JP2006333300A - Recognition supporting apparatus and method for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a recognition supporting apparatus and method for vehicle in which an image comprehensible easily for a driver can be provided. <P>SOLUTION: The recognition supporting apparatus comprises: at least one camera 1 for acquiring an image around an own vehicle; a vehicle surrounding image generating device 2 for converting and composing images acquired by the camera 1 to generate a vehicle surrounding image; an information plotting device 5 for plotting an image representing the own vehicle and recognition support information for indirectly recognizing an estimated traveling orbit of the own vehicle in accordance with the vehicle surrounding image generated by the vehicle surrounding image generating device 2; an image composing device 6 for composing the vehicle surrounding image generated by the vehicle surrounding image generating device 2 and the image plotted by the information plotting device 5; a vehicle information acquisition device 3 for acquiring steering information of the own vehicle; and an arithmetic unit 4 for computing parameters for plotting the recognition support information based on the steering information acquired by the vehicle information acquisition device 3. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle recognition assist apparatus and method.

In Patent Document 1 below, in a device that captures an image behind the host vehicle with a camera and presents it to the driver, the course of the host vehicle is calculated from the steering amount of the host vehicle, and is superimposed on the surrounding image of the host vehicle. Thus, there is described a driving assistance device at the time of reverse driving that assists the driver's recognition regarding the determination of the predicted course and contact possibility of the host vehicle.
Patent Document 2 below describes a device that converts and synthesizes captured peripheral images and displays a plan view or a bird's eye view together with an image representing the host vehicle.

Japanese Patent No. 3183284 JP 2003-91720 A

In the apparatus described in Patent Document 2, when the predicted course of the host vehicle is drawn on the screen, drawing information is concentrated in a narrow area, and there is a problem that it is difficult to see the surrounding image.
An object of the present invention is to provide a vehicle recognition assisting apparatus and method capable of solving the above-described problems and providing an image that can be easily understood by a driver.

  In order to solve the above-described problems, the present invention provides at least one imaging device that acquires an image around the host vehicle and vehicle surrounding image generation that converts and combines the acquired images to generate a vehicle surrounding image. A device, an image representing the host vehicle, an information drawing device for drawing recognition auxiliary information for indirectly recognizing a predicted travel path of the host vehicle, the vehicle surrounding image, and the vehicle surrounding image generated An image composition device that composes an image drawn by the information drawing device, a vehicle information acquisition device that acquires steering information of the host vehicle, and a parameter for drawing the recognition auxiliary information based on the acquired steering information It has the structure which has an arithmetic unit which calculates.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle recognition assistance apparatus and method which can provide a driver | operator's easy-to-understand image can be provided.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings described below, components having the same function are denoted by the same reference numerals, and repeated description thereof is omitted.
<< Overall configuration of vehicle recognition assist apparatus >>
FIG. 1 is a diagram showing a configuration of a vehicle recognition assisting device according to an embodiment of the present invention.
In the figure, 1 is an electronic camera, 2 is a vehicle surrounding image generation device, 3 is a vehicle information acquisition device, 4 is a calculation device, 5 is an information drawing device, 6 is an image composition device, and 7 is a display device.

  The camera 1 is a camera that captures image information around the host vehicle (in the case of multiple cameras, a camera group). In FIG. 1, the number of cameras is three or more, but the invention can be configured with at least one camera. An image captured by the camera 1 is input to the vehicle surrounding image generation device 2.

  The vehicle surrounding image generation device 2 is a device that generates a vehicle surrounding image using an image captured by the camera 1 (an image group when there are a plurality of cameras 1). About the content of a process, the process as described in the said patent document 2 is performed, and a vehicle surrounding image is produced | generated.

  FIG. 2E is a diagram illustrating a state where four cameras 1 a to 1 d are installed in the host vehicle 11. A camera 1a is installed at the front of the host vehicle 11 and images the front of the host vehicle 11, 1b is a camera installed at the left front side of the host vehicle 11 and images the left side of the host vehicle 11, and 1c is the host vehicle. 11 is a camera that images the right side of the host vehicle 11 and 1d is a camera that is installed at the rear of the host vehicle 11 and images the rear of the host vehicle 11.

  2 (a) is an image captured by the camera 1a, (b) is an image captured by the camera 1b, (c) is an image captured by the camera 1c, (d) is an image captured by the camera 1d, (F) is a figure which shows the vehicle surrounding image produced | generated by converting and synthesize | combining the image imaged with the cameras 1a-1d.

  For example, as shown in FIG. 2, images captured by the cameras 1 a to 1 d attached to the host vehicle 11 are converted and synthesized by the vehicle surrounding image generation device 2 (FIG. 1), and a vehicle surrounding image such as a plan view is displayed. Generate an image. Since the output image is generated based on the images captured by the cameras 1a to 1d attached to the host vehicle 11, the host vehicle 11 is not reflected in the generated image, and is black in FIG. It is left as a non-shootable range 12 indicated by a rectangle. The generated image is input to the image composition device 6.

  The vehicle information acquisition device 3 in FIG. 1 acquires the steering information of the current steering direction (steering direction; right or left) and steering amount (steering angle) of the host vehicle, and sends the steering information to the information drawing device 5. Specifically, the vehicle information acquisition device 3 acquires information on sensors attached to the steering and information flowing in a CAN (controller area network), calculates the current steering amount of the vehicle, and outputs it. .

  3 (a) is the same vehicle surrounding image as FIG. 2 (f), (b) is an image representing the host vehicle, (c) is the vehicle surrounding image of FIG. 3 (a) and the host vehicle of FIG. 3 (b). It is a figure which shows the image which rendered the image to represent.

The information drawing device 5 in FIG. 1 draws an image 13 representing the host vehicle in FIG. 3B in accordance with the vehicle surrounding image in FIG. 3A generated by the vehicle surrounding image generation device 2.
The computing device 4 computes recognition auxiliary information using the steering information from the vehicle information acquisition device 3 and sends it to the information drawing device 5. The information drawing device 5 draws based on this. The contents of the recognition auxiliary information, the calculation, and the drawing contents will be described in detail later. The information drawing device 5 sends an image 13 representing the host vehicle and an image in which recognition auxiliary information is drawn to the image composition device 6. The arithmetic device 4 may be incorporated in the information drawing device 5.

  The image synthesizing device 6 synthesizes the vehicle surrounding image generated by the vehicle surrounding image generating device 2 and the drawing screen generated by the information drawing device 5 and sends them to the display device 7.

  Since the drawing screen generated by the information drawing device 5 determines the drawing content according to the vehicle surrounding image generated by the vehicle surrounding image generating device 2, the image after the combining by the image combining device 6 is shown in FIG. As shown in FIG. 5, the display of the vehicle surrounding image and the image 13 representing the vehicle has a positional relationship reflecting the actual positional relationship. Similarly, since the recognition assistance information is also drawn in accordance with the vehicle surrounding image as will be described in detail later, the driver can see the relationship between the vehicle and the surroundings and the vehicle by looking at the combined image. It becomes possible to grasp the situation of the vehicle. The calculation device 4 calculates the turning (rotation) radius of the host vehicle using the steering information sent from the vehicle information acquisition device 3 and sends it to the information drawing device 5.

<< Operation of the arithmetic unit 4 >>
Hereinafter, the operation of the arithmetic unit 4 will be described.
FIG. 4 is a diagram for explaining calculation of the vehicle turning radius. In the figure, 14 is a tire, and 15 is an intersection of the directions of the tires 14 (intersection of wheel axles).

  At an extremely low speed, the intersection 15 of the direction of each tire 14 of the host vehicle 11 becomes the turning center of the host vehicle 11.

  FIG. 5 is a diagram showing a two-wheel model in which the front wheel and the rear wheel are considered left and right together. In the figure, 16 is a virtual tire, and 17 is an intersection of the directions of the virtual tire 16.

  In the setting of the vehicle, the intersection 15 of the direction of each tire 14 in FIG. 4 may not be determined exactly at one point. Therefore, as shown in FIG. 5, the intersection 17 of the orientation of the virtual tire 16 on the vehicle 11 is obtained using a two-wheel model that considers the front and rear wheels together, and set as the turning center of the host vehicle 11. These calculation methods are known. Therefore, the positional relationship between the host vehicle 11 and the turning center can be obtained from the size and outer shape information of the host vehicle 11 and the steering information, and the region through which the host vehicle 11 passes, the turning radius, and the like can be calculated. . In addition, the vehicle passing area and turning radius in the plan view display image and bird's eye view display image of the situation around the vehicle can be calculated by considering the relationship between the actual dimensions and the dimensions in the images. Is possible.

<< Operation of Information Drawing Device 5 >>
Below, operation | movement of the information drawing apparatus 5 is demonstrated according to a display example.

<Display example 1>
FIG. 6 is a diagram for explaining a display example 1 of the information drawing device 5. In the figure, 21 is an image representing the own vehicle, 22 and 23 are line segments constituting the recognition auxiliary line, and 24 is an intersection formed by extending the two line segments 22 and 23.

  Two line segments 22 and 23 are drawn on an image (figure) 21 representing the host vehicle. A line segment 22 is drawn at a position where the front wheel of the image 21 representing the host vehicle is imaged, and a line segment 23 is drawn at a position where the rear wheel of the image 21 representing the host vehicle is imaged. The direction of the line segment 22 changes according to the amount of steering. An intersection 24 formed by extending the line segment 22 and the line segment 23 represents the position of the line segment 22 and the line segment 23, the angle change of the line segment 22, and the steering operation so as to represent the turning center of the vehicle described above. Set the quantity relationship.

  In a vehicle equipped with four-wheel steering, the angle of the line segment 23 also changes according to the amount of steering. However, if the intersection 24 coincides with the turning center of the host vehicle, the change in the angle between the line segment 22 and the line segment 23 does not have to be proportional to the actual steering amount or the tire turning angle, and the display is easy to understand. For example, the angle change amount of the line segment 23 may be fixed to 0, for example.

  As a result, the driver can acquire the steering information and the turning center of the own vehicle from the display image of the display device 7, and can predict the turning of the own vehicle together with the vehicle surrounding image.

  A display form in which the intersection 24 is not displayed is also possible. In this case, the turning center of the host vehicle is not displayed in the image, but the driver can imagine the position of the intersection 24 in the image from the inclination and positional relationship of the line segment 22 and the line segment 23. Therefore, the same effect as when not displaying can be obtained with a simpler display.

  It is also possible to display only the image 21 representing the host vehicle and the intersection 24. In this case, since the line segment 22 and the line segment 23 are not displayed, the driver cannot obtain the current steering information from the image. However, due to the positional relationship between the image 21 representing the host vehicle and the intersection 24, the driver A turn can be anticipated and one of the main purposes of the display can be met.

<Display example 2>
FIG. 7 is a diagram for explaining a display example 2 of the information drawing apparatus 5 of the present invention. In the figure, 31 is an image representing the own vehicle, 32 and 33 are line segments constituting recognition auxiliary lines, 34 is an intersection formed by extending two line segments 32 and 33, and 35 is a turn (movement) of the own vehicle. An arc having the maximum radius of the trajectory, and 36 is an arc having the minimum radius of the turning trajectory of the host vehicle.

  The relationship between the image 31 representing the host vehicle and the two line segments 32 and 33, the intersection 34 of the segment 32 and 33 that is the turning center of the host vehicle, a simple display example, and the like can be considered in the same manner as in the display example 1. it can. The information drawing device 5 obtains the arc 35 having the maximum radius and the arc 36 having the minimum radius from the outer shape of the host vehicle and the intersection point 34. These arcs 35 and 36 are obtained by the steering amount of the host vehicle and the shape of the host vehicle. When the line segment 32 and the line segment 33 are drawn, points at both ends of the line segments 32 and 33 are set as intersections with the arc 35 and the arc 36. Accordingly, by looking at the length and position of the line segment 32 and the line segment 33, the driver can imagine a region that passes along with the progress of the host vehicle.

  Regardless of the amount of steering, if the amount of change in the amount of steering is 0, the intersection of the line segments 32, 33 and the arc 35 is determined only by the turning direction of the host vehicle, and therefore the line segment 32 , 33 need not be calculated at both ends.

  Moreover, the following can be considered as an application display of the display example 2. When the traveling direction of the host vehicle is forward, it is not very effective to imagine the arc 35 with the length and position of the line segment 32 and the line segment 33. Similarly, when the traveling direction of the host vehicle is backward, it is not very effective to imagine the arc 36. Therefore, when the host vehicle moves forward, only the points on the inside of the turn of the line segment 32 and the line segment 33 are obtained by the above calculation, and when the host vehicle moves backward, the line segment 32 and the line segment 33 Only the points outside the turn are calculated by the above calculation and displayed. With this display, the driver can image the minimum necessary area with the minimum necessary display.

<Display example 3>
FIG. 8 is a diagram for explaining a display example 3 of the information drawing apparatus. In the figure, 41 is an image representing the host vehicle, 42 and 43 are line segments constituting a recognition auxiliary line, 44 is an intersection formed by extending two line segments 42 and 43, and 45 is a steering symbol.

  The position of the intersection point 44 is determined so as to represent the turning center of the host vehicle described above. Two straight lines extending from the line segment 42 and the line segment 43 are drawn at an intersection point 44, and the line segment 42 and the line segment 43 are drawn so as to circumscribe the image 41 representing the host vehicle. Therefore, the drawing position and the drawing angle of the line segment 42 and the line segment 43 are determined by the shape of the image 41 representing the host vehicle and the position of the intersection 44.

  The driver can imagine the amount of steering and the turning radius of the host vehicle from the display. In addition, since the line segment 42 and the line segment 43 are drawn outside the image 41 representing the host vehicle, the display is not superimposed and the driver can easily view the image.

  Further, even if the line segment 42 and the line segment 43 do not circumscribe the image 41 representing the host vehicle and are drawn in the vicinity thereof, if the intersection 44, the line segment 42, and the line segment 43 have the same relationship, Almost the same effect can be obtained. Depending on the speed, the speed of the host vehicle may be expressed by changing the distance between the image 41 representing the host vehicle and at least one of the line segment 42 and the line segment 43. Specifically, the display is such that when the speed is increased, the distance between the line segment 42 or the line segment 43 and the image 41 representing the host vehicle increases. When the host vehicle moves forward, the distance between the line segment 42 and the image 41 representing the host vehicle is opened. When the host vehicle moves backward, the distance between the line segment 43 and the image 41 representing the host vehicle is opened. Also good. In any of these cases, the line segment 42 and the line segment 43 are drawn so that the intersection of the respective straight lines extending from the line segment 42 and the line segment 43 coincides with the intersection point 44.

  It is also possible to draw only the line segment 42 and the line segment 43 without drawing the intersection point 44. Also in this case, the driver can image the intersection of two extended straight lines from the angles of the line segment 42 and the line segment 43. As a result, the driver can obtain substantially the same effect as when the intersection point 44 is drawn. be able to.

  Similarly to the lengths of the line segment 42 and the line segment 43, the maximum radius arc and the minimum radius arc of the turning trajectory of the host vehicle are obtained as in the case of the display example 2, You may obtain | require the coordinate of the both ends of the segment 42 and the line segment 43. FIG. In this case, in addition to the effects described above, the driver can intuitively imagine the area through which the vehicle will pass from the line segment 42 and the line segment 43. It can be useful.

  In addition, as shown in FIG. 8 or a part of the screen, or in an image 41 representing the host vehicle, steering information, that is, a steering symbol 45 indicating a steering direction and a steering amount is drawn, and these information are shown to the driver. May be given. In the example shown in FIG. 8, information on the steering direction and the steering amount is given by arrows. When the steering amount is 0, the steering symbol 45 is drawn in the same direction as the image 41 representing the host vehicle, and is displayed in a state tilted left and right according to the steering direction and the steering amount. Of course, the display of the steering direction and the steering amount by the steering symbol 45 may be applied to Display Example 1 and Display Example 2.

<Display example 4>
FIG. 9 is a diagram for explaining a display example 4 of the information drawing apparatus. In the figure, 51 is an image representing the host vehicle, 52 is an arrow, 53 is an arrow, and 54 is a steering symbol.

  As shown in FIG. 9, an arrow 52 curved according to the curvature of the turning trajectory of the host vehicle may be displayed in an image 51 representing the host vehicle. Moreover, you may display the arrow 53 matched with the curvature of the turning locus | trajectory of the own vehicle ahead of the image 51 showing the own vehicle. By doing in this way, a driver | operator can be made to predict the contact possibility with a solid object by a simpler display. Note that the intersection 54 may or may not be displayed.

  As described above, the vehicle recognition assisting device according to the present embodiment is acquired by at least one camera (imaging device) 1 that acquires an image around the host vehicle and the camera 1 as shown in FIG. A vehicle surrounding image generation device 2 that converts and synthesizes the generated images to generate a vehicle surrounding image, an image that represents the host vehicle in a form that matches the vehicle surrounding image generated by the vehicle surrounding image generation device 2, The information drawing device 5 for drawing recognition auxiliary information for indirectly recognizing the predicted traveling locus of the vehicle, the vehicle surrounding image generated by the vehicle surrounding image generating device 2, and the image drawn by the information drawing device 5 are combined. Based on the image information synthesizing device 6, the vehicle information acquiring device 3 for acquiring the steering information of the host vehicle, and the steering information acquired by the vehicle information acquiring device 3, the parameters for drawing the recognition auxiliary information are calculated. It has a configuration that has an arithmetic unit 4 that.

  Further, the vehicle recognition assist method of the present embodiment includes an imaging step for acquiring an image around the own vehicle, and a vehicle surrounding that generates a vehicle surrounding image by converting and combining the images acquired in the imaging step. An image representing the host vehicle and recognition auxiliary information for indirectly recognizing the predicted travel path of the host vehicle are drawn in a form that matches the vehicle surrounding image generated in the image generating step and the vehicle surrounding image generating step. An information drawing step, an image combining step of combining the vehicle surrounding image generated in the vehicle surrounding image generation step and the image drawn in the information drawing step, and vehicle information acquisition for acquiring steering information of the host vehicle And a calculation step of calculating a parameter for drawing the recognition auxiliary information based on the steering information acquired in the vehicle information acquisition step.

  As described above, in the apparatus described in Patent Document 2, when the predicted course of the host vehicle is drawn on the screen, there is a problem that drawing information is concentrated in a narrow area and it is difficult to see the surrounding image. In addition, since the distance from the three-dimensional object is not accurately displayed in the principle of the converted peripheral image, when the predicted course is drawn on the peripheral image, the driver can recognize the three-dimensional object and the vehicle on the peripheral image. There was a possibility of wrong contact prediction judgment. On the other hand, in the present embodiment, the predicted course of the host vehicle and the assistance for recognizing contact possibility, or the presentation of the steering information of the steering direction and the steering amount of the host vehicle are displayed using a display different from the conventional one. By doing so, it is an object of the present invention to provide an apparatus and a method for solving such problems and assisting the driver's recognition.

  In other words, in the present embodiment, the obtained surrounding image of the host vehicle is converted and combined to generate a vehicle surrounding image, and the image representing the host vehicle on the vehicle surrounding image and the recognition assist calculated from the steering information. An image obtained by combining recognition auxiliary information such as lines is displayed and presented to the driver, so that an easy-to-understand image can be presented to the driver.

  Further, the information drawing apparatus 5 draws a recognition auxiliary line composed of two line segments 22 and 23 (or 32, 33, or 42, 43) as shown in FIGS. 6, 7, and 8, for example. At least one of them is drawn in conjunction with the steering amount of the host vehicle. In this way, the recognition auxiliary line is expressed by two line segments, and at least one of them is linked to the steering amount, so that the drawing content of the recognition auxiliary line is simple and the proportion of the drawing on the screen is reduced. The surrounding images are easy to see. Further, since the two line segments can express the steering direction and the steering amount, the driver can understand the steering direction and the steering amount of the host vehicle, and predict the traveling direction and the traveling locus. Will be able to.

  Moreover, as shown in FIGS. 6-9, the intersection formed by extending two line segments is the turning center of the host vehicle. As a result, the driver can predict the turning radius of the host vehicle from the intersection or two line segments.

  In addition, the information drawing device 5, for example, as shown in FIGS. 6, 7, and 8, the symbol indicating the intersection (24 in FIG. 6, 34 in FIG. 7, 44 in FIG. 8, 54 in FIG. 9) 2 It draws on the screen at the same time as the line segment of the book. Since the intersection point is displayed on the screen together with the two line segments in this way, the driver can directly predict the turning radius of the own vehicle from the image showing the own vehicle and the intersection point.

  Necessary for drawing two line segments based on the maximum radius and the minimum radius of the vehicle according to the steering amount of the vehicle, which is obtained based on the intersection and the size and outer shape of the vehicle. At least one of the four coordinates is determined. Since the two line segments are drawn using the maximum radius and the minimum radius of the own vehicle passage locus determined by the steering amount in this way, the driver predicts the passing region of the own vehicle from the two line segments. It will be easier to do.

  In addition, the information drawing device 5 draws two line segments on the image representing the host vehicle at positions where the front wheel and the rear wheel of the host vehicle can be imaged as shown in FIGS. 6 and 7. ing. Thus, the driver can more intuitively understand the relationship between the two line segments and the own vehicle operation from the image representing the own vehicle.

  Further, as shown in FIG. 8, the information drawing device 5 draws two line segments so as to circumscribe an image representing the host vehicle. Accordingly, the driver can easily predict the possibility of contact with an obstacle in the traveling direction of the host vehicle from the two line segments.

  In addition, the information drawing device 5 can draw two line segments in the vicinity of an image representing the host vehicle. As a result, the driver can predict the possibility of contact with an obstacle in the traveling direction of the host vehicle at an earlier timing.

  Further, as shown in FIG. 8, the information drawing device 5 draws a steering symbol 45 indicating at least one of the steering direction and the steering amount of the host vehicle. As a result, the driver can easily grasp his or her steering direction or steering direction and steering amount.

  Further, as shown in FIG. 8, the information drawing device 5 draws the steering symbol 45 inside the image representing the host vehicle. Accordingly, the driver can grasp his / her steering state while acquiring the relationship between the host vehicle and the vehicle surrounding image.

  Further, as shown in FIG. 9, the information drawing apparatus 5 can draw only the intersection 54 without displaying two line segments. As a result, the amount of information on the screen can be reduced, and the driver can display the turning radius of the host vehicle, which is most necessary for predicting the course of the host vehicle, to a minimum (the positional relationship between the host vehicle and the intersection). It is possible to predict from

  Further, as shown in FIG. 9, the information drawing device 5 can also draw a recognition auxiliary line (arrow 52 or 53) composed of a curved line in accordance with the curvature of the turning trajectory of the host vehicle. Thereby, the driver can easily grasp the steering direction and the steering amount of the host vehicle.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment includes all design changes and equivalents belonging to the technical scope of the present invention.

It is a figure which shows the structure of the recognition assistance apparatus for vehicles of embodiment of this invention. It is a figure which shows the state around which four cameras were installed in the own vehicle, the image imaged with each camera, and the vehicle surrounding image produced | generated by converting and combining the image imaged with these cameras. It is a figure which shows the image which drawn the image which represents the vehicle surrounding image, the image showing the own vehicle, and the vehicle surrounding image on the vehicle surrounding image. It is a figure explaining calculation of a vehicle turning radius. It is a figure which shows the two-wheel model which considers a front wheel and a rear wheel collectively. It is a figure explaining the example 1 of a display of an information drawing device. It is a figure explaining the example 2 of a display of an information drawing device. It is a figure explaining the example 3 of a display of an information drawing device. It is a figure explaining the example 4 of a display of an information drawing device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Camera 2 ... Vehicle surrounding image generation apparatus 3 ... Vehicle information acquisition apparatus 4 ... Arithmetic apparatus 5 ... Information drawing apparatus 6 ... Image composition apparatus 7 ... Display apparatus 1a, 1b, 1c, 1d ... Camera 11 ... Own vehicle 12 ... Photographing Impossible range 13 ... Image 14 representing own vehicle ... Tire 15 ... Turning center 16 ... Virtual tire 17 ... Intersection 21 of virtual tire orientation 22 ... Image representing own vehicle 22 ... Line segment 23 ... Line segment 24 ... Intersection 31 ... Self Image representing vehicle 32 ... line segment 33 ... line segment 34 ... intersection 35 ... arc of maximum radius of turning trajectory of own vehicle ... arc of minimum radius of turning trajectory of own vehicle 41 ... image representing own vehicle 42 ... line segment 43 ... line segment 44 ... intersection 45 ... steering symbol 51 ... image representing own vehicle 52 ... arrow 53 ... arrow 44 ... intersection

Claims (13)

At least one imaging device for obtaining an image of the surroundings of the own vehicle;
A vehicle surrounding image generation device that generates a vehicle surrounding image by converting and combining images acquired by the imaging device; and
An information drawing device for drawing an image representing the host vehicle and recognition auxiliary information for indirectly recognizing the predicted traveling locus of the host vehicle in a form that matches the vehicle surrounding image generated by the vehicle surrounding image generation device;
An image synthesizing device that synthesizes a vehicle surrounding image generated by the vehicle surrounding image generating device and an image drawn by the information drawing device;
A vehicle information acquisition device for acquiring steering information of the host vehicle;
A vehicle recognition assisting device, comprising: an arithmetic device that calculates a parameter for rendering the recognition assisting information based on the steering information acquired by the vehicle information acquiring device.   2. The vehicle recognition according to claim 1, wherein the information drawing apparatus draws a recognition auxiliary line composed of two line segments, and draws at least one of them in association with a steering amount of the host vehicle. Auxiliary device.   The vehicle recognition assisting apparatus according to claim 2, wherein an intersection formed by extending the two line segments is a turning center of the host vehicle.   The vehicle information assisting apparatus according to claim 3, wherein the information drawing apparatus draws a symbol indicating the intersection on the screen simultaneously with the two line segments.   The two line segments based on the maximum radius and the minimum radius of the passing trajectory of the host vehicle, which are obtained based on the intersection and the size and outer shape of the host vehicle, and according to the steering amount of the host vehicle. 5. The vehicle recognition assisting apparatus according to claim 3, wherein at least one of the four coordinates necessary for drawing the image is determined.   6. The information drawing apparatus according to claim 2, wherein the information drawing device draws the two line segments on an image representing the host vehicle at a position where a front wheel and a rear wheel of the host vehicle can be imaged. Or a vehicle recognition assisting device.   The vehicle recognition assisting device according to claim 2, wherein the information drawing device draws the two line segments so as to circumscribe the image representing the host vehicle.   6. The vehicle recognition assisting apparatus according to claim 2, wherein the information drawing apparatus draws the two line segments in the vicinity of an image representing the host vehicle.   The vehicle recognition assisting apparatus according to claim 2, wherein the information drawing apparatus draws a steering symbol indicating at least one of a steering direction and a steering amount of the host vehicle.   10. The vehicle recognition assisting device according to claim 9, wherein the information drawing device draws the steering symbol inside an image representing the host vehicle.   11. The vehicle recognition assisting apparatus according to claim 3, wherein the information drawing apparatus draws only the intersection point without displaying the two line segments.   2. The vehicle recognition assisting apparatus according to claim 1, wherein the information drawing apparatus draws a recognition assisting line composed of a curved line in accordance with a curvature of a turning locus of the host vehicle. An imaging process for obtaining an image of the surroundings of the host vehicle;
A vehicle surrounding image generation step of converting and synthesizing images acquired in the imaging step to generate a vehicle surrounding image;
An information drawing step for drawing an image representing the host vehicle and recognition auxiliary information for indirectly recognizing the predicted traveling track of the host vehicle in a form that matches the vehicle surrounding image generated in the vehicle surrounding image generation step;
An image synthesis step of synthesizing the vehicle surrounding image generated in the vehicle surrounding image generation step and the image drawn in the information drawing step;
A vehicle information acquisition step of acquiring steering information of the host vehicle;
And a calculation step of calculating a parameter for drawing the recognition auxiliary information based on the steering information acquired in the vehicle information acquisition step.

Images