle 11 is traveling. The position of an obstacle such as an underpass at a three-dimensional intersection can be detected. Thereby, the flying object 12 can fly without being obstructed by an obstacle.

  Further, the vehicle information acquisition device 23 is a device that acquires vehicle information as information related to the attitude, operation, and the like of the vehicle 11. The vehicle information acquisition device 23 includes an accelerator sensor for detecting an accelerator opening / closing state of the vehicle 11 operated by the driver, a brake switch for detecting movement of a brake pedal of the vehicle 11 operated by the driver, and an operation performed by the driver. Steering sensor for detecting the steering angle of the vehicle 11, the winker sensor for detecting the operation of the winker as the direction indicator of the vehicle 11, the shift lever sensor for detecting the shift position of the transmission of the vehicle 11, the vehicle A vehicle speed sensor that detects the speed of the vehicle 11, an acceleration sensor such as a G sensor that detects the acceleration of the vehicle 11, a yaw rate sensor that detects the yaw rate of the vehicle 11, a throttle opening sensor that detects the throttle opening of the prime mover of the vehicle 11, and the like. included.

  The display device 24 includes a CRT display, a liquid crystal display, an LED (Light Emitting Diode) display, a plasma display, a hologram device that projects a hologram on a windshield, and the like, and displays an image taken by the imaging device 34. Information such as the position and state of the flying object 12, the orientation and imaging magnification of the imaging device 34, and the SOC (State of Charge) of the power supply 33 of the flying object 12 can also be displayed. When the vehicle 11 is equipped with a vehicle navigation device, a vehicle television receiver, a DVD display device, or the like, the display device of these devices can also be used as the display device 24.

  Further, the vehicle-side central control device 21 includes a flying object control device 15, an imaging device control device 16, a mode selection device 17, an obstacle detection sensor 22, a vehicle information acquisition device 23, a display device 24, and a vehicle-side transceiver. 25 is a device that controls the entire vehicle situation monitoring system. The vehicle-side central control device 21 is a kind of computer that includes arithmetic means such as a CPU and MPU, storage means such as a semiconductor memory and a magnetic disk, an input / output interface, and the like, and operates according to a program. The vehicle-side transceiver 25 is a communication interface for performing wired or wireless communication with the flying object-side transceiver 35 mounted on the flying object 12.

  The flying object side central control device 31 is connected to the flying object control device 32, the power source 33, the imaging device 34, and the flying object side transmitter / receiver 35, and the flying object 11 and the central control device 31 according to instructions from the vehicle side central control device 21. In addition to controlling the operation of the imaging device 34, the device transmits information related to the states of the flying object 11 and the imaging device 34 and images captured by the imaging device 34 to the vehicle-side central control device 21. The flying object side central control device 31 is a kind of computer that includes arithmetic means such as a CPU and MPU, storage means such as a semiconductor memory and a magnetic disk, an input / output interface, and the like, and operates according to a program.

  The flying object control device 32 is a device that controls the operation of the flying object 12 and stabilizes the posture of the flying object 12 or detects the position of the flying object 12, that is, the X coordinate, the Y coordinate, and the Z coordinate. And control for moving the flying object 12 is performed. In this case, the flying object control device 32 performs control according to the movement instruction, the obstacle avoidance instruction, etc. received from the vehicle side central control device 21 via the flying object side central control device 31. In addition, information regarding the current position and posture state of the flying object 12 is transmitted to the vehicle-side central control device 21 via the flying object-side central control device 31.

  Further, the imaging device 34 includes an imaging element such as a CCD or CMOS, an optical element such as a lens or a prism, and the like, and is an apparatus for taking an image in a designated direction at a designated magnification. In this case, the imaging device 34 can change the orientation to up, down, left, and right, change the imaging magnification, that is, zoom in or zoom out, and start and stop shooting of an image. The image captured by the imaging device 34 is a moving image and is preferably a color image, but may be a still image or a monochrome image. Further, the imaging device 34 captures an image according to an orientation instruction, a zoom instruction, and the like received from the vehicle-side central control device 21 via the flying object-side central control device 31, and information about the orientation and zoom and the captured image are captured. Is transmitted to the vehicle-side central control device 21 via the flying object-side central control device 31.

  The power source 33 includes a dry battery, a storage battery, a capacitor (capacitor), a solar cell, a fuel cell, and the like, and is connected to the flying object side central control device 31, the flying object control device 32, the imaging device 34, and the flying object side transceiver 35. A driving current is supplied, and a driving amount current is also supplied to a thrust device (not shown) of the flying object 12. When the power source 33 is rechargeable, such as a storage battery or a capacitor, the power source 33 can be appropriately charged by supplying current from the vehicle 11. Further, the power supply 33 can be omitted, and the current supplied from the vehicle 11 can be used as the driving current. When the vehicle-side transceiver 25 and the flying object-side transceiver 35 communicate with each other by wire, that is, when the flying object 12 and the imaging device 34 are wired-controlled, the vehicle 11 and the flying object 12 A line including an electric power line is used as a line connecting the two and a current can be supplied from the vehicle 11 through the electric power line. In addition, when the vehicle-side transceiver 25 and the flying object-side transceiver 35 communicate with each other wirelessly, that is, when the flying object 12 and the imaging device 34 are wirelessly controlled, the vehicle is transmitted by microwaves. 11 can supply current. The SOC of the power source 33 is transmitted to the vehicle-side central control device 21 via the flying object-side central control device 31.

  The flying object side transceiver 35 is a communication interface for performing wired or wireless communication with the vehicle side transceiver 25 mounted on the vehicle 11. Here, the vehicle-side central control device 21 gives instructions regarding the movement of the flying object 12, the orientation of the imaging device 34, and the zoom via the vehicle-side transceiver 25 and the flying object-side transceiver 35. It is transmitted to the device 31. In addition, the flying object side central control device 31 has taken information about the position and state of the flying object 12, information about the orientation and zoom of the imaging device 34, and the image via the vehicle side transceiver 25 and the flying object side transceiver 35. The image, the SOC of the power source 33, and the like are transmitted to the flying object side transceiver 35.

  Next, the operation of the vehicle situation monitoring system having the above-described configuration will be described.

  FIG. 4 is a flowchart showing the operation of the vehicle situation monitoring system according to the embodiment of the present invention.

  First, the vehicle situation monitoring system determines whether or not to fly the flying object 12 and view an image, that is, whether or not the user has selected to capture an image with the imaging device 34 mounted on the flying object 12. (Step S1). If the image is not viewed, the process is terminated as it is. Further, when viewing an image, initial setting is performed by the user operating the mode selection device 17 (step S2). In this case, initial setting is performed based on the mode selected by the user. Subsequently, the flight by the flying object 12 is performed (step S3). In this case, the flying object 12 flies according to the initial setting. And imaging | photography is performed by the imaging device 34 mounted in the flying object 12 (step S4). Thereby, an image in front of the vehicle 11 or around the vehicle 11 is taken.

  Subsequently, an image photographed by the imaging device 34 is displayed on the screen of the display device 24 (step S5). Accordingly, the user can accurately grasp the situation in front of the vehicle 11 or around the vehicle 11. Subsequently, it is determined whether or not there is an instruction to change the flight setting information (step S6). In this case, it is determined whether or not the user has instructed to change the flight setting information by operating the mode selection device 17. The flight setting information is information for controlling the position and orientation of the flying object 12, the orientation of the imaging device 34, and the imaging magnification. The flying object 12 and the imaging device 34 operate according to the set flight setting information. . If there is an instruction to change the flight setting information, the flight setting information is reset (step S7). The resetting of the flight setting information is performed by the user selecting another mode by operating the mode selection device 17. And it returns to step S3 and flight is performed again. In this case, the flying object 12 flies according to the reset flight setting information.

  If there is no instruction to change the flight setting information, it is determined whether or not shooting has been completed (step S8). If shooting has not been completed, the process returns to step S3 and the flight is performed again. In addition, when shooting is finished, the flying object 12 is collected (step S9), and the process is finished. The collected flying object 12 is stored in the vehicle 11.

  Next, the subroutine of step S2 will be described.

  FIG. 5 is a flowchart showing an initial setting subroutine of the vehicle situation monitoring system according to the embodiment of the present invention.

  In the initial setting, the user operates the mode selection device 17 to select an image acquisition mode as an initial setting mode (step S2-1). Although the number of initial setting modes and the contents thereof can be arbitrarily set, here, description will be made assuming that three modes can be selected: a mode in which the host vehicle and the vicinity are viewed, a mode in which the vehicle is viewed in front, and a manual mode.

  First, when the mode for viewing the host vehicle and its surroundings is selected as the initial setting mode, the mode selection device 17 reads the first flight setting information from the memory 18 (step S2-2) and ends the processing. . Here, the first flight setting information is information for controlling the position and orientation of the flying object 12 and the direction and imaging magnification of the imaging device 34 so that the vehicle and the surroundings can be seen. Stored in the memory 18.

  Further, when the forward viewing mode is selected as the initial setting mode, the mode selection device 17 reads the second flight setting information from the memory 18 (step S2-3) and ends the process. Here, the second flight setting information is information for controlling the position and orientation of the flying object 12, the orientation of the imaging device 34, and the imaging magnification so as to be in front of the host vehicle. Stored in the memory 18.

  Further, when the manual mode is selected as the initial setting mode, the user inputs flight setting information (step S2-4), and the process ends. In this case, the user can input information on initial settings for controlling the position and orientation of the flying object 12, the orientation of the imaging device 34, and the imaging magnification, and can capture an image in a desired range in a desired direction. .

  Next, the subroutine of step S3 will be described.

  FIG. 6 is a flowchart showing a flight subroutine of the vehicle situation monitoring system according to the embodiment of the present invention.

  First, an obstacle is detected (step S3-1), and information about the obstacle of the flying object 12 such as a signboard or a tunnel detected by the obstacle detection sensor 22, that is, obstacle detection information is acquired. Is done. Subsequently, it is determined whether or not the flying object 12 has started (step S3-2). If the flying object 12 has started, flight setting information is detected (step S3-3). Flight setting information corresponding to the selected mode, that is, current flight setting information is acquired. Then, based on the acquired obstacle detection information and flight setting information, it is determined whether or not the flying object 12 contacts the obstacle (step S3-4). Here, when the flying object 12 does not contact the obstacle, the flying object 12 flies based on the flight setting information (step S3-5), and the process is terminated.

  On the other hand, when the flying object 12 contacts the obstacle, it is determined whether or not the obstacle can be avoided (step S3-6). If the obstacle can be avoided, the flying object 12 flies so as to avoid the obstacle (step S3-7), and the process is terminated. In this case, a new position of the flying object 12, that is, a new X coordinate, Y coordinate, and Z coordinate are designated. If the obstacle cannot be avoided, the flying object 12 is collected (step S3-8). In this case, for example, when the flying object 12 and the imaging device 34 are controlled by wire, the line connecting the vehicle 11 and the flying object 12 is collected, and the X coordinate, Y coordinate, and Z coordinate are each 0. Be instructed to be. And it progresses to (1) of the flowchart shown by FIG. 4, and the process of the condition monitoring system for vehicles is complete | finished.

  If it is determined whether or not the flying object 12 has already started, the starting process is performed based on the acquired obstacle detection information (step S3-9). The starting process is a process for determining whether or not there is a space for flying the flying object 12 based on the obstacle detection information. Then, it is determined whether or not the flying object 12 can be started (step S3-10). Here, when it is possible to start, the flying object 12 starts (step S3-11) and flies based on the flight setting information. In step S3-3, flight setting information is detected. If the vehicle cannot be started, the process proceeds to (1) in the flowchart shown in FIG. 4 and the processing of the vehicle situation monitoring system is terminated.

  Thus, in the present embodiment, the imaging device 34 mounted on the remotely controllable flying object 12 captures and displays images around and ahead of the vehicle 11 from above. Therefore, the situation around the vehicle 11 can be accurately grasped when parking, passing with an oncoming vehicle on a narrow road, avoiding an obstacle, etc., and the vehicle 11 can be driven safely. In addition, since the road surface condition in front of the vehicle 11, traffic signal conditions, intersection conditions, traffic conditions, and the like can be accurately grasped, the driver can easily and safely drive the vehicle 11 without feeling uneasy. It can be performed.

  In addition, this invention is not limited to the said embodiment, It can change variously based on the meaning of this invention, and does not exclude them from the scope of the present invention.

It is a figure which shows the example of the image which the vehicle condition monitoring system in embodiment of this invention acquires. It is a figure which shows the outline of a structure of the condition monitoring system for vehicles in embodiment of this invention. It is a figure which shows the detail of a structure of the condition monitoring system for vehicles in embodiment of this invention. It is a flowchart which shows operation | movement of the vehicle condition monitoring system in embodiment of this invention. It is a flowchart which shows the subroutine of the initial setting of the condition monitoring system for vehicles in embodiment of this invention. It is a flowchart which shows the subroutine of the flight of the vehicle condition monitoring system in embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Vehicle 12 Flying object 13a, 13b, 13c Image 14 Telescopic rod 15 Flying object control device 16 Imaging device control device 17 Mode selection device 24 Display device 34 Imaging device

Claims (4)

A flying object mounted with an imaging device, launched from the vehicle and collected by the vehicle;
A remote control unit mounted on the vehicle for controlling the operation of the flying object and the imaging device;
A display device mounted on the vehicle and displaying an image captured by the imaging device;
The said remote control unit is provided with the means to select the mode which displays the image which image | photographed the range including the said vehicle and its periphery from the said vehicle on the said display apparatus, The vehicle condition monitoring system characterized by the above-mentioned.   2. The vehicle status monitoring system according to claim 1, wherein the remote control unit includes means for selecting a mode for causing the display device to display a forward image taken from a position higher than other vehicles ahead of the vehicle.   The vehicle status monitoring system according to claim 1, wherein the remote control unit controls the operation of the flying object so as not to contact an obstacle. A telescopic member that is equipped with an imaging device and that can extend toward the top of the vehicle;
A remote control unit mounted on the vehicle for controlling the operation of the telescopic member and the imaging device;
A display device mounted on the vehicle and displaying an image captured by the imaging device;
The said remote control unit is provided with the means to select the mode which displays the image which image | photographed the range including the said vehicle and its periphery from the said vehicle on the said display apparatus, The vehicle condition monitoring system characterized by the above-mentioned.

Images