JP2007049219A - Vehicle surrounding monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle surrounding monitoring device with a simple configuration capable of detecting a dangerous object around a vehicle and informing a user about a degree of danger. <P>SOLUTION: The device includes: an imaging means for photographing the surrounding of the vehicle; a first object position detection means for detecting a position of an object existing around the vehicle from a photographed image; a vehicle position detection means for detecting a position of the vehicle; a second object position detection means for detecting the position of the object existing around the vehicle; a dangerous object discrimination means that discriminates whether or not the object is a dangerous object to the vehicle on the basis of the position of the vehicle detected by the first and second object position detection means and the position of the vehicle detected by the vehicle position detection means; and a dangerous object information recording medium for recording the discriminated position of the dangerous object as dangerous object information together with the position of the vehicle. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle monitoring apparatus that monitors the surroundings of a host vehicle using an in-vehicle camera or sensor mounted on the vehicle.

  2. Description of the Related Art There is known an in-vehicle camera device that uses an in-vehicle camera to photograph a blind spot for a driver and display it on a display in the vehicle. According to this in-vehicle camera device, the driver can move the vehicle in a desired direction while referring to the video displayed on the display.

  For example, what is called a back monitor in which a video camera is attached to the rear part of a vehicle such as an automobile and an image captured by the video camera is displayed on a monitor arranged at a predetermined position in the vehicle. It has been put into practical use. This back monitor is mainly used to improve the safety at the time of back by allowing the rear of the blind spot from the driver's seat to be confirmed on the monitor when the vehicle is moved backward. As a monitor in this case, as a so-called car navigation device, a monitor for displaying a road map in the vicinity of the current position during traveling is often used. In addition, a display device dedicated to the back monitor may be arranged near the driver's seat.

  Further, out of a plurality of edges detected based on the photographed image, the edge of the three-dimensional obstacle is extracted by excluding the edge of the non-stereoscopic obstacle, and the positional relationship between the extracted three-dimensional obstacle edge and the vehicle is determined. Based on this, the driver is notified of the possibility of contact between the three-dimensional obstacle and the vehicle, so that even if there are pedestrians or oncoming vehicles around the vehicle, the driver can relieve the shoulder to the road with peace of mind. A surrounding monitoring device has been devised (see Patent Document 1).

  In addition, at least one rear-view video camera that captures the back of the vehicle, an inside mirror that the driver monitors the back of the vehicle, and a video that is mounted near the inside mirror and is captured by the video camera is displayed as a mirror image. A monitoring device for a vehicle is devised, which allows a driver to see a rear image displayed on a display device mounted in the vicinity of the inside mirror when the driver looks at the inside mirror. (See Patent Document 2).

JP 2004-302609 A JP 2002-225629 A

  In the example of Patent Document 1, a means for detecting an edge parallel to a road and an extraction means for extracting the edge of a three-dimensional obstacle by excluding the edge of a non-stereoscopic obstacle are required, which complicates the system and increases the cost of the apparatus. It becomes a factor. Moreover, it will determine with not contacting with the three-dimensional obstruction which is not protruding with respect to the road like a side groove. Further, the degree of danger with respect to the obstacle is not notified, and a notification method when there are a plurality of three-dimensional obstacles is not mentioned.

  In the example of Patent Document 2, it is possible to monitor a wide range in the back, but since a point that should be really watched is not displayed, the user pays more attention to viewing the display and is expected to be an obstacle to driving. It is possible to miss a dangerous object.

  With the above problem as a background, an object of the present invention is to provide a vehicle surrounding monitoring device that can detect a dangerous object around a vehicle with a simple configuration and can inform the user of the degree of the danger.

Means for Solving the Problems and Effects of the Invention

  The present invention provides a vehicle surrounding monitoring apparatus for solving the above-described problems. That is, according to the first aspect, the photographing means for photographing the periphery of the vehicle, the first object position detecting means for detecting the position of the object existing around the vehicle from the photographed image, and the position of the vehicle are detected. Based on the vehicle position detection means, the position of the object detected by the first object position detection means, and the position of the vehicle detected by the vehicle position detection means, The vehicle surrounding monitoring device is characterized by having a dangerous object determination unit for determining and a dangerous object information recording unit for recording the determined position of the dangerous object together with the position of the vehicle as dangerous object information.

  With the above configuration, the surroundings of the vehicle can be photographed by photographing means such as a CCD camera, and it can be determined whether the object included in the photographed image is a dangerous object based on the current position of the vehicle. Further, since it is not necessary to extract the edge of a three-dimensional obstacle as in the prior art, it is possible to realize the vehicle surrounding monitoring device of the present invention with a low cost and simple configuration. It is also possible to detect a three-dimensional obstacle that does not protrude from the road, such as a gutter.

  According to a second aspect of the present invention, there is provided a vehicle surrounding monitoring device for solving the above-described problem, the second object position detecting means for detecting the position of an object existing around the vehicle, and the position of the vehicle. Based on the position of the object detected by the vehicle position detecting means and the second object position detecting means and the position of the vehicle detected by the vehicle position detecting means, it is determined whether the object is a dangerous object that poses a danger to the vehicle. And a dangerous object information recording means for recording the determined position of the dangerous object together with the position of the vehicle as dangerous object information.

  With the above configuration, the surroundings of the vehicle can be sensed with, for example, electromagnetic waves or ultrasonic waves, and it can be determined whether the object detected based on the state of the reflected wave is a dangerous object based on the current position of the vehicle. Further, since it is not necessary to extract the edge of a three-dimensional obstacle as in the prior art, it is possible to realize the vehicle surrounding monitoring device of the present invention with a low cost and simple configuration. It is also possible to detect a three-dimensional obstacle that does not protrude from the road, such as a gutter.

  According to a third aspect of the present invention, there is provided a vehicle surrounding monitoring device for solving the above-described problem, and a photographing unit for photographing the periphery of the vehicle and a position of an object existing around the vehicle from the photographed image. First object position detection means, vehicle position detection means for detecting the position of the vehicle, second object position detection means for detecting the position of an object existing around the vehicle, first object position detection means, Dangerous object determination means for determining whether the object is a dangerous object that poses a danger to the vehicle based on the position of the object detected by the second object position detection means and the position of the vehicle detected by the vehicle position detection means; And a dangerous object information recording means for recording the determined position of the dangerous object as dangerous object information together with the position of the vehicle.

  With the above-described configuration, the surroundings of the vehicle are photographed by photographing means such as a CCD camera, and the surroundings of the vehicle are sensed by an object included in the photographed image and, for example, electromagnetic waves or ultrasonic waves. It is possible to determine whether the detected object is a dangerous object based on the current position of the vehicle. Since it is determined whether it is a dangerous object by two methods, the accuracy of the determination is further improved. Further, since it is not necessary to extract the edge of a three-dimensional obstacle as in the prior art, it is possible to realize the vehicle surrounding monitoring device of the present invention with a low cost and simple configuration. It is also possible to detect a three-dimensional obstacle that does not protrude from the road, such as a gutter.

  According to the fourth aspect of the present invention, the vehicle surrounding monitoring apparatus of the present invention has a measuring means for measuring the size of the object, and the dangerous object judging means is configured to determine the size of the object measured as to whether or not it is a dangerous object. It is possible to take a configuration in consideration of the determination.

  In general, a larger object is more likely to be a dangerous object. In addition, the size of the object can be measured by the captured image or the state of the reflected wave from the object. With the above configuration, it is possible to determine whether a dangerous object is low-cost without providing a new measurement unit.

  According to the fifth aspect of the present invention, the vehicle surrounding monitoring apparatus of the present invention has distance measuring means for measuring the distance between the vehicle and the object, and the dangerous object determining means uses the distance measured to determine whether or not it is a dangerous object. It is possible to take a configuration in consideration of the determination.

  In general, an object present near the vehicle is more likely to be a dangerous object. Further, the distance between the vehicle and the object can be measured based on the captured image or the state of the reflected wave from the object. With the above configuration, it is possible to determine whether or not the object is a dangerous object at low cost without providing a new distance measuring unit.

  According to the sixth aspect of the present invention, the vehicle surrounding monitoring apparatus of the present invention has shape measuring means for measuring the shape of the object, and the dangerous object determination means considers the shape of the object measured as to whether or not it is a dangerous object. Thus, it is possible to take a configuration for determination.

  In general, an object having a corner or an acute angle shape has a higher possibility of being a dangerous object. In addition, the shape of the object can be measured by the captured image or the state of the reflected wave from the object. With the above configuration, it is possible to determine whether a dangerous object is low-cost without providing a new shape measuring unit.

  According to claim 7, the dangerous object information in the vehicle surrounding monitoring apparatus of the present invention includes at least one of the size, height, center of gravity position, and relative position of the dangerous object. Can be taken.

  With the above configuration, it is possible to efficiently record dangerous object information without requiring a large-capacity storage medium.

  According to claim 8, the vehicle periphery monitoring device of the present invention has map data storage means for storing electronic map data, and the dangerous object information recording means includes a predetermined range including the position of the vehicle together with the dangerous object information. The surrounding map data can be stored.

  With the above configuration, it is possible to grasp not only the position of the dangerous object but also the surrounding situation. In particular, when displaying dangerous object information, it is not necessary to refer to the surrounding map after displaying the dangerous object information, so that it is possible to visually grasp the positional relationship in a short time.

  According to the ninth aspect, the dangerous object information recording means in the vehicle surrounding monitoring apparatus of the present invention, when dangerous object information corresponding to the position of the vehicle where the dangerous object is detected has already been recorded, the dangerous object information If the comparison results do not match, the content can be updated.

  With the above configuration, the latest dangerous object information can always be efficiently recorded in a small storage area.

  According to the tenth aspect of the present invention, the vehicle surrounding monitoring apparatus of the present invention searches for dangerous object information search means for searching whether or not dangerous object information corresponding to the detected vehicle position is recorded in the dangerous object information recording means. The structure which has can be taken.

  With the above configuration, it is possible to efficiently use the dangerous object information recorded in the dangerous object information recording means, not just recording.

  According to the eleventh aspect, the vehicle surrounding monitoring apparatus of the present invention can be configured to superimpose and display the dangerous object on the photographed image with a display design that can be identified.

  With the above configuration, it is possible to display the dangerous object information at an appropriate timing while the vehicle is traveling, and to call the user's attention.

  According to the twelfth aspect, the display means in the vehicle surroundings monitoring device of the present invention can display the deformed dangerous object so as to adapt the shape of the dangerous object to the photographing range of the photographing means. It is possible to adopt a configuration in which the image is superimposed and displayed on the image taken by the means.

  With the above configuration, it becomes possible to accurately display the shape of the dangerous object depending on the shooting range of the imaging means, that is, the direction of the vehicle, and the user can take an appropriate response to the dangerous object.

  According to the thirteenth aspect, the display means in the vehicle surrounding monitoring apparatus of the present invention can take a configuration in which when there are a plurality of searched dangerous objects, the display design is changed for each dangerous object.

  With the above configuration, the user can visually quickly recognize that there are a plurality of dangerous objects.

  According to the fourteenth aspect, when there are a plurality of searched dangerous objects, the display means in the vehicle surroundings monitoring apparatus of the present invention can be configured to display with changing the display timing for each dangerous object.

  With the above-described configuration, for example, when displaying in descending order of priority that the user has to deal with, such as in order of increasing distance from the vehicle or in descending order of danger, the user is confused from which dangerous object to deal with. Things will disappear.

  According to the fifteenth aspect, the display means in the vehicle surrounding monitoring device of the present invention can take a configuration in which the display design is changed according to the shape of the dangerous object.

  For example, if the display design of a dangerous object convex on a road such as a curb and a concave dangerous object displayed on a road such as a gutter is changed and displayed, the user can decide in advance what kind of action should be taken. Can be dealt with with a margin.

  According to the sixteenth aspect, the vehicle surrounding monitoring device of the present invention has the dangerous object distance measuring means for measuring the distance between the vehicle and the dangerous object, and the display means displays the dangerous object according to the measured distance. The display design can be changed and displayed.

  With the above configuration, the user only needs to respond sequentially from the dangerous object close to the vehicle, and the response order is not mistaken.

  According to the seventeenth aspect, the vehicle surroundings monitoring device of the present invention can be configured to have a transmission means for transmitting dangerous object information to an external device outside the vehicle.

  With the above configuration, it is possible to provide dangerous object information possessed by a user to other users via an external device.

  According to the eighteenth aspect, the vehicle surroundings monitoring device of the present invention can have a configuration including an acquisition unit that acquires dangerous object information from an external device outside the vehicle.

  With the above configuration, it becomes possible to acquire dangerous object information in areas where the user has never traveled, and measures and driving plans for dangerous objects in advance based on the dangerous object information acquired in advance even in areas where the user has traveled for the first time. I can think about it.

  According to the nineteenth aspect, the external device in the vehicle surrounding monitoring apparatus of the present invention can be configured to be a center server owned by the information management center, a home server owned by the user, or a WEB server.

  In general, the server has a high data backup system and high reliability, and has high security against viruses and unauthorized access. With the above configuration, it is possible to share dangerous object information among a plurality of users in a safe environment.

  According to the twentieth aspect of the present invention, there is provided a vehicle surrounding monitoring apparatus according to the present invention, a route calculating means for calculating a route to a destination, and an approach for determining whether the current position of the vehicle has approached within a predetermined distance of a dangerous object. The dangerous object search means searches whether dangerous object information around the route to the destination is recorded at the time of calculating the route, and determines the predetermined position of the dangerous object whose vehicle position has been searched. When approaching within the distance, the display means can be configured to display the dangerous object information.

  In normal route guidance, only facility information around the route was provided, but with the above configuration, dangerous object information is displayed in advance, so the user can deal with the dangerous object with a margin. .

  According to claim 21, the vehicle surroundings monitoring device of the present invention provides an object detected by the first object position detecting means when the vehicle position approaches within a predetermined distance of the searched dangerous object, or When the state of the object detected by the second object position detecting means is different from the content of the dangerous object information, the dangerous object information recording means is the object detected by the first object position detecting means, or the second object A configuration can be adopted in which the dangerous object information is updated based on the state of the object detected by the position detecting means.

  With the above configuration, the latest dangerous object information is always recorded in the dangerous object information recording means even if the situation of the dangerous object changes after the road and surrounding conditions have changed since the previous driving. The user can drive the vehicle based on the latest and accurate dangerous object information.

  An object of the present invention is to provide a vehicle surrounding monitoring device that can detect a dangerous object around a vehicle with a simple configuration and inform the user of the degree of the danger, and the position of the object detected by the camera and the sensor, and the vehicle Based on the position, it was determined whether the object is a dangerous object that poses a danger to the vehicle, and the result was recorded.

  Hereinafter, embodiments of the present invention will be described with reference to examples shown in the drawings. FIG. 1 shows the overall configuration of a vehicle surrounding monitoring apparatus according to the present invention. The vehicle surrounding monitoring device 10 includes a control unit 17, a driver detection unit 11, a forward / backward detection unit 12, an operation SW (switch) 13, a communication unit 14, and a warning sound generation unit connected to the control unit 17. 15, a sensor unit 16, a recording unit 18, an image processing unit 29, CCD cameras 19 to 26, a front seat monitor 27, and a rear seat monitor 28.

  The driver detection unit 11 detects whether or not the driver is seated by a switch or a weight sensor provided in a seating portion or a backrest portion of the driver seat. The driver's seat may be detected by using an infrared sensor whose detection range is the driver's seat and its peripheral part, or a CCD camera whose imaging range is the driver's seat and its peripheral part.

  The forward / reverse detection unit 12 detects the forward / reverse state of the vehicle 1 (see FIG. 2). For example, the forward / reverse detection unit 12 detects the position of the shift lever of the vehicle 1 and generates a signal corresponding to the position. A shift position sensor is used.

  For example, a touch panel or a mechanical switch integrated with the front seat monitor 27 or the rear seat monitor 28 is used as the operation SW 13. In the touch panel, an electric circuit is wired on the screen of the front seat monitor 27 or the rear seat monitor 28 in the X-axis direction and the Y-axis direction through a gap called a spacer on a glass substrate and a transparent film. When the touch is made, the wiring of the pressed portion is short-circuited and the voltage value changes. Therefore, a so-called resistive film method is widely used in which this is detected as a two-dimensional coordinate value (X, Y). In addition, using a so-called capacitance method, a substance that receives an electrical signal is applied to the glass surface of a transparent conductive substrate, and a change in capacitance is detected by the sensor as an electrical signal when a finger is brought close to the glass surface. Also good.

  In addition to the mechanical switch and the touch panel, a pointing device such as a mouse or a cursor may be used as the operation SW 13. It is also possible to input various instructions using a microphone and a voice recognition unit (not shown). This is a process in which a voice signal input from a microphone is processed by a voice recognition technique for identifying voice by a voice recognition algorithm such as a well-known hidden Markov model in a voice recognition unit, and converted into an operation command according to the result. It is. Furthermore, it is good also as a structure which uses a remote control terminal.

  The communication unit 14 serving as a transmission unit and an acquisition unit of the present invention communicates with an external device via a public line or the Internet, and includes a known wireless or wired transmission circuit and reception circuit.

  The control unit 17 which is a dangerous object determination unit, a dangerous object information search unit, a dangerous object distance measurement unit, a route calculation unit, and an approach determination unit according to the present invention is configured as a normal computer, and is well-known CPU 171, ROM 172, RAM 173. An I / O 174 that is an input / output circuit and a bus line 175 that connects these components are provided. The CPU 171 performs control according to the control program and data stored in the ROM 172.

  The warning sound generation unit 15 includes a known voice synthesis circuit and a speaker, and converts the digital voice data stored in the recording unit 18 or the ROM 172 into analog voice in the voice synthesis circuit according to a command of a control program stored in the ROM 172. The converted version is sent out. Note that the speech synthesis method includes a recording / editing method in which speech waveforms are stored as they are or after being encoded and connected as necessary. Also, a known audio device is connected as the warning sound generating unit 15, digital voice data or a voice command is sent from the control unit 17 to the audio device, and the audio device sends a warning sound based on the digital voice data or the voice command. You may do it.

  The sensor unit 16 includes an object detection unit 161 that detects an object around the vehicle 1, a position detection unit 162 that detects the current position of the vehicle 1, and a vehicle speed detection unit 163 that detects the speed of the vehicle 1.

  The object detection unit 161, which is the second object position detection means, measurement means, distance measurement means, and shape measurement means of the present invention, detects the position of an object in a non-contact manner, and includes an ultrasonic sensor, a microwave radar, or the like. Used. The object detection unit 161 outputs a reference signal to the outside, and detects what object is present in which direction depending on the time until the reference signal is reflected and returned. The distance to the object and the size of the object can be detected by the reference signal scanning method. As shown in FIG. 2, the vehicle 1 includes ultrasonic sensors 161a (front left: bumper), 161b (left side: center pillar), 161c (back left: bumper), 161d (back right: bumper), 161e (right side). : Center pillar), 161f (front right: bumper) is attached.

  The position detection unit 162 which is a vehicle position detection unit of the present invention uses a GPS (Global Positioning System) receiver that detects the position of the vehicle 1 based on radio waves from a satellite. To improve accuracy, D-GPS (Differential-GPS: differential correction / global positioning system) and RTK-GPS (Real Time Kinematic GPS) that can measure the position of the vehicle accurately by communicating with the outside. Is used.

  The position detection unit 162 may use a known geomagnetic sensor, gyroscope, or distance sensor in addition to the GPS receiver. Since these sensors have errors of different properties, they are configured to be used while being complemented by a plurality of sensors. Depending on the accuracy, some of the sensors described above may be used, and further, a steering rotation sensor or a wheel sensor for each rolling wheel may be used.

  The vehicle speed detection unit 163 includes a rotation detection unit such as a known rotary encoder, and is installed near the wheel attachment unit, for example, detects rotation of the wheel and sends it to the control unit 17 as a pulse signal. In the control unit 17, the number of rotations of the wheel is converted into the speed of the vehicle 1 to calculate an estimated arrival time from the current position of the vehicle 1 to a predetermined place, or an average vehicle speed for each travel section of the vehicle 1. can do.

  The recording unit 18 which is the dangerous object information recording means and the map data storage means of the present invention is a rewritable semiconductor such as an EEPROM (Electrically Erasable & Programmable Read Only Memory) or a flash memory. It is constituted by a memory, a hard disk device or the like, and information and data necessary for the operation of the vehicle surrounding monitoring device 10 are recorded. Even if the power supply of the vehicle surroundings monitoring device 10 is turned off, the recorded contents are retained.

  The front seat monitor 27 and the rear seat monitor 28, which are display means of the present invention, are constituted by a known color liquid crystal display, and are a dot matrix LCD (Liquid Crystal Display) and a driver circuit (not shown) for performing LCD display control. It is comprised including. The driver circuit uses, for example, an active matrix driving method in which a transistor is attached to each pixel so that the target pixel can be reliably turned on and off, and is based on a display command and display screen data sent from the control unit 17. To display. An organic EL (ElectroLuminescence) display or a plasma display may be used as the display.

  The front seat monitor 27 is attached to the center of the instrument panel of the vehicle 1. The rear seat monitor 28 is attached between the backrest of the driver seat and the backrest of the passenger seat, the backrest of the driver seat or the passenger seat, or the ceiling.

  The CCD cameras 19 to 26 which are photographing means of the present invention are well known, and as shown in FIG. 2, the vehicle 1 is sequentially forward (CCD camera 19), left front (CCD camera 20), left side (CCD) in order from the CCD camera 19. Camera 21), rear left (CCD camera 22), rear (CCD camera 23), rear right (CCD camera 24), right side (CCD camera 25), front right (CCD camera 26) are photographed. A (CCD camera 19), b (CCD camera 20), c (CCD camera 21), d (CCD camera 22), e (CCD camera 23), f (CCD camera 24), g (CCD camera 25), respectively , H (CCD camera 26).

  The image processing unit 29, which is the first object position detecting means, measuring means, distance measuring means, and shape measuring means of the present invention, analyzes the images photographed by the CCD cameras 19 to 26 by a known technique such as pattern recognition. An image processing circuit for performing the above is included.

  The surrounding map creation process will be described with reference to the flowchart of FIG. This process is included in the control program of the ROM 172 and is repeatedly executed together with other processes. Further, this process may be executed only when the driver detection unit 11 detects the driver's seating. First, the ultrasonic sensors 161a to 161f and the CCD cameras 19 to 26 detect whether there is an object around the vehicle 1 (S1).

  The image processing unit 29 or the recording unit 18 stores reference data of an object serving as a detection reference. The captured image and its reference data are sequentially compared, and if the content of the captured image matches the reference data of the object exceeds a predetermined value, the captured image includes the object. Can be detected.

  When an object is detected, the size (width, depth, height) of the object that can be obtained by performing image processing from the reception state of the reflected waves of the ultrasonic sensors 161a to 161f or the images captured by the CCD cameras 19 to 26. Then, it is determined whether the detected object is an object that causes danger to the vehicle 1 based on the contour and the like. That is, with respect to the position of the vehicle 1, an object having a height that contacts the vehicle body (curbstone, stone, separation zone, roadside tree, sign, signboard) and a depression on the road (side groove, muddy, hole) are detected. The degree of danger of the object with respect to the vehicle 1 is determined.

The degree of risk is determined using at least one of the following criteria.
(1) Object position: The closer the object position is to the center of the travel lane, the greater the risk.
(2) Object height: The higher the object height is at a position higher than the lowest ground height of the vehicle 1, the greater the degree of danger. Further, in the case of an object that hangs down from above, such as a branch, the danger level is higher as the position is lower than the maximum ground clearance of the vehicle 1.
(3) Hardness of the object: The higher the hardness, like the utility pole or sign, the greater the degree of danger.
(4) Object size: The greater the object, the greater the risk.
(5) Depression scale (size, depth): The greater the dent scale, the greater the risk.
(6) Positional relationship with the vehicle 1: The closer the distance to the vehicle 1 is, or the closer the vehicle 1 is on the course, the greater the degree of risk.

  An object determined to be dangerous records its position information (size, height, relative position (position from the sensor), center of gravity position: latitude and longitude) together with vehicle position information. The position of the center of gravity is calculated as follows using measured values of the latitude, longitude, and height of the vehicle 1.

  For example, the position measured by RTK-GPS is set as the latitude, longitude, and height of the center of gravity of the vehicle 1, and the existence range of the vehicle 1 is set using the vehicle width, vehicle length, and vehicle height as offset values (see FIG. 5). . In addition, the positions of the ultrasonic sensors 161a to 161f are input in advance, and the distance measurement value with the object by the ultrasonic sensor is calculated, so that the position of the object determined to be dangerous can be calculated. A specific example using FIG. 11 is shown below.

  RTK-GPS measurement position, latitude coordinate is north latitude NN, east longitude EE, height is XXm. NN and EE are in units of seconds, and one second is about 22 m, and thus becomes 1/1000 second in units of 2.2 cm. The measurement error is several centimeters. Assume that the direction of the vehicle 1 is 0 degrees in the north direction and the angle increases clockwise. The representative point 0 of the vehicle 1 is (0, 0), the ultrasonic sensor position coordinates are (Xs, Ys), and the position of the object Z measured from the ultrasonic sensor is (r, θ). When the vehicle 1 is facing north, the right rear direction is 0 degree, and the clockwise direction is +. If the ultrasonic sensors are installed at the two rear corners of the vehicle 1 (161c and 161d in FIG. 2), Xs = Wr (Wr: offset value in the width direction) Ys = −Lr (rearward direction negative) Take). When the position of the object Z is expressed in the X, Y coordinate system, the position (X, Y) of the object Z is (Wr−rsin θ, −Lr−r cos θ) when the vehicle 1 faces true north. Further, when the vehicle 1 is in the direction of the angle Φ from true north, the coordinates (X ′, Y ′) of the object Z are (XcosΦ + YsinΦ, −XsinΦ + YcosΦ). If this value is converted into latitude and longitude, and calculation with the measurement value by RTK-GPS is performed, the absolute position coordinates of the object boundary can be calculated.

  When an object is detected around the vehicle 1 (S2: YES), the calculated absolute position coordinates are recorded in a predetermined area of the recording unit 18 together with the risk (S3).

  A predetermined range of data based on the current position of the vehicle 1 is read from the map data recorded in the map data recording area of the recording unit 18, the position of the object is recorded, and a peripheral map is created (S4). At this time, the size (width, depth, height, contour, etc.) of the object is also recorded.

  Then, with reference to the peripheral map recording area or the history recording area of the recording unit 18, it is checked whether a peripheral map relating to the current position of the vehicle 1 has been previously created and recorded. Records the one created above in the peripheral map recording area. On the other hand, if you have created / recorded before, compare the contents already recorded with the contents of the surrounding map created this time, and if there is a difference, add the contents created this time. Recording in the peripheral map recording area, updating the peripheral map (S5), and recording the history in the history recording area of the recording unit 18 (S6).

  4 and 5 show display examples on the front seat monitor 27 or the rear seat monitor 28. FIG. When the vehicle 1 performs reverse garage entry as shown in FIG. 4, the forward / reverse detection unit 12 detects the backward movement of the vehicle 1, operates the CCD cameras 22 to 24, and displays the image on the front seat monitor 27, for example. indicate. Also, the ultrasonic sensors 161c and 161d are activated. If necessary, the CCD cameras 21 and 25 and the ultrasonic sensors 161b and 161e may be operated. In the example of FIG. 4A, an object C exists between the vehicle 1 and the curb B. The position and shape of the object C are determined from the received images of the CCD cameras 22 to 24 and the reflected waves of the ultrasonic sensors 161c and 161d. Then, the degree of danger of the object C is obtained, and the object C comes into contact with the vehicle 1 or the like. When it is determined that the garage of the vehicle 1 is hindered, an enlarged display is performed on the front seat monitor 27 as shown in FIG. 4B, and a message is also added according to the degree of danger. In addition, a warning sound or a warning message is emitted from the warning sound generation unit 15.

  The example of FIG. 5 is a display example of the front seat monitor 27 when the vehicle 1 is parked near the left side of the road. Since the vehicle 1 is moving forward, the CCD cameras 19, 20, and 26 and the ultrasonic sensors 161a and 161f are operating. If necessary, the CCD cameras 21 and 25 and the ultrasonic sensors 161b and 161e may be operated. The side groove E is detected as a concave object, and the curbs D and F are detected as convex objects. For example, the shape and name of the object may be associated with each other and recorded on each monitor, such as “a rectangular object on the road: curbstone”. The gutter becomes a “concave object that is on the side of the road and continues along the road”. In FIG. 5, when a “concave object that is on the side of the road and continues along the road” E is detected, and this is determined to be a gutter, the portion may be displayed such that water flows.

  Further, as in the display on the right side of FIG. 5, the positional relationship with each object when the vehicle 1 is viewed from above may be displayed together. Of course, the display can be switched by operating the operation SW 13.

  As shown in FIG. 10, the peripheral map data recorded in the recording unit 18 is sent via the communication unit 14 to the home server 5 in the user's home, the center server 4 in the data center, or the WEB (not shown) on the Internet. It may be possible to send and receive with the server. For example, in the example of FIG. 3, when the peripheral map data is updated, the updated content is sent to the home server 5 or the center server 4 automatically or by operation of the operation SW 13. Further, the vehicle 3 of another user can download the peripheral map data recorded in the home server 5 or the center server 4.

  The configuration of the center server 4 will be described with reference to FIG. The home server 5 or a WEB server (not shown) has the same configuration as the center server 4. The center server 4 includes a CPU 51, a ROM 52, a RAM 53, and an input / output interface (I / O) 54. The center server 4 includes a computer main body 50 connected to be able to transmit and receive via a bus line 55, and a keyboard 56 as a peripheral device. Alternatively, an input device such as a mouse 57, a recording medium reading device such as a CD-ROM drive 58 or FDD 59, an HDD (hard disk drive) 60, a monitor 62 connected via a monitor control unit 61, a printer 63, and an external network are connected. The whole is constructed as a computer system to which a network control unit 64 and the like for communicating with the transmission / reception device 66 and the like are connected.

  The HDD 60 stores an operating system program (hereinafter referred to as OS) 60a and a server program 60b. The server program 60b operates in such a manner that the server work memory 53b secured in the RAM 53 on the OS 60a is used as a work area in order to realize a server function. This is stored in, for example, a CD-ROM 65 in a computer-readable state and installed in a predetermined storage area on the HDD 60. A configuration in which the server program 60b or data is downloaded from an external network may be used. The RAM 53 is also formed with a work memory 53a for the OS 60a.

  In addition, a peripheral map database 60c is constructed in the HDD 60. The surrounding map database 60c is updated as needed by data sent from the vehicle surrounding monitoring device 10 or the like via a network, data input by an input device such as a keyboard 56 or a mouse 57, or data input from a recording medium, and is always the latest. It is in a state.

  The HDD 60 stores user registration information 60d. In the user registration information 60d, a user ID, a password, and a terminal ID which is information for identifying an in-vehicle terminal such as the vehicle surrounding monitoring device 10 are registered, and which user is connected to the center server 4 by which in-vehicle terminal. Make sure that you can register.

  When a surrounding map update occurs in the vehicle surrounding monitoring apparatus 10, the center server 4 (or the home server 5 or WEB server) is connected via the communication unit 14 or an external network automatically or by operation of the operation SW13. When the connection is established, the user ID, password, and terminal ID recorded in the recording unit 18 are sent to the center server 4, and the center server 4 collates with the user registration information 60d. As a result of the collation, if it is determined that the user is an authorized user, the fact is transmitted to the vehicle surroundings monitoring device 10, and the update content is sent from the vehicle surroundings monitoring device 10 to the center server 4. The center server 4 compares the update content with the peripheral map database 60c and captures and records the difference if there is a difference.

  It is also possible to send data of the surrounding map from the center server 4 or the like to the vehicle surrounding monitoring apparatus 10. Hereinafter, this process will be described with reference to the flowchart of FIG. 6 as an example in which route calculation is performed by the vehicle surrounding monitoring apparatus 10. This process is included in the control program of the ROM 172 and is repeatedly executed together with other processes. First, it shifts to route calculation mode by operation of operation SW13 (S11), and inputs a destination (S12).

  Next, referring to the recording area of the recording unit 18, it is checked whether or not a surrounding map including the input destination is recorded. When the surrounding map including the destination is not recorded (S13: NO), the route calculation is performed without using the surrounding map (S19).

  When the surrounding map including the destination is recorded (S13: YES), the center server 4 is connected and the update history is sent to inquire whether the surrounding map is the latest. When the center server 4 or the like receives the inquiry request after the above-described user authentication is normally completed, the center server 4 compares the update history of the peripheral map with the sent update history with reference to the peripheral map database 60c. If the contents of the map database 60c are new (S14: YES), it is checked whether the surrounding map can be downloaded. If the map can be downloaded (S15: YES), the surrounding map is downloaded to the vehicle surrounding monitoring device 10. (S16). Then, the vehicle surrounding monitoring apparatus 10 performs route calculation using the downloaded surrounding map (S17).

  If the center server 4 or the like has no new surrounding map (S14: NO), or if the surrounding map cannot be downloaded (S15: NO), the surroundings recorded in the vehicle surrounding monitoring device 10 Route calculation is performed using the map (S18).

  The destination setting method and route calculation method are the same as those of a well-known in-vehicle navigation device. The destination is set as a predetermined point by the user selecting a point from any point on the map or facility search, address search, telephone number, registration point set by the user, and the like. Map data is recorded in a map data recording area of the recording unit 18. Map data includes various data including so-called map matching data for improving the accuracy of position detection, stores predetermined map image information for display, and road network information including link information and node information. Remember. The link information is predetermined section information constituting each road, and includes position coordinates, distance, required time, road width, number of lanes, speed limit, and the like. The node information is information defining an intersection or a branch road, and is composed of position coordinates, the number of right / left turn lanes, a connection destination road link, and the like. In addition, data indicating whether or not traffic is possible is set in the inter-link connection information.

  With reference to FIG. 7, how to use the surrounding map during route guidance and how to use the dangerous object information will be described. When the route guidance is started, the current position of the vehicle 1 is detected by the position detection unit 162 (S21). Next, it is checked whether the current position is in an area corresponding to the peripheral map with reference to the peripheral map recording area of the recording unit 18. When the current position is included in the area corresponding to the surrounding map (S22: YES), the dangerous object information included in the surrounding map is prefetched. As a result of the reading, if there is dangerous object information within a set range such as within 100 m from the guidance route (S24: YES), detailed measurement of the vehicle position is started (S25).

  When it is not an area corresponding to the surrounding map (S22: NO) or when there is no dangerous object in the set range (S24: NO), the process returns to the detection of the current position (S21).

  When detailed measurement of the vehicle position is started, it is checked whether the measured current position is at the corresponding dangerous object position. If it is not yet at the corresponding dangerous object position (S26: NO), the vehicle position detailed measurement is performed again (S25).

  If the measured current position is at the corresponding dangerous object position (S26: YES), the dangerous object is detected. If a dangerous object is detected (S27: YES), the dangerous object information (driving support information) is displayed on the front seat monitor 27 or the rear seat monitor 28 or the warning sound generator 15 sends a message. (S28). Then, it is checked whether or not the vehicle 1 has passed the dangerous object, and if it is determined that the vehicle 1 has passed the dangerous object (S29: YES), the vehicle detected by the CCD cameras 19 to 26 and the ultrasonic sensors 161a to 161f. Refer to the surrounding situation and check whether the information on the dangerous object has changed. If there is a change in the information on the dangerous object (S30: YES), the change content is recorded in the recording unit 18 (S31). Further, when there is no change in the information of the dangerous object (S30: NO), the fact is recorded in the recording unit 18 (S32).

  Even when a dangerous object is not detected (S27: NO), it is recorded that it was not detected (S33). In that case, a detailed travel route history is recorded, and it is possible to determine whether or not dangerous object information can be detected later.

  FIG. 8 shows another example of a display design for paying attention to contact with a dangerous object when the vehicle 1 moves backward and performs parallel parking. FIG. 8A shows the state of parallel parking virtually displayed on the front seat monitor 27 or the rear seat monitor 28. The user can switch whether or not to perform the display as shown in FIG.

  Further, the front seat monitor 27 or the rear seat monitor 28 displays the relationship between the tire H and the curb G as shown in FIG. When the vehicle 1 approaches the curb G and the risk of the curb G increases and the distance to be cautioned is reached, the marker I is displayed in yellow, and when the tire H is in contact with the curb G, the marker I is displayed in red.

  FIGS. 8C and 8D show the positional relationship between the body and the dangerous object when the body of the vehicle 1 approaches the guard rail N. FIG. In the state of FIG. 8C, the vehicle 1 approaches the curb G and the curb G has a greater risk and is at a distance to be careful. In order to guide in a direction not approaching, the brightness or color of the region K is changed to something that is difficult to see. As shown in FIG. 8D, when the vehicle 1 further approaches in the direction of the guard rail N, a marker L indicating that there is almost no distance between the tire H and the curb G is displayed, and the brightness or color of the region M is displayed. Change to something more difficult to see.

  FIG. 9 shows the rear seat of the vehicle 1 displayed on the front seat monitor 27 or the rear seat monitor 28 when the vehicle 1 moves backward and performs parallel parking. When the vehicle 2 which is a dangerous object is parked behind, the marker P is displayed in green when there is a margin as shown in FIG. 9A, and the vehicle 1 is displayed as shown in FIG. 9B. The marker Q is displayed in red when the degree of danger increases as the vehicle further moves backward and the distance from the vehicle 2 falls below a predetermined value.

  Although the embodiments of the present invention have been described above, these are merely examples, and the present invention is not limited to these embodiments, and the knowledge of those skilled in the art can be used without departing from the spirit of the claims. Various modifications based on this are possible.

The block diagram which shows the structure of the surrounding monitoring apparatus for vehicles. The figure which shows the detection range of a CCD camera and an ultrasonic sensor. The flowchart for demonstrating a periphery map creation process. The figure which shows the example of a display of a dangerous object. The figure which shows another example of a dangerous object display. The flowchart for demonstrating the route calculation process using dangerous object information. The flowchart for demonstrating the route guidance process using dangerous object information. The figure which shows the example of a display of the dangerous object at the time of parallel parking. The figure which shows another example of the dangerous object display at the time of parallel parking. The block diagram at the time of using a server. The figure for demonstrating calculation of the position of a dangerous object. The block diagram which shows the structure of a center server.

Explanation of symbols

4 Center Server 5 Home Server 10 Vehicle Perimeter Monitoring Device 13 Operation SW
14 Communication unit (transmission means, acquisition means)
15 warning sound generating unit 16 sensor unit 17 control unit (dangerous object judging means, dangerous object information retrieving means, dangerous object distance measuring means, route calculating means, approach judging means)
18 Recording unit (dangerous object information recording means, map data storage means)
19-26 CCD camera (photographing means)
27 Front seat monitor (display)
28 Rear seat monitor (display)
29 Image processing unit (first object position detecting means, measuring means, distance measuring means, shape measuring means)
161 Object detection unit (second object position detection means, measurement means, distance measurement means, shape measurement means)
162 Position detection unit (vehicle position detection means)

Claims (21)

Photographing means for photographing the periphery of the vehicle;
First object position detecting means for detecting a position of an object existing around the vehicle from the captured image;
Vehicle position detecting means for detecting the position of the vehicle;
Based on the position of the object detected by the first object position detecting means and the position of the vehicle detected by the vehicle position detecting means, it is determined whether the object is a dangerous object that poses a danger to the vehicle. Dangerous object determination means;
Dangerous object information recording means for recording the determined position of the dangerous object together with the position of the vehicle as dangerous object information;
A vehicle surrounding monitoring device characterized by comprising: Second object position detection means for detecting the position of an object existing around the vehicle;
Vehicle position detecting means for detecting the position of the vehicle;
Based on the position of the object detected by the second object position detection means and the position of the vehicle detected by the vehicle position detection means, it is determined whether the object is a dangerous object that poses a danger to the vehicle. Dangerous object determination means;
Dangerous object information recording means for recording the determined position of the dangerous object together with the position of the vehicle as dangerous object information;
A vehicle surrounding monitoring device characterized by comprising: Photographing means for photographing the periphery of the vehicle;
First object position detecting means for detecting a position of an object existing around the vehicle from the captured image;
Vehicle position detecting means for detecting the position of the vehicle;
Second object position detection means for detecting the position of an object existing around the vehicle;
The object is dangerous to the vehicle based on the position of the object detected by the first object position detecting means and the second object position detecting means and the position of the vehicle detected by the vehicle position detecting means. Dangerous object judging means for judging whether the dangerous object exerts
Dangerous object information recording means for recording the determined position of the dangerous object together with the position of the vehicle as dangerous object information;
A vehicle surrounding monitoring device characterized by comprising: Measuring means for measuring the size of the object;
4. The vehicle surrounding monitoring apparatus according to claim 1, wherein the dangerous object determination unit determines whether the object is the dangerous object in consideration of the measured size of the object. 5. A distance measuring means for measuring a distance between the vehicle and the object;
The vehicle surrounding monitoring apparatus according to any one of claims 1 to 4, wherein the dangerous object determination unit determines whether the object is the dangerous object in consideration of the measured distance. Having a shape measuring means for measuring the shape of the object;
The vehicle surrounding monitoring apparatus according to claim 1, wherein the dangerous object determination unit determines whether the object is the dangerous object in consideration of the shape of the measured object.   The vehicle according to any one of claims 1 to 6, wherein the dangerous object information includes at least one of a size, a height, a gravity center position, and a relative position of the dangerous object. Ambient monitoring device.   8. The map data storage means for storing electronic map data, wherein the dangerous object information recording means stores a predetermined range of surrounding map data including the position of the vehicle together with the dangerous object information. The vehicle surrounding monitoring apparatus according to claim 1.   The dangerous object information recording means, if dangerous object information corresponding to the position of the vehicle where the dangerous object is detected has already been recorded, if the comparison result does not match the dangerous object information, the contents The vehicle surrounding monitoring device according to any one of claims 1 to 8, wherein the vehicle surrounding monitoring device is updated.   The dangerous object information search means for searching for whether or not the dangerous object information corresponding to the detected position of the vehicle is recorded in the dangerous object information recording means. Vehicle surrounding monitoring device.   The vehicle surrounding monitoring apparatus according to claim 1, further comprising display means for displaying a dangerous object superimposed on the photographed image with a display design that can be identified.   The display means can display the shape of the dangerous object so as to be adapted to the imaging range of the imaging means, and displays the deformed dangerous object superimposed on the image taken by the imaging means. The vehicle surrounding monitoring apparatus according to claim 11.   The vehicle surrounding monitoring apparatus according to claim 11 or 12, wherein when there are a plurality of searched dangerous objects, the display means displays a display design by changing a display design for each dangerous object.   The vehicle surrounding monitoring apparatus according to any one of claims 11 to 13, wherein when there are a plurality of the searched dangerous objects, the display means displays the dangerous objects at different display timings.   The vehicle surrounding monitoring apparatus according to claim 11, wherein the display unit displays the display design by changing a display design according to the shape of the dangerous object. A dangerous object distance measuring means for measuring a distance between the vehicle and the dangerous object;
The vehicle surrounding monitoring device according to any one of claims 11 to 15, wherein the display means displays the dangerous object by changing a display design according to the measured distance.   The vehicle surrounding monitoring apparatus according to any one of claims 1 to 16, further comprising a transmission unit configured to transmit the dangerous object information to an external device outside the vehicle.   The vehicle surrounding monitoring device according to any one of claims 1 to 17, further comprising an acquisition unit configured to acquire the dangerous object information from an external device outside the vehicle.   The vehicle surrounding monitoring apparatus according to claim 17 or 18, wherein the external device is a center server owned by an information management center, a home server owned by a user, or a WEB server. A route calculation means for calculating a route to the destination;
An approach determining means for determining whether the current position of the vehicle approaches within a predetermined distance of the dangerous object;
The dangerous object search means searches whether dangerous object information around the route to the destination is recorded when calculating the route,
20. The vehicle surrounding monitoring according to any one of claims 10 to 19, wherein when the position of the vehicle approaches within a predetermined distance of the searched dangerous object, the display means displays the dangerous object information. apparatus. When the position of the vehicle approaches within a predetermined distance of the searched dangerous object, the object detected by the first object position detecting means or the object detected by the second object position detecting means When the situation is different from the content of the dangerous object information, the dangerous object information recording means is the situation of the object detected by the first object position detecting means or the object detected by the second object position detecting means. The vehicle surrounding monitoring device according to claim 20, wherein the dangerous object information is updated based on the information.

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