JP2007168725A - Vehicle surrounding state monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable the direction of an approaching road to be displayed when a real imaging field is directed toward an extending direction of the approaching road. <P>SOLUTION: There is provided a vehicle surrounding state monitoring device having a function for displaying each of photographed images of cameras mounted at a vehicle to a display device in such a way that the image of the front right and left areas of the vehicle can be picked up. This monitoring device has means (S01) for detecting a vehicle body orientation where the cameras are installed, means (S01) for detecting a present position of the vehicle where the cameras are installed, means (S01) for getting road information about the approaching road determined in response to the detected present position, means (S17) for surveying an incident state between a lateral camera image picking-up direction determined from the detected vehicle body orientation and a lateral road extending direction of the approaching road got as above, and means (S23, S33) for displaying to the display device the picked-up images in a direction discriminated as one not being out of the coincided state in response to the discrimination based on the surveyed result. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle periphery monitoring device having a function of displaying each captured image by a camera (blind corner camera) installed in a vehicle so that the left and right sides of the front portion of the vehicle can be captured.

  Japanese Patent Application Laid-Open No. 2003-276506 discloses an angle between an approach destination road and a road on which a vehicle is currently traveling (hereinafter referred to as “current road”) from road map information, and the imaging field of view of the camera is the destination road. Describes a vehicle periphery monitoring device that switches display / non-display of a captured image in accordance with whether or not it faces the extending direction (see Patent Document 1). In addition, the publication discloses that when the distance to the intersection is within a predetermined distance, and / or when the intersection of the approach destination does not have a traffic light, and / or the width of the current road is smaller than the predetermined width, and / or When the number of lanes on the current road is less than the predetermined number, the vehicle speed is lower than the predetermined speed, the gear position is not a position other than the forward driveable position, and / or the captured image is displayed when the side brake is not pulled. Is described.

JP 2003-276506 A.

In the blind corner camera fixed to the front end of the vehicle body, the left and right imaging range (imaging field of view = a predetermined angle range from the camera optical axis) is determined according to the direction of the vehicle body. That is, the imageable range is determined according to which direction the vehicle body is actually facing.
In the apparatus described in Patent Document 1, since it is determined whether or not the imaging field of view is in the extension direction of the destination road based on the angle between the destination road and the current road included in the road map information, for example, a right turn Even if the vehicle body is tilted slightly with respect to the current road, such as waiting or turning to the left, and the approach road extension direction can be imaged correctly, the imaging field of view is not directed to the approach road extension direction There is a problem that the image is not displayed after the determination.

  It is an object of the present invention to display the direction of an approach destination road when the actual imaging field of view faces the extending direction of the approach destination road.

The present invention is configured as the following [1] to [4].
[1] Configuration 1:
A vehicle periphery monitoring device having a function of displaying on a display device each captured image of a camera installed in a vehicle so as to be able to photograph the left and right of the front part of the vehicle,
Vehicle body orientation detection means for detecting the vehicle body orientation of the vehicle in which the camera is installed;
Current position detecting means for detecting the current position of the vehicle in which the camera is installed;
Road information acquisition means for acquiring road information of an approach road determined from the current position detected by the current position acquisition means;
A matching state inspection unit for examining a matching state between the left and right camera imaging directions determined from the vehicle body direction detected by the vehicle body direction detection unit and the right and left road extending directions of the approach destination road acquired by the road information acquisition unit;
Display control means for displaying on the display device a photographed image in a direction determined to be in a matching state based on a determination based on a result of checking by the matching state inspection means;
A vehicle periphery monitoring device comprising:

As the camera, a so-called blind corner camera that guides left and right images to a single image sensor via a prism can be used, but is not limited to this, and a configuration in which a plurality of image sensors are used for each of the left and right images. But you can.
As the direction detection element for the vehicle body direction detection means, for example, a geomagnetic sensor or a gyro sensor can be used.
As the current position detection means, a current position detection function (a function of detecting the current position using GPS or the like) of a known navigation device can be used.
The approach destination road determined from the current position is a road that intersects in front of the road when the current position is on any road. If the current position is not on any road and is in the vicinity of any road (eg, within a few meters), the road in the vicinity is the approach destination road. This is the case, for example, for a parking lot whose current position is close to the nearby road. When the current position is not on any road and in the vicinity of any road, there is no destination road determined from the current position.
As the road information, information that a known navigation device captures from a DVD-ROM, a data center, or the like can be used.
The coincidence state between the camera imaging direction and the road extending direction can be checked by, for example, an angle (deviation angle) formed by the optical axis direction of the camera and the road extending direction. Also, for example, whether the angle (deviation angle) formed by the optical axis direction of the camera and the extending direction of the road is within a predetermined angle range determined by the imaging viewing angle of the camera, etc. You can determine whether or not.

[2] Configuration 2:
In configuration 1,
The display control means sets the captured image in the direction determined to be out of the match state by the determination based on the result of the check by the match state inspection means to be hidden,
A warning output means for outputting a warning that an image in a direction determined to be out of the matching state by the determination based on the result of checking by the matching state inspection unit is not displayed;
The vehicle periphery monitoring apparatus characterized by the above-mentioned.
For example, if it is determined that the left direction is out of the match state, the left image is set to non-display and a warning is output that the left image is not displayed. The same applies to the right direction.
The warning can be performed by displaying a message or the like on the display device. In addition, a warning to that effect can be given.

[3] Configuration 3:
In Configuration 1 or Configuration 2,
The vehicle body direction detection means uses a gyro sensor as a detection element.
The vehicle periphery monitoring apparatus characterized by the above-mentioned.

[4] Configuration 4:
In any of Configuration 1 to Configuration 3,
Inspection control means for setting the processing by the matching state inspection means only when the approach road is determined from the current position detected by the current position detection means,
The vehicle periphery monitoring device further comprising:
Since the process by the matching state inspection means is executed only when the approach destination road is determined, when the approach destination road is not determined, that is, when there is no approach destination road, the process by the matching state inspection means is not executed. As a result, the photographed image in that direction is not hidden because it is out of conformity, and a warning that the photographed image in that direction is not displayed is not output.

Configuration 1 is a vehicle periphery monitoring device having a function of displaying on a display device each captured image of a camera installed in a vehicle so that the left and right sides of the front part of the vehicle can be photographed. A vehicle body direction detection unit that detects a vehicle body direction, a current position detection unit that detects a current position of a vehicle in which the camera is installed, and road information of an approach destination road that is determined from the current position detected by the current position acquisition unit is acquired. A matching state for checking a matching state between the road information acquisition means, the left and right camera imaging directions determined from the vehicle body direction detected by the vehicle body direction detection means, and the left and right road extending directions of the approach destination road acquired by the road information acquisition means A display control unit for displaying on the display device a photographed image in a direction determined to be in a matching state by a determination based on a result of checking by the checking unit and the matching state checking unit If, because of the vehicle surroundings monitoring apparatus characterized by having, when the imaging field of view of the reality is facing extending direction of the incoming destination road may display the direction of the entry destination road.
Configuration 2 is configured such that, in Configuration 1, the display control unit sets a captured image in a direction determined to be out of the match state by the determination based on the result of examination by the match state inspection unit to be non-displayed, Since the vehicle periphery monitoring device further includes a warning output unit that outputs a warning that an image in a direction determined to be out of the matching state is not displayed based on the determination based on the result of checking by the matching state inspection unit, the configuration 1 includes In addition to the effect, the image display in the direction where the actual imaging field of view does not face the extending direction of the approach destination road is not displayed, and an effect can be given that the warning can be given.
The configuration 3 is the vehicle periphery monitoring device using the gyro sensor as a detection element in the configuration 1 or the configuration 2, and in addition to the effects of the configuration 1 and the configuration 2, There is an effect that a specific example of the element constituting the detection means can be given.
Configuration 4 is an inspection set in any one of Configurations 1 to 3 such that the process by the matching state inspection unit is executed only when an approach destination road is determined from the current position detected by the current position detection unit. Since the vehicle periphery monitoring device further includes a control unit, there is an effect that an inappropriate process such as checking a matching state can be canceled when there is no approach destination road.

Embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a configuration of a control unit of a vehicle periphery monitoring apparatus according to an embodiment, FIG. 2 is a flowchart showing a blind corner camera image control procedure, and FIG. FIG. 4 is an explanatory diagram showing an example of display / non-display of a blind corner camera image.

  As shown in FIG. 1, the vehicle periphery monitoring apparatus includes an ECU (Electronic Control Unit) 10 having a known car navigation function and a vehicle control function and a blind corner camera image control function, and a display connected to the ECU 10. A device 11, a speaker 12, and an operation input device 13 are included. The ECU 10 is connected to a hard disk 15 that stores road information and the like for use in the car navigation function. Instead, a configuration in which road information or the like is stored in a DVD-ROM or the like may be used. In addition to displaying an image for realizing the car navigation function, the display device 11 appropriately displays an image in the left-right direction of the vehicle front as will be described later. The same applies to the speaker 12, and in addition to the sound for realizing the car navigation function, a warning sound to that effect is output when an image of the vehicle front left and / or right direction is not displayed.

  The GPS receiver 21 receives a signal from a GPS satellite used by the car navigation function to obtain the current position. The wireless communication device 22 is used when the car navigation function communicates with a known data center so as to update road information as needed. The updated road information is stored in the hard disk 15. Current position information and road information generated by the car navigation function by a known calculation using these pieces of information are appropriately given to the blind corner camera image control function.

  A detection signal from the known gyro sensor 23 is used by the vehicle control function to calculate the direction of the vehicle body. The detection signal from the known vehicle speed sensor 24 is used by the vehicle control function to calculate the vehicle speed. The vehicle speed information and the vehicle body direction information generated by the vehicle control function by a known calculation using these pieces of information are appropriately given to the blind corner camera image control function.

  The left and right image signals imaged by a known blind corner camera BCC installed at a substantially central portion of the front end of the vehicle are subjected to known image processing by the image processing circuit 16 and input to the ECU 10. Display / non-display of the left and right image data generated in this way is controlled by a blind corner camera image control function as described later.

Hereinafter, the procedure of blind corner camera image processing will be described with reference to FIG.
The blind corner camera image processing is executed at a predetermined time interval (time interval at which display / non-display of a captured image can be appropriately switched / example: every 50 msec), thereby realizing a blind corner image control function.

First, the current position information and the road information near the current position necessary for determining the approach destination road based on the current position information are acquired from a known car navigation device (the car navigation function), and the road information near the current position is acquired. Based on the information, the destination road information is obtained (S01). The approach destination road is a road that intersects in front of the road when the current position is on any road. If the current position is not on any road and is in the vicinity of any road (eg, within a few meters), the road in the vicinity is the approach destination road. This is the case, for example, for a parking lot whose current position is close to the nearby road. When the current position is not on any road and in the vicinity of any road, there is no destination road determined from the current position. The approach destination road information includes road direction information indicating the direction of the road extending direction extending left and right from the entry position. The process of step S01 corresponds to road information acquisition means. In step S01, the road information near the current position is not acquired from the car navigation function, and the approach destination road information may be obtained based on the road information near the current position immediately before the determination in step S15 described later. . The road information acquisition means also includes a case where the process is executed as such.
Further, the processing for acquiring the current position information described above corresponds to the current position detecting means.
In step S01, vehicle body direction information and vehicle speed information (vehicle information) are acquired from a known car navigation device or vehicle control device (the car navigation function or the vehicle control function) (S01). This process corresponds to the vehicle body direction detecting means. It is assumed that the vehicle body direction information is calculated by a known car navigation device or vehicle control device based on the detection value of the gyro sensor (or geomagnetic sensor). Further, it is assumed that the vehicle speed information is calculated by a known vehicle control device based on the detection value of the speed sensor 24.

In step S03, it is checked whether or not the vehicle speed is equal to or less than a predetermined value a [km / hour] (example: 6 [km / hour]). Here, “predetermined a or less” means “threshold is predetermined value a”. Accordingly, the determination in step S03 is performed by either a case of “less than predetermined value a and greater than or equal to predetermined value a” or a case of determination by a group of “below predetermined value a and greater than predetermined value a”. May be.
When the vehicle speed exceeds the predetermined value a [km / hour] (NO in S03), if the blind corner camera is on (YES in S05), the blind corner camera is turned off (S07).
When the vehicle speed is equal to or less than the predetermined value a [km / hour] (YES in S03), if the blind corner camera is in an off state (YES in S11), the blind corner camera is activated (S13).

In step S15, it is determined whether or not the current position of the vehicle is a position where an approach destination road is determined. That is, it is determined whether or not the current position of the vehicle is a road entry position (an entry position to an intersection or the like).
For example, when the current position is on any road, the road that intersects in front of the road is the destination road, so the intersection is located within a predetermined distance (eg, 10 m) from the current position. If there is, it is determined that “the road entry position (the position where the entry destination road is determined)”.
In addition, when the current position is not on any road and is in the vicinity of any road (eg, within a few meters), the road is the destination road. Is determined). For example, the current position is a parking lot.
If the current position is neither on any road nor in the vicinity of any road, there is no approach destination road that can be determined from the current position, so it is not “road entry position (position where the destination road is determined)” judge.

  If it is determined in step S15 that it is “not a road entry position” (NO in S15), the images taken by the left and right cameras are set to non-display (S19).

If it is determined in step S15 that it is “road entry position” (YES in S15), the direction of the approach destination road acquired in step S01 and the left and right camera imaging directions determined from the vehicle body direction also acquired in step S01 Are compared to determine whether or not both are in a matching state or out of matching state.
This will be described with reference to FIG. A reference angle that provides a reference for determining whether the vehicle is in the match state or out of the match state, that is, the extension direction Da (or Db) of the approach destination road and the optical axis La (or Lb) of the blind corner camera BCC The allowable range of the misalignment angle is determined in advance as an angle range that can be captured by the blind corner camera BCC in consideration of the viewing angle θa (or θb) of the blind corner camera BCC, and is held in the system. To do. That is, when the deviation angle is within the allowable range, it is determined to be in a matching state, and when the deviation angle is outside the allowable range, it is determined to be out of the matching state. In the figure, La1, La0, Lb1, and Lb0 are, in order, the right visual field front limit, the right visual field rear limit, the left visual field front limit, and the left visual field rear limit. Is decided.

FIG. 3A shows a case where the vehicle body is facing the direction along the current road R2.
In this case, the angle αa formed by the right optical axis La of the blind corner camera BCC and the right road extending direction Da of the approach destination road R1 is larger than the reference angle. Therefore, in this case, it is determined that “the direction of the right road is not in agreement” (NO in S21), and the right camera image is not displayed and a warning that the right road cannot be displayed is issued (S25). ). The warning may be given by voice instead of or together with the display.
In this case, the angle αb formed by the left optical axis Lb of the blind corner camera BCC and the left road extending direction Db of the approach destination road R1 is larger than the reference angle. Therefore, in this case, it is determined that “the direction of the left road is not in agreement” (NO in S31), and the left camera image is not displayed and a warning that the left road cannot be displayed is issued (S35). ). The warning may be given by voice instead of or together with the display.

FIG. 3B shows a case where the vehicle body is inclined with respect to the direction of the current road R2 in order to advance in the approach direction (right road direction) (when substantially perpendicular to the approach destination road).
In this case, the angle αa formed by the right optical axis La of the blind corner camera BCC and the right road extending direction Da of the approach destination road R1 is equal to or smaller than the reference angle. Therefore, in this case, it is determined that “the direction of the right road is in a matching state” (YES in S21), and the image of the right camera is displayed (S23).
In this case, the angle αb formed by the left optical axis Lb of the blind corner camera BCC and the left road extending direction Db of the approach destination road R1 is equal to or smaller than the reference angle. Therefore, in this case, it is determined that “the direction of the left road is in a matching state” (YES in S31), and the image of the left camera is displayed (S33).

FIG. 4A shows the case of FIG. 3B (when both left and right can be displayed), and FIG. 4C shows the case of FIG. 3A (when both left and right cannot be displayed).
FIG. 4B shows a case where only the left road can be displayed and the right road cannot be displayed. Such a situation occurs when the approach road R1 is an approach position (intersection position) and the right road or the left road is bent forward or backward. That is, in such a case, either the left or right cannot be displayed even if the vehicle body is along the current road R2 or is inclined with respect to the current road R2. As shown in 4 (b), only the left road is displayed, or only the right road is displayed (not shown).

The block diagram which shows the input / output of the signal of the vehicle periphery starting apparatus of embodiment. The flowchart which shows the blind corner camera process of the vehicle periphery monitoring apparatus of embodiment. Explanatory drawing of the relationship between extension direction Da / Db of approach destination road R1, and optical axis La / Lb of the blind corner camera BCC in the vehicle body direction with respect to the present road R2. Explanatory drawing of display / non-display and warning of approach right road / left road.

Explanation of symbols

La Blind corner camera optical axis (right)
Lb Blind corner camera optical axis (left)
Da Entry road extension direction (right)
Db Entry road extension direction (left)
C Automobile BCC Blind corner camera

Claims (4)

A vehicle periphery monitoring device having a function of displaying on a display device each captured image of a camera installed in a vehicle so as to be able to photograph the left and right of the front part of the vehicle,
Vehicle body orientation detection means for detecting the vehicle body orientation of the vehicle in which the camera is installed;
Current position detecting means for detecting the current position of the vehicle in which the camera is installed;
Road information acquisition means for acquiring road information of an approach road determined from the current position detected by the current position acquisition means;
A matching state inspection unit for examining a matching state between the left and right camera imaging directions determined from the vehicle body direction detected by the vehicle body direction detection unit and the right and left road extending directions of the approach destination road acquired by the road information acquisition unit;
Display control means for displaying on the display device a photographed image in a direction determined to be in a matching state based on a determination based on a result of checking by the matching state inspection means;
A vehicle periphery monitoring device comprising: In claim 1,
The display control means sets the captured image in the direction determined to be out of the match state by the determination based on the result of the check by the match state inspection means to be hidden,
A warning output means for outputting a warning that an image in a direction determined to be out of the matching state by the determination based on the result of checking by the matching state inspection unit is not displayed;
The vehicle periphery monitoring apparatus characterized by the above-mentioned. In claim 1 or claim 2,
The vehicle body direction detection means uses a gyro sensor as a detection element.
The vehicle periphery monitoring apparatus characterized by the above-mentioned. In any one of Claims 1-3,
Inspection control means for setting the processing by the matching state inspection means only when the approach road is determined from the current position detected by the current position detection means,
The vehicle periphery monitoring device further comprising:

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