JP2007025739A - Image display device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an image display device for vehicle, which varies a vertical trimming position of image data according to the distance to an obstacle around a vehicle. <P>SOLUTION: The image display device for vehicle comprises an imaging camera imaging the circumference of the vehicle, a distance calculation means calculating distances L1, L2 and L3 to obstacles S1, S2 and S3 around the vehicle, a trimming means varying vertical trimming positions (dips f1, f2 and f3) of image data according to the distances to the obstacles, and a display means displaying the trimmed image data. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an image display device that displays image data captured by an imaging camera mounted on a vehicle, and more particularly to trimming of captured image data.

  With the improvement of the mounting rate of imaging cameras in automobiles, applications using image composition are rapidly expanding. Many of such applications assist the driver's driving and improve safety when the vehicle is traveling. For example, an in-vehicle video system that provides images of obstacles around a vehicle includes a camera system that captures distant obstacles (such as a corner monitor system and a rear view camera system) and a system that captures blind spot obstacles in the vicinity of the vehicle ( Side view camera system). Further, in a system using an imaging camera with a narrow angle of view, the direction of the imaging camera can be changed by a driving device so that obstacles around the vehicle are projected. Furthermore, in a system using an ultra-wide-angle imaging camera, it is possible to synthesize the captured image data and project 360 degrees around the vehicle, and cut out the image data in the required horizontal range from that. Or crop and view the image.

  Patent Document 1 relates to an obstacle warning system that recognizes an obstacle on a road and notifies the driver of the obstacle. Here, by using an object extraction function camera that can automatically extract an object on the screen, the object recognition processing time is increased. In addition, the distance to the recognized object is measured by radar to shorten the positioning time.

  Patent Document 2 relates to an in-vehicle camera system. This technology extracts the background and obstacles separately from the image signal obtained by the imaging means that captures the surroundings of the vehicle, and recognizes the extract by calculating features such as position and size on the screen. Then, the recognized binary image is replaced with a character stored in advance, and the character is synthesized on the screen by computer graphics. As a result, obstacles can be detected without using a complicated device such as a radar, and the situation around the vehicle can be easily understood intuitively by CG with a composition that looks down on the vehicle from directly above. .

JP-A-8-48199 JP-A-8-305999

  In a display system having a plurality of imaging cameras facing each direction of the vehicle, it is possible to effectively project the surroundings of the own vehicle, but on the other hand, since many imaging cameras are required, there is a cost problem. There are constraints on the installation location. In addition, in a display system that synthesizes a 360-degree (all-around) image of the vehicle, a mechanism for cutting out (trimming) a necessary screen according to the situation is required. For example, it is possible to determine the required screen in the horizontal direction using a detection system such as a radar and trim the screen, but the technology to set the cut-out area of the required screen in the vertical direction according to the distance of the obstacle There is no. Furthermore, in the system that changes the direction of the imaging camera using the driving device, in addition to the problem of the cost of the driving device and the occupied space of the driving device, it takes a certain time to drive the imaging camera. Is difficult to move at high speed, and timely images cannot be displayed.

  The present invention has been made in order to solve the above-described conventional problems. When an object such as an obstacle is present around the vehicle, the vertical trimming position of the image data according to the distance to the object is provided. An object of the present invention is to provide a vehicular image display device capable of varying the above.

  An image display device for a vehicle according to the present invention includes an imaging camera that captures at least a part of the periphery of the vehicle, and calculates a distance to an imaging unit that generates image data obtained by imaging and an object existing around the vehicle. A distance calculation unit that performs the trimming unit that changes a position in the image data to be trimmed in the vertical direction according to the distance to the object, and a display unit that displays the trimmed image data.

  Preferably, the trimming unit varies the trimming position by changing the depression angle with respect to the mounting position of the imaging camera. The closer the distance to the object, the larger the depression angle, and conversely, the farther the distance to the object, the smaller the depression angle.

  The vehicular image display device may further include an orientation detection unit that detects the orientation of the object, and the trimming unit may trim the horizontal range of the image data based on the orientation of the object. In this case, the image data is trimmed in the horizontal and vertical directions based on the distance to the object and the direction. The calculation of the distance and the detection of the azimuth are performed using, for example, a millimeter wave radar or an infrared radar.

  The vehicular image display device further includes a storage unit that stores a plurality of preset cutout patterns, and a selection unit that selects a predetermined cutout pattern from a plurality of cutout patterns. The means may perform vertical trimming on the image data corresponding to the selected cutout pattern.

  An image display method for displaying an image around a vehicle using an imaging camera according to the present invention includes a step of calculating a distance to an object around the vehicle, and a vertical direction of image data imaged according to the distance to the object There are a step of changing the trimming position and a step of displaying the trimmed image data.

  According to the present invention, the vertical trimming position of the image data is changed according to the distance to the object, so that the driver can appropriately display the image around the obstacle to be watched and call attention. Or can give a warning. As a result, the driver can quickly and easily detect the danger such as an obstacle.

  The best mode for carrying out the present invention will be described below in detail with reference to the drawings.

  FIG. 1 is a plan view showing an example of attachment of an imaging camera to a vehicle to which the vehicle image display apparatus according to this embodiment is applied. An imaging camera 1 that captures the field of view ahead of the vehicle is attached to the front of the vehicle, and imaging cameras 2 and 3 that image the front side of the left and right sides of the vehicle are attached to the left and right side mirrors of the vehicle. The imaging cameras 4 and 5 are attached to the left and right of the rear side, and the imaging camera 6 is attached to the rear of the vehicle. The imaging cameras 1 to 6 can use CCDs or CMOS sensors, and may be infrared CCDs capable of imaging even in a dark field. Furthermore, the vehicle is equipped with a radar for measuring the distance to an object such as an obstacle existing around the vehicle and detecting the direction of the object. As the radar, for example, a millimeter wave radar or an infrared radar can be used. The radar can be attached to the front, side and rear of the vehicle, and can detect the orientation of an object by scanning at a certain angle in the horizontal direction.

  The imaging cameras 1 to 6 are preferably mounted at the same height, so that the entire field of view of the vehicle (360 degrees) can be imaged, and the blind spots around the vehicle are reduced. The viewing angles θ1 to θ6 in the horizontal direction of the individual imaging cameras 1 to 6 are appropriately selected. FIG. 2A shows the concept of a composite image (panorama) G obtained when the entire periphery of the vehicle is imaged by the imaging cameras 1 to 6. The composite image G can be obtained by overlapping the viewing angles θ1 to θ6 and appropriately trimming. Further, the imaging camera has a fixed visual field in the horizontal direction and the vertical direction around the mounting position, and generates two-dimensional image data P as shown in FIG. In this embodiment, the H direction of the image data P is defined as the horizontal direction, and the V direction is defined as the vertical direction.

  FIG. 3 is a block diagram illustrating a configuration of the vehicle image display apparatus according to the present embodiment. The vehicle image display device 10 receives the imaging cameras 1 to 6 and the image data captured by the imaging cameras 1 to 6 and generates a composite image G. Processing such as trimming of the combined image data An image processing device 14 that performs processing, a memory that stores application software and the like, a CPU that executes the memory, an application execution device 16 that controls image display, a display, and the like, and an image that displays processed image data Display device 18, speaker 20 that outputs sound, radar 22 that detects an object such as an obstacle existing in front, rear, and side of the vehicle, calculation of the distance to the object based on the radar signal from radar 22, and the object Radar signal processing device 24 that detects the direction of the vehicle, vehicle speed information acquisition that acquires vehicle speed information by vehicle speed pulses, etc. Part 26 includes a steering wheel angle gear information obtaining unit 28 for obtaining information on the steering angle information and the gear position of the handle.

  The application execution device 16 specifies a trimming range of image data from the composite image G based on information from the vehicle speed information acquisition unit 26 and the steering angle information acquisition unit 28, or based on output from the radar signal processing device 24. Specifies the vertical trimming position of the image data. The main feature of the present invention is that the blind spot image required by the driver can be broadly classified into A: a vehicle near the vehicle body, B: a vehicle blind zone, C: an intersection / rear blind vehicle, etc. Depending on the distance to the obstacle, the horizontal plane at the height where the imaging camera is installed is used as a reference, and the depression angle from there can be varied. For example, in the image data P shown in FIG. 2B, the horizontal plane reference M at which the imaging camera is set can be substantially at the top of the image data P.

  FIG. 4 shows an example of vertical trimming of image data. As shown in FIG. 4A, when there are obstacles S1 to S3 behind the vehicle, the depression angles f1 to f3 from the reference M are determined according to the distances L1, L2, and L3 to the obstacles S1 to S3. Variable size. For example, when the distance L1 to the obstacle S1 is about 0 to 1.5 m, an image of the vehicle body that is the blind spot of the driver is provided. When the distance L2 to the obstacle S2 is about 1.5 to 7 m, guidance to a parking lot is performed, so an image of a blind spot area near the vehicle body is provided. When the distance L3 to the obstacle S3 is 10 m or more, a distant image from the rear blind spot to the approaching vehicle is provided. In the case of the distance L3, the depression angle f3 from the photographing camera becomes smaller. Thus, the screen range required for the driver is set by the depression angles f1 to f3. The setting of the distance serving as the trimming switching (switching depression angle) point can be appropriately changed to a plurality of arbitrary values. FIG. 4B shows an example in which the depression angles f1 to f3 when the obstacles S1 to S3 are on the side of the vehicle are varied.

  FIG. 5 shows an image display example when the image data captured by the wide-angle camera is trimmed according to the distance. The position to be trimmed from the image data is changed according to the distances L1 to L3 to the obstacle, and the obstacle is displayed on the trimmed image T.

  Next, the operation of the image display apparatus of this embodiment will be described with reference to the flowchart of FIG. When vehicle speed information, gear position information, navigation map data, or the like is received, an application of the application execution device 16 is activated (step S101). The application execution device 16 activates the radar 22 via the radar signal processing device 24 (step S102). At the same time, the imaging cameras 1 to 6 are activated to start capturing image data around the vehicle (step S103).

  The radar 22 searches for obstacles around the vehicle. When the obstacle is detected (step S104), the radar signal processing device 24 measures the direction and distance of the obstacle (step S105). When the measurement result is output to the application execution device 16, the application execution device 16 calculates the horizontal trimming range of the image data based on the direction of the obstacle, and the vertical direction of the image data based on the distance to the obstacle. A trimming range is calculated and an image center angle is set (step S106).

  The application execution device 16 outputs the image center angle set for the image processing device 14. As a result, the image processing device 14 sets a cutout range of the image from the composite image G (step S107), and the trimming composite T is processed (step S108). The application execution device 16 sets the presentation content and timing (step S109), and supplies the image data trimmed based on the content to the image display device 18. Thus, the trimmed image is displayed on the display (step S110). This image may be either a moving image or a still image. In addition, voice synthesis is performed as necessary (step S111), and voice is output from the speaker 20 (step S112).

  Further, when there is an image to be inserted with respect to the trimmed image displayed on the display, the application execution device 16 selects the inserted image (step S201), and synthesizes the inserted image at the time of image processing. May be. For example, navigation map data (such as an intersection), information indicating a distance to a positioned object, and the like can be combined with the inserted image.

  According to the present embodiment, if the image captured by the imaging camera is provided as it is in a wide range, the obstacles and the like cannot be easily recognized. By doing so, it is possible to clearly recognize the object and support driving behavior. Note that it is possible to cope with differences in vehicle types by appropriately changing the setting of the mounting height of the photographing camera and the distance of the obstacle. For example, when the seat position is high like a truck, the imaging camera may be wide-angled or attached to the lower side so that an obstacle on the vehicle can be imaged.

  Next, a second embodiment of the present invention will be described. In the second embodiment, the application execution device 16 stores a plurality of preset cutout patterns in a memory as shown in FIG. And according to the state of a vehicle, a predetermined cutout pattern is selected from a plurality of cutout patterns in a direction. FIG. 8 is an operation flow of the second embodiment.

  When receiving the vehicle speed information, the gear position, and the steering wheel steering angle information (step S301), the application execution device 16 determines the state of the vehicle (step S302). For example, it is determined whether the vehicle is stopped or traveling based on the vehicle speed information, it is determined whether the vehicle is moving forward or backward based on the position of the gear position, and it is determined whether the vehicle is moving straight or turning right or left based on the steering angle information. Of course, the state of the vehicle may be determined by combining these pieces of information.

  The application execution device 16 selects a cutout pattern based on the vehicle state (step S303). For example, when it is determined that the vehicle is moving backward at a low speed, the front cutout pattern 107 behind the vehicle is selected, and when it is determined that the vehicle turns right, the cutout pattern 100 on the right front side of the vehicle is selected. Is selected, and when it is determined that the vehicle is traveling straight at a high speed, the cutout pattern 103 in front of the vehicle is selected.

  Next, when an obstacle is detected, the application execution device 14 determines whether or not the direction of the obstacle matches the selected cutout pattern (step S304). If they match, the image data corresponding to the selected cutout pattern is trimmed in the vertical direction (step S305). In the trimming in the vertical direction, the depression angle is changed according to the distance to the obstacle as in the first embodiment.

  On the other hand, when the orientation of the obstacle does not match the selected cutout pattern, the application execution device 16 selects a matching cutout pattern from the cutout patterns of a plurality of directions (step S306), and an image corresponding to the pattern Trim data vertically.

  In the second embodiment, a cutout pattern is set in advance and a cutout pattern is selected from the cutout pattern. Therefore, the time required for image data processing can be reduced, and high-speed image display can be performed. Can do. In the second embodiment, the predetermined cutout pattern is preferentially selected according to the state of the vehicle. However, the present invention is not limited to this, and for example, the user is given an input for selecting the cutout pattern. It may be.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific embodiments according to the present invention, and various modifications can be made within the scope of the gist of the present invention described in the claims. Deformation / change is possible. For example, although the example which produces | generates the synthetic | combination image G of the perimeter of a vehicle was shown in the said Example, it is not restricted to this, The system which produces | generates the image of a part of vehicle periphery, such as the front, back, or side part of a vehicle It may be. In this case, the radar may detect an object that exists only in a part of the direction that matches the imaging range.

  The vehicle image display apparatus according to the present invention can be used as a safe driving support system for a vehicle or the like. As a usage mode, it can be functionally coupled to an electronic device such as a navigation device or another computer.

It is a block diagram which shows the structure of the image composition apparatus which concerns on the Example of this invention. FIG. 2A is a diagram illustrating the concept of a composite image around the vehicle, and FIG. 2B is a diagram illustrating image data captured by an imaging camera. It is a block diagram which shows the structure of the image display apparatus for vehicles. It is a figure explaining the trimming of the vertical direction of image data. It is a figure which shows the example of a display of a trimming image. It is a flowchart explaining operation | movement of an image display apparatus. It is a figure which shows the cutting-out pattern in a 2nd Example. It is a flowchart explaining the operation | movement of a 2nd Example.

Explanation of symbols

1, 2, 3, 4, 5, 6: Imaging camera 10: Image display device 12: Image composition device 14: Image processing device 16: Application execution device 18: Image display device 22: Radar 24: Radar signal processing device 26: Vehicle speed information acquisition unit

Claims (12)

An imaging unit that includes an imaging camera that images at least a part of the periphery of the vehicle, and that generates image data obtained by imaging;
Distance calculating means for calculating a distance to an object existing around the vehicle;
Trimming means for varying the vertical trimming position of the image data according to the distance to the object;
Display means for displaying the trimmed image data;
An image display apparatus for a vehicle having The vehicular image display device according to claim 1, wherein the trimming unit changes a trimming position by changing a depression angle with respect to a mounting position of the imaging camera. The vehicular image display device according to claim 2, wherein the trimming means increases the depression angle as the distance to the object is shorter. The vehicle image display apparatus further includes an orientation detection unit that detects the orientation of the object, and the trimming unit trims a horizontal range of the image data based on the orientation of the object. The image display device for vehicles described in 1. The vehicular image display device further includes a storage unit that stores a plurality of preset cutout patterns, and a selection unit that selects a predetermined cutout pattern from a plurality of cutout patterns. The vehicle image display device according to any one of claims 1 to 4, wherein the means performs vertical trimming on image data corresponding to the selected cutout pattern. The image display device for a vehicle further includes a determination unit that determines a state of the vehicle, and the selection unit selects a predetermined cutout pattern from a plurality of cutout patterns based on the determined state. Vehicle image display device. The selection means determines whether or not the orientation of the object matches the cutout pattern of the selected orientation, and if not, selects the cutout pattern that matches the orientation of the object. 6. The vehicle image display device according to 6. The vehicle image display device according to claim 5, wherein the determination unit determines the state based on at least one of vehicle speed information, steering wheel steering angle information, and gear position information. The vehicle image display device according to claim 1, wherein the imaging unit generates image data that reflects the entire periphery of the vehicle with a plurality of imaging cameras. The vehicle image display device according to claim 1, wherein the distance calculation unit and the direction detection unit perform distance calculation and direction detection using a radar. An image display method for displaying an image around a vehicle using an imaging camera,
Calculating a distance to an object around the vehicle;
Varying the vertical trimming position of the image data captured according to the distance to the object;
Displaying the trimmed image data;
An image display method comprising: The image display method according to claim 9, further comprising a step of detecting an azimuth of the object and a step of trimming in a horizontal direction image data captured based on the detected azimuth.

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