JP2007142765A - Vehicle periphery monitoring system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle periphery monitoring system capable of confirming safe conditions without making a driver tense, even in a driving condition that wheel drop may occur or obstruction may be contacted. <P>SOLUTION: Obstruction such as a wall and other vehicles located near a vehicle 10 is detected from video images photographed by image pick-up portions 12A and 12B installed at rear-view mirrors 11A and 11B and an image pick-up portion 12C installed at the front end of the vehicle, together with a height information. Moreover, it is determined how a pattern projected on road surface by profile projectors 13A and 13B installed at the rear-view mirrors 11A and 11B is reflected at the photographed video images. According to the result of the determination, a gutter and a curbstone are extracted. Information acquired in this way is simplified and displayed on a display unit 14 installed at the front of driver's seat. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle periphery monitoring device that monitors the periphery of a vehicle so as to prevent the vehicle from derailing or coming into contact with an obstacle.

  For example, as shown in FIG. 6, when the vehicle 61 passes through a narrow road, the vehicle 61 gradually decelerates and avoids contact with the other vehicle 63 that is an obstacle while the vehicle 61 is traveling slowly. Safety was confirmed by alternately observing the left and right sides of the.

  However, in order to view the left and right side portions of the vehicle 61 alternately, a large line of sight movement must be repeated, which places a great mental burden on the driver.

  Therefore, for example, in a right-hand drive vehicle, the vicinity of the tire is imaged with a camera mounted on the side mirror on the left side of the vehicle, the captured image is displayed on the in-vehicle monitor, and a guide line linked to the steering angle sensor. There has been proposed a technique for confirming that the left side of the vehicle has been removed by superimposing. In this technique, for example, when the vehicle passes the oncoming vehicle on the right side of the vehicle, the driver only has to view the in-vehicle monitor and the right side of the vehicle alternately, and the size of the line-of-sight movement has been reduced to almost half.

  However, even with the above-described technology, it is still difficult to simultaneously check the in-vehicle monitor, check the left side mirror contact, and check the right oncoming vehicle when the driver passes the oncoming vehicle on a narrow road. This is because the movement of the line of sight for confirming these is still large, forcing the driver to be nervous, increasing the burden on the driver.

  Therefore, an object of the present invention is to easily and surely avoid wheel-release and contact without placing a mental burden on the driver even in a situation where the vehicle may be wheeled off or contact with an obstacle. It is in providing the vehicle periphery monitoring apparatus which can do.

  In order to solve the above-mentioned problem, a first invention is provided at an end portion of a vehicle, and an image capturing unit that captures an image of a side of the vehicle over a wide range, and a display installed in front of a driver's seat in the vehicle interior of the vehicle And a control unit that controls display of an image on the display unit, the control unit extracts a travelable region of the vehicle based on a captured image captured by the imaging unit, and the travel A simplified graphic showing the positional relationship between the limit of the possible area and the side end of the vehicle is displayed on the display unit.

  According to a second aspect of the present invention, the control unit extracts a side groove or a curb located on the side of the vehicle from the captured image, and a graphic showing a positional relationship between the tire of the vehicle and the side groove or the curb, It is displayed on the display unit as a simplified graphic.

  According to a third aspect of the present invention, the control unit detects an obstacle located in the vicinity of the vehicle and its height, and according to the detected height, a side mirror or a bumper of the vehicle, the obstacle, A graphic showing the positional relationship is displayed on the display unit as the simplified graphic.

  In a fourth aspect of the present invention, in addition to the second aspect, the control unit is divided into a plurality of regions according to the distance from the side groove or curbstone to the tire as a simplified figure. Are displayed on the display unit.

  In a fifth aspect of the invention, in addition to the third aspect of the invention, the control unit is a simplified drawing in which the control unit is divided into a plurality of regions according to the distance from the obstacle to the side mirror or the bumper. The figure is displayed on the display unit.

  In addition to the second invention or the fourth invention, the sixth invention further includes a sound generation unit that emits a warning sound in the passenger compartment of the vehicle, wherein the control unit is provided between the side groove or the curb and the tire. According to the distance, a warning sound is emitted from the sound generation unit.

  In addition to the third invention or the fifth invention, a seventh invention further includes a sound generation unit that emits a warning sound in a vehicle interior of the vehicle, and the control unit is configured to remove the side mirror or the According to the distance to the bumper, a warning sound is emitted from the sound generation unit.

  According to the first invention, since the positional relationship between the travelable area and the vehicle is simplified and displayed in front of the driver's seat based on the captured image of the imaging unit installed at the side end of the vehicle, the driver Can travel safely on narrow roads and other roads that require attention, without having a large line of sight movement.

  According to the second invention, the controller extracts a side groove or curb located on the side of the vehicle and displays a simplified positional relationship between the side groove or curb and the tire, so that the wheel can be removed easily and reliably. It is possible to avoid it.

  According to the third invention, the control unit detects the obstacle located in the vicinity of the vehicle and its height, and determines the positional relationship between the side mirror or the bumper and the obstacle according to the detected height. Since the display is simplified, it is possible to easily and reliably avoid contact with an obstacle.

  According to the fourth aspect of the invention, the control unit simplifies and displays the divided drawing divided into a plurality of regions according to the distance from the tire to the side groove or the curbstone, so that the driver is alerted about wheel removal. It becomes possible.

  According to the fifth aspect of the invention, the control unit simplifies and displays the divided drawing divided into a plurality of regions according to the distance from the obstacle to the side mirror or the bumper. It is possible to prompt the driver.

  According to the sixth aspect of the invention, a warning sound is emitted according to the distance from the side groove or curb to the tire, so that it is possible to further urge the driver to be careful about wheel removal.

  According to the seventh aspect of the invention, a warning sound is emitted according to the distance from the obstacle to the side mirror or the bumper, so that the driver can be further cautioned about contact with the obstacle.

<Configuration>
FIG. 1 is a plan view showing a vehicle periphery monitoring apparatus according to an embodiment of the present invention. This vehicle periphery monitoring device is operated in, for example, the imaging units 12A and 12B installed on the side mirrors 11A and 11B of the vehicle 10, the imaging unit 12C installed on the front end of the vehicle 10, and the vehicle 10 interior. Display content displayed on the display unit 14 based on the display unit 14 installed in front of the seat, the sound generation unit 16 installed in the passenger compartment of the vehicle 10, and the captured images captured by the imaging units 12A to 12C, And a control unit 18 that controls the sound output from the sound generation unit 16.

  The imaging units 12A to 12C are, for example, images obtained by condensing light rays from predetermined imaging ranges 12a to 12c on a light receiving surface of an imaging element such as a CCD or CMOS by a lens system having a wide viewing angle lens. The signal is transmitted to the control unit 18 described later.

  For example, as shown in FIG. 1, the projectors 13 </ b> A and 13 </ b> B are installed in the vicinity of the imaging units 12 </ b> A and 12 </ b> B, and project images of a predetermined pattern onto the road surfaces in the imaging ranges 12 a and 12 b.

  For example, as shown in FIG. 2 and FIG. 3, the display unit 14 is predetermined by control from the control unit 18 by applying a liquid crystal display device in the lower part of the windshield in front of the driver's seat or in an overhead display. It is a display.

  The sound generation unit 16 is connected to the control unit 18 and installed in the passenger compartment, for example, to sound a warning sound.

  The control unit 18 is a functional element that operates in accordance with a predetermined software program in a general CPU in cooperation with storage means such as a ROM and a RAM. For example, as shown in FIG. It has a detection means 18A and a warning determination means 18B, and performs various information processing operations (including control operations) based on video signals transmitted from the imaging units 12A to 12C.

  The obstacle detection unit 18A, for example, the shape of a predetermined pattern projected onto the road surface by the projector 13A stored in the storage unit (not shown), and the predetermined pattern reflected in the image captured by the imaging unit 12A. The gutter or curb existing on the road surface is extracted by comparing with the shape of the road.

  Further, the obstacle detection unit 18A, for example, for the imaging target existing in the overlapping area of the imaging range 12a and the imaging range 12c, reflects the shape of the imaging target reflected by the imaging unit 12A and the imaging unit 12C. By comparing the shape of the captured imaging target and extracting the imaging target and constructing a three-dimensional image of the imaging target in a virtual space, the extraction of obstacles such as walls or other vehicles and their height To detect.

  When the side groove or curb is extracted by the obstacle detection unit 18A, the warning determination unit 18B is connected to the end of the side groove or curb near the vehicle 10 and the tire closest thereto, that is, the imaging unit 12A and the projector 13A. While calculating the distance with the nearest left front wheel, based on the calculated distance, it displays on the display part 14 as shown, for example in FIG.

  Here, the display unit 14 includes a warning area 42a, a caution area 42b, a display area 42A for displaying the left side of the vehicle 10 and a display frame 42B for displaying the right side of the vehicle 10 from the left and right directions toward the center. Divided drawings divided into safety areas 42c are displayed, and simplified graphics 41A indicating, for example, tires of the vehicle 10 are displayed in any of these areas. For example, when the simplified graphic 41A is displayed on the warning area 42a, a continuous warning sound such as “Pee-oo” representing the highest warning level is sounded, and the simplified graphic 41A is displayed on the attention area 42b. When displayed, an intermittent warning sound such as “pipipipip…” indicating the next highest warning level is sounded. Thereby, it becomes possible to urge the driver's attention to the gutter or curb with different warning sounds depending on the warning level.

  The warning area 42a is, for example, a range less than 10 cm from the limit of the travelable area, the caution area 42b is, for example, a range of 10 to 20 cm from the limit of the travelable area, and the safety area 42c is, for example, The region is 20 cm or more away from the limit of the travelable region.

  Further, if the obstacle is extracted by the obstacle detection means 18A and the obstacle is, for example, a wall or other vehicle higher than the height of the side mirrors 11A and 11B of the vehicle 10, the warning determination means 18B The distance between the end of the obstacle such as the wall or other vehicle close to the vehicle 10 and the side mirror 11A closest thereto is calculated, and the limit of the travelable area of the vehicle 10 is calculated based on the calculated distance. For example, it is displayed on the display unit 14 in a manner similar to that shown in FIG. At this time, the simplified graphic 41A displayed on the display unit 14 means the side mirror 11A.

  Further, if the obstacle is extracted by the obstacle detection means 18A and the obstacle is, for example, an obstacle less than the height of the side mirrors 11A and 11B of the vehicle 10 or an obstacle such as another vehicle, warning determination means 18B calculates the distance between the end of the wall or other vehicle near the vehicle 10 and the nearest bumper part, that is, the bumper part located in the middle of the imaging unit 12A and the imaging unit 12C. Based on the calculated distance, the limit of the travelable region of the vehicle 10 is calculated, and displayed on the display unit 14 in the same manner as in FIG. At this time, the simplified graphic 41A displayed on the display unit 14 means a bumper portion that is located in the middle of the imaging unit 12A and the imaging unit 12C and may contact the wall.

  In the description of the present embodiment, the side groove or curb, the wall, or an obstacle such as another vehicle that exists on the left side of the vehicle 10 has been described. However, the side groove or curb, the wall or the wall that exists on the right side of the vehicle 10 has been described. Of course, the same applies to obstacles such as other vehicles. If there are gutters or curbs, walls, or other vehicles on both sides, there is no wheel or obstacle on either side. A warning sound is emitted from the sound generation unit 16 based on the side having a high possibility of contact.

<Operation>
The operation of the vehicle periphery monitoring apparatus having the above configuration will be described below.

  For example, as shown in FIG. 5, an example of operation when the vehicle 10 assembled with the vehicle periphery monitoring device according to the embodiment of the present invention passes between the side groove 51 and another vehicle 52 that is an obstacle will be described. .

  When the vehicle 10 is about to pass the vicinity of another vehicle 52 parked on the right side on a road where the side groove 51 is present on the left side, the obstacle detection unit 18A captures an image captured by the imaging unit 12A. The presence of the side groove 51 on the left side of the vehicle 10 is extracted based on the shape of the predetermined pattern projected by the projector 13A reflected on the vehicle. Further, the other vehicle 52 that is an obstacle is extracted in front of the right side of the vehicle 10 by the imaging units 12B and 12C.

  Then, the warning determination means 18B calculates the distance between the end of the side groove 51 near the vehicle 10 and the left front wheel with respect to the left side of the vehicle 10, and based on the calculated distance, the same mode as in FIG. Thus, the left front wheel of the vehicle 10 is displayed in the display frame 42A on the left side of the display unit 14 as a simple graphic 41A. Regarding the right side of the vehicle 10, for example, as shown in FIG. 5, when the engine room 52a of another vehicle 52 approaches and the engine room 52a is less than the height of the side mirror 11B of the vehicle 10, the warning determination means 18B Based on the distance between the other vehicle 52 and the bumper (right front part) of the vehicle 10, the right front bumper of the vehicle 10 is displayed as a simplified graphic 41 </ b> B in the display frame 42 </ b> B on the right side of the display unit 14 in the same manner as in FIG. 4. indicate.

  At this time, if any one of the simplified figures 41A and 41B is displayed in the warning area 42a, the warning determination means 18B will sound a continuous warning sound such as “Pee-oo” from the sound generation unit 16, If either one of the simplified figures 41A and 41B is not displayed in the warning area 42a and any one of them is displayed in the caution area 42b, the warning determination means 18B may intermittently say “beep-beep ...” from the sound generation unit 16. Sound a warning sound.

  After that, when the vehicle 10 advances and the vehicle compartment 52b of the other vehicle 52 is reflected in the overlapping area between the imaging range 12a and the imaging range 12c, this is a warning because it is higher than the height of the side mirror 11B of the vehicle 10. Based on the distance between the other vehicle 52 and the side mirror 11B of the vehicle 10, the determination unit 18B uses the display mirror 42B on the right side of the display unit 14 as the simplified graphic 41B in the same manner as in FIG. Display within.

  As described above, based on the captured images of the imaging units 12A and 12B installed on the side mirrors 11A and 11B at the side end of the vehicle 10 and the imaging unit 12C installed on the front end, the limit of the travelable area and the vehicle 10 is simplified and displayed on the display unit 14 installed in front of the driver's seat, so that the driver can easily and surely take a road requiring attention for driving such as a narrow road without moving a large line of sight. It becomes possible to travel.

  Further, the obstacle detection means 18A extracts the side groove 51 located on the side of the vehicle 10 and displays the simplified positional relationship between the side groove 51 and the tire, thereby reliably avoiding the possibility of wheel removal. It becomes possible.

  Furthermore, the obstacle detection means 18A extracts an obstacle located in the vicinity of the vehicle, detects its height, and according to the detected height, the side mirrors 11A, 11B or the bumper and the obstacle Therefore, the possibility of contact with an obstacle can be easily and reliably avoided.

  Further, the warning determination means 18B simplifies the divided drawing divided into a plurality of regions according to the distance from the tire to the side groove 51 or the curb or the distance from the obstacle to the side mirrors 11A, 11B or the bumper. 14, the driver can be cautioned about wheel removal or contact with obstacles.

  In addition, a warning sound is emitted from the sound generation unit 16 according to the distance from the side groove 51 or the curb to the tire, or the distance from the obstacle to the side mirrors 11A, 11B or the bumper. It is possible to further prompt the driver.

It is a top view which shows the vehicle periphery monitoring apparatus which concerns on embodiment of this invention. It is a block diagram which shows the structure of the vehicle periphery monitoring apparatus which concerns on embodiment of this invention. It is a figure which shows an example of the installation form of the vehicle periphery monitoring apparatus which concerns on embodiment of this invention. It is a figure which shows the example of a display of the vehicle periphery monitoring apparatus which concerns on embodiment of this invention. It is a top view which shows the operation | movement which the vehicle periphery monitoring apparatus which concerns on embodiment of this invention is assembled | attached to the vehicle, and is performing obstacle detection. It is a top view which shows the scene where a vehicle passes along a narrow road.

Explanation of symbols

12A to 12C Imaging unit 14 Display unit 16 Sound generating unit 18 Control unit

Claims (7)

An imaging unit that is installed at a side end of the vehicle and images a side of the vehicle over a wide area;
A display unit installed in front of the driver's seat in the vehicle cabin;
A control unit that controls display of an image on the display unit,
The control unit extracts a travelable region of the vehicle based on a captured image captured by the image capturing unit, and shows a positional relationship between a limit of the travelable region and a side end of the vehicle. The vehicle periphery monitoring device, wherein the displayed figure is displayed on the display unit. The vehicle periphery monitoring device according to claim 1,
The control unit extracts a side groove or curb located on the side of the vehicle from the captured image, and a graphic showing a positional relationship between the tire of the vehicle and the side groove or curb as the simplified graphic. A vehicle periphery monitoring device characterized by displaying on the display unit. The vehicle periphery monitoring device according to claim 1,
The control unit detects an obstacle located in the vicinity of the vehicle and its height, and indicates a positional relationship between the side mirror or bumper of the vehicle and the obstacle according to the detected height. Is displayed on the display unit as the simplified graphic. The vehicle periphery monitoring device according to claim 2,
The control unit displays a divided drawing divided into a plurality of regions according to a distance from the side groove or curb to the tire as the simplified figure on the display unit. Monitoring device. The vehicle periphery monitoring device according to claim 3,
The control unit displays a divided drawing divided into a plurality of regions according to a distance from the obstacle to the side mirror or the bumper on the display unit as the simplified figure. A vehicle periphery monitoring device. The vehicle periphery monitoring device according to claim 2 or 4,
Further comprising a sounding part for sounding a warning sound in the vehicle interior of the vehicle,
The said control part sounds a warning sound from the said sound generation part according to the distance from the said gutter or curbstone to the said tire, The vehicle periphery monitoring apparatus characterized by the above-mentioned. The vehicle periphery monitoring device according to claim 3 or 5, wherein
Further comprising a sounding part for sounding a warning sound in the vehicle interior of the vehicle,
The vehicle periphery monitoring device, wherein the control unit causes a warning sound to be emitted from the sound generation unit according to a distance from the obstacle to the side mirror or the bumper.

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