JP2007210460A - Display device for vehicle and image display control method for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To control a display position on a display device displaying the images of right and left sides of the front end of a vehicle photographed by an on-vehicle camera when a vehicle approaches an intersection. <P>SOLUTION: An intersection discriminating means 15 discriminates the presence/absence of entry to an intersection using the road map information on the periphery of a current position of a vehicle obtained by a navigation device 13 and the vehicle information showing the traveling condition and the operating status of the vehicle collected by a vehicle information collecting means 12, an image control means 11 determines the display position on the display device 16 of the images of right and left sides of the front end of the vehicle photographed by the on-vehicle camera 16 to decrease the movement of a driver's visual line using result of the above discrimination and the distance to an obstacle in the periphery of the vehicle measured by a vehicle periphery sensor 14, and a camera image switching device 17 sets the position for displaying the image on the display position determined by the image control means 11 and displays the image on the display device 18. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle display device and a vehicle image display control method, and more particularly to a vehicle display device and a vehicle image display control method capable of controlling the display position of an image captured by an in-vehicle camera.

As a conventional technique, for example, as described in Japanese Patent Application Laid-Open No. 9-58343 “Nose View Device for Vehicle” shown in Patent Document 1, an approach to an intersection is determined using information on a navigation device and a vehicle speed, There is a technique for displaying an image on the left and right sides of the front end of the vehicle using a camera attached to the front of the vehicle.
JP-A-9-58343

  However, in the conventional technology as described above, the position of displaying the left and right side images of the front end of the vehicle is always the same position. Therefore, when checking the left and right safety of the vehicle using the images, There is a problem that the line of sight has to be greatly moved from the visual confirmation direction to the image display position.

  In order to solve such a problem, the present invention detects the left and right road margins (that is, the remaining road width), estimates the left and right visual confirmation directions when entering the intersection, and visually checks the display position of the video. By setting the direction to coincide with the confirmation direction, an object is to reduce the amount of line-of-sight movement when confirming the left and right safety of the vehicle using the video.

  In order to solve the above-mentioned problems, the present invention uses a determination result of determining the presence or absence of an intersection approaching on a traveling road by a navigation device, and a measurement result of measuring a distance to an obstacle around the vehicle by a vehicle surrounding sensor. Thus, the display position on the display device for displaying the image on the left and right sides of the front end of the vehicle photographed by the in-vehicle camera is determined, and the image is displayed at the determined display position.

  According to the vehicle display device and the vehicle image display control method of the present invention, when the vehicle approaches the intersection, the display position on the display device that displays the image of the left and right sides of the vehicle front end taken by the in-vehicle camera can be controlled. Therefore, the following effects can be achieved.

  In other words, when the vehicle approaches the intersection, the display positions of the left and right images of the front end of the vehicle taken by the in-vehicle camera are visually determined by the driver according to the detection result of the situation around the vehicle (such as the margin of the left and right roads of the vehicle). Since it is possible to set the direction based on the confirmation direction, the left and right images can be displayed at the display position where the amount of movement of the driver's line of sight is minimized according to the driving state. It is possible to confirm the safety of the left and right by visually recognizing the video without accompanying any significant movement.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a vehicle display device and a vehicle image display control method according to the present invention will be described below in detail with reference to the drawings.

(First embodiment)
First, a first embodiment of a vehicle display device and a vehicle image display control method according to the present invention will be described.

  First, an example of the configuration of the vehicle display device according to the present invention will be described with reference to FIG. FIG. 1 is a system configuration diagram showing an example of the basic configuration of the vehicle display device according to the present invention.

  As shown in FIG. 1, the basic configuration of the display device for a vehicle according to the present invention includes a video control means 11, a vehicle information collection means 12, a navigation device 13, a vehicle surrounding sensor 14, an intersection discrimination means 15, and a plurality of electronic type devices. The vehicle-mounted camera 16, the camera video switching device 17, and the display device 18 are included at least.

  The basic configuration of FIG. 1 includes at least a vehicle information collection unit 12, a navigation device 13, and a vehicle surrounding sensor 14 as a vehicle sensor group. The vehicle information collecting means 12 acquires a vehicle signal relating to the vehicle running state and operation status (driving operation amount) such as vehicle speed, steering angle, accelerator opening, brake ON / OFF switch, gear position, blinker, etc. The vehicle information collection step for outputting to the intersection determination means 15 is realized. The navigation device 13 acquires road map information and host vehicle position information around the current position of the host vehicle and outputs the information to the intersection determination unit 15.

  The vehicle surrounding sensor 14 is constituted by a sensor represented by an ultrasonic sensor or a millimeter wave radar, and is a vehicle surrounding sensing step capable of measuring a distance to an obstacle existing in the range of several tens of centimeters to several tens of meters around the vehicle. Is realized. The vehicle surrounding sensor 14 outputs the measured distance to the obstacle to the video control means 11 as an obstacle detection signal.

  In the basic configuration of FIG. 1, the intersection determination unit 15 uses the vehicle signal (vehicle information) from the vehicle information collection unit 12 and the signal related to the road map information around the vehicle position from the navigation device 13. Detect whether there is an approaching intersection on the road, and control the video as an intersection approach detection signal when the vehicle approaches a predetermined distance before the intersection, for example, several tens of meters to a few ten meters The intersection discrimination step output to the means 11 is realized.

  When an intersection approach detection signal indicating that the vehicle is approaching the intersection is input from the intersection determination unit 15, the image control unit 11 detects the intersection indicated by the intersection approach detection signal, and detects an obstacle from the vehicle surrounding sensor 14. The measurement result indicated by the signal is used to determine the display positions of the left and right side images of the front end of the vehicle on the display device 18 and to detect the approach timing to the intersection, A video control step of generating a video switching command for switching a display position, a display range, and the like and outputting the command to the camera video switching device 17 is realized.

  The camera video switching device 17 provides camera video switching means for switching the display position and display range of the video shot by the in-vehicle camera 16 in response to a video switching command from the video control means 11. Set the display position and display range of the output video (video on the left and right sides of the vehicle front end) from the in-vehicle camera 16 attached to the side, convert the video to the viewpoint, The camera image switching step for displaying the image at the set display position on the display device 18 is realized.

  Next, a specific hardware configuration in the basic configuration example of the vehicle display device in FIG. 1 will be described with reference to FIG. FIG. 2 is a block diagram showing an example of the hardware configuration of the display device for a vehicle according to the present invention, and shows an example of a specific configuration for each device in the basic configuration shown in FIG.

  As shown in FIG. 2, each device constituting the vehicle display device according to the present invention is connected to an in-vehicle LAN (Local Area Network) 10 and transfers data to and from a designated device. It is possible.

  The navigation device 13 includes at least a host vehicle position measurement device 131, road information acquisition means 132, a map database (DB: DataBase) 133, an antenna 134, and an infrastructure receiver 135.

  The own vehicle position measuring device 131 measures the current position of the own vehicle, and measures the current position of the own vehicle by using GPS (Global Positioning System), autonomous navigation by a gyro, etc. Are output to the road information acquisition means 132 and the intersection determination means 15. In addition, as the own vehicle position measuring device 131, a mobile phone equipped with a GPS antenna and a receiver may be used.

  Further, the road information acquisition unit 132 performs matching on the road recorded in the map data of the map database 133 based on the own vehicle position information indicating the positioning result of the own vehicle position from the own vehicle position measuring device 131. The road map information around the host vehicle is acquired and output to the intersection determination means 15.

  The map database 133 is a database in which map data including roads for driving the vehicle is accumulated, and is configured by a storage medium such as a DVD or HDD, for example.

  Furthermore, an antenna 134 and an infrastructure receiver (converter) 135 for receiving information from an information providing infrastructure for a narrow range such as a beacon installed on a road and an information providing infrastructure for a wide range such as FM multiplex broadcasting are also provided. .

  Next, as the vehicle information collecting means 12, for example, information on vehicle behavior such as vehicle speed, lateral acceleration, and yaw rate, steering angle, accelerator opening, brake, etc. from various sensor devices via the in-vehicle LAN 10 such as CAN. The operation status related to the driving operation amount such as the SW signal, the gear position, the winker, and the hazard SW is acquired and output to the intersection determination unit 15 as a vehicle signal.

  The vehicle surrounding sensor 14 includes, for example, an ultrasonic sensor 141 and a millimeter wave radar 142 attached to the left and right corners of the front and rear bumpers of the vehicle, and is present in a range of several tens of centimeters to several tens of meters around the vehicle. The distance to the object is measured and output to the video control means 11 as an obstacle detection signal. Note that the millimeter wave radar 142 used here has a wide detection angle of 90 degrees or more, is suitable for detecting obstacles at a short distance up to a measurable distance of tens of meters, and can be mounted inside the bumper.

  The intersection determination unit 15 includes at least a vehicle information reading unit 151, a navigation information reading unit 152, an intersection extraction unit 153, and an intersection entry determination unit 154.

  The vehicle information reading unit 151 reads vehicle information included in the vehicle signal transmitted from the vehicle information collecting means 12, and the navigation information reading unit 152 is a vehicle position transmitted from the navigation device 13. It reads information and road map information around the vehicle location.

  The intersection extraction unit 153 is necessary for switching the display position and display range of the video imaged by the in-vehicle camera 16 based on the road map information around the vehicle position read and acquired by the navigation information reading unit 152. Is to extract the intersection information. In addition, the intersection approach determination unit 154 approaches the vehicle to a predetermined distance from before the intersection based on the vehicle information acquired by the vehicle information reading unit 151 and the intersection information extracted by the intersection extraction unit 153. It is provided with a logic that determines whether or not the vehicle is approaching and outputs intersection approach information indicating that the vehicle is approaching the intersection to the video control means 11.

  Next, the image control means 11 is configured to include an image display position / display range command unit 111, and information indicating the approach of the intersection from the intersection determination means 15, the distance from the vehicle surrounding sensor 14 to the obstacle. According to the measurement result, there is provided a logic for outputting a command value of the video display position and display range to the camera video switching device 17 as a video switching command. That is, when the vehicle reaches the predetermined distance before the intersection on the traveling road and is notified from the intersection discrimination means 15 that the vehicle approaches the intersection, an obstacle detection signal that is a measurement result of the vehicle surrounding sensor 14 is sent. By receiving, the distance to the obstacle existing in the range of several tens of centimeters to several meters around the vehicle is acquired, and the display position of the image captured by the in-vehicle camera 16 according to the distance to the obstacle, For the display range and the like, a video switching command for determining a command value to be switched is generated and output to the camera video switching device 17. Here, the display position designated as the video switching command designates the position in the horizontal direction (left-right direction) on the vertical center line on the display device 18 for displaying the video on the left and right sides of the front end of the vehicle.

  Note that the present invention is not limited to the configuration shown in FIG. 2. For example, the hardware configurations of the intersection determination unit 15 and the video control unit 11 are each made into one independent arithmetic unit having the functions described above. A combined configuration may be used. Further, for example, the functions of the vehicle information reading unit 151, the navigation information reading unit 152, the intersection extraction unit 153, and the intersection entry determination unit 154 in the intersection determination unit 15 may be integrated in the navigation device 13. However, the functions of the video control means 11 may be collectively provided in the camera video switching device 17, and the functions may be distributed and arranged in a plurality of arbitrary devices, or conversely, the functions may be integrated in a certain device. You may comprise as follows.

  Next, as shown in the on-vehicle camera arrangement example of FIG. 2, for example, the camera video switching device 17 converts the video signals captured by the on-vehicle cameras 16 attached to the left and right ends of the vehicle front bumper to the left and right front ends of the vehicle. The display position and display range are converted into a video image in a range necessary for the side confirmation, and the video is output to the display device 18.

  Examples of the configuration of the display device 18 include a wide display 181 configured with a plurality of liquid crystal displays from the lower part of the right A pillar to the center console through the upper part of the meter instrument panel and the vicinity of the passenger seat dashboard, or from the instrument panel to the left end of the passenger seat. A horizontally long monitor such as a horizontal monitor (horizontal display) 182 that uses a single display as a display.

  Next, the operation of the vehicle display device of the present invention shown in FIGS.

  The map data stored in the map database 133 of the navigation device 13, that is, road map information, is usually a node (position coordinates of a point where there is a branch road such as an intersection or JCT) and a complementary point (a point for drawing a road curvature). Point data) and link data connecting nodes.

  Each of the point data and the link data has attribute information. Examples of link data attributes include road type, road width, and number of lanes. On the other hand, examples of point data attributes include presence / absence of traffic lights and entrances / exits of tunnels.

  By utilizing these information recorded as road map data in the map database 133, the driver (driver) extracts an intersection with a bad prospect that needs assistance by displaying images on the left and right sides of the front end of the vehicle. Become.

  Note that in order to estimate an intersection with poor visibility, only the intersection satisfying one or more of the following conditions is extracted, and only when the intersection corresponds to the extracted intersection, the camera video A video switching command for the switching device 17 may be output.

(1) When the road at the current position of the vehicle corresponds to a road of a lower priority than the “main general road” in the road type shown in FIG. 2) When the number of lanes of the road at the current position of the own vehicle is equal to or less than a predetermined number of lanes, for example, 1 or less. (3) The road width of the road at the current position of the own vehicle is equal to or less than a predetermined road width. FIG. 3 is a road type table for explaining an example of the ranking of the main degree for each road type. The road type having a lower degree of priority (priority) than “main general road” For example, general roads and narrow streets are applicable. The condition for estimating the intersection with poor visibility is not limited to such a case. For example, when the intersecting road is a road type having a higher priority than the vehicle traveling road, the display device 18 is used. Different conditions may be set, such as outputting a video switching command for instructing switching of the video display to the designated display position above, or instead of the “main general road” shown in FIG. It may be a road that is less important than a prefectural road.

  Next, an operation for determining the display positions of the left and right images of the vehicle front end when entering the intersection will be described with reference to FIG. FIG. 4 is a conceptual diagram for explaining the concept of changing the image display position according to the margin on the left side of the vehicle (the remaining road width). Show. FIG. 4 shows a situation where there is no margin on the left side of the vehicle in the order of FIG. 4 (A), FIG. 4 (B), and FIG. 4 (C), and FIG. FIG. 4C is in a situation where the vehicle is traveling toward the left side and is traveling toward the right side of the road with a margin on the left side.

  Here, in order to minimize the movement of the line of sight and allow the driver to check the image, the line-of-sight direction in which the left and right ends of the intersection entrance are to be visually confirmed is near the center of the image display position p. It is necessary to let it pass. For example, when confirming the left end of the intersection entrance, as shown in FIG. 4A, in the situation where the vehicle is approaching the wall near the road on the left side of the vehicle, the line of sight to the left end of the intersection entrance is displayed on the display device 18. For example, the horizontal display 182 passes through the vicinity of the center of the horizontal display 182, so that the display position p of the image is set at the substantially central position of the display device 18, and as shown in FIGS. Since the line of sight with respect to the left end of the intersection entrance passes through the left side of the display device 18 as the distance from the side wall increases, the image display position p is moved in the horizontal direction of the display device 18 to be closer to the left end. Will be.

  In other words, the display positions on the left and right sides of the front end of the vehicle are determined according to the margin of the road on the left and right of the vehicle (remaining road width) at the time of entering the intersection where it is determined that the vehicle has entered the intersection. Here, the intersection entry time point can be regarded as a time point when it is determined that the front end of the vehicle front bumper has reached the intersection entrance.

  An example of an outline of a method for calculating by moving the left and right display positions p of the video in the horizontal direction will be described with reference to FIG. FIG. 5 is a conceptual diagram showing an example of a method for moving and setting the left and right display positions p in the horizontal direction according to the margin on the side of the vehicle (the remaining road width).

  As illustrated in FIGS. 5A1 and 5A2, first, the left and right visual confirmation positions of the driver at the time of stopping are estimated at the intersection entrance. Here, using the eye point of the driver as a reference, the distance LT from the eye point to the front bumper front end and the distances Dl and Dr from the eye point to the left and right ends (walls) of the road are used to move to the left and right ends of the intersection entrance. The line-of-sight directions θl and θr are respectively determined. The angles θl and θr indicating the line-of-sight direction are shifted from the front direction to the left and right as the road width increases as shown in FIG. 5A2 than when the road width is narrow as shown in FIG. 5A1. The angles θl and θr increase.

  Next, as illustrated in FIGS. 5B1 and 5B2, a display position p for displaying an image for previewing the intersection on the display device 18 is calculated and set. Here, the intersections Xl and Xr between the left and right gaze directions for visually confirming the intersection and the horizontal center line of the display device 18 are calculated, and the obtained intersections Xl and Xr are set as the centers of the left and right video display positions p. To do. When the road width in FIG. 5 (B1) is narrow, the display position p of the left and right images is located near the vertical center line of the display device 18, but the road width becomes wide and the intersection is visually confirmed. As the angles θl and θr indicating the left and right line-of-sight directions increase, the intersections Xl and Xr of the left and right line-of-sight directions and the horizontal center line of the display device 18 are more outward from the vertical center line of the display device 18 (more Left and right).

  When the position of the intersection point Xl or Xr is further outside the left and right ends of the display device 18, the video display position p is fixed to the left end or the right end of the display device 18. 5B1 shows an example in which the intersection Xr is further outside the right end of the display device 18, and the display position p of the right video is set to the right end of the display device 18. FIG. The display position p is set so that the center of the display area for displaying the left and right images of the front end of the vehicle is aligned with the display positions Xl and Xr of the left and right images calculated by the above method.

  In addition, the video display position p is not set to a free position in the display device 18, and a limited number of specific display positions in the display device 18 (a specific limited display position with a predetermined number of levels). Next, the case of limiting to will be described with reference to FIG. FIG. 6 is a conceptual diagram showing an example when the video display position p is set to be limited to a specific number of stages in the display device 18.

  In the example shown in FIG. 6, in the lateral direction of the display device 18, the display range located around the driver from the lower part of the right A pillar through the upper part of the meter instrument panel to the center console is constituted by three LCDs, and the passenger seat An example of a wide display in which the upper side of the dashboard on the side is composed of two horizontally long LCDs will be described.

  For the three LCDs that make up the display range around the driver, secure the range for displaying alarms, etc., at the position Xr3 when using the right LCD, and when using the middle LCD located above the meter instrument panel When the left LCD is used for either of the positions Xr1 and Xr2, the display position is limited to one of the positions Xl1 and Xl2 in which a range for displaying the navigation map screen is secured. On the other hand, for the two horizontally long LCDs constituting the display range above the dashboard on the passenger seat side, the display position is limited to any one of the positions Xl3, Xl4, and Xl5 that secure the range for displaying a screen such as a TV or DVD. .

  Note that, when a screen such as TV or DVD is not displayed, the display position may be continuously changed between Xl3 and Xl5. Further, among the specific limited display positions of the positions X11 to X15 and the positions Xr1 to Xr3, as described with reference to FIG. 5, the determination is based on at least the determination result of the intersection determination means 15 and the measurement result of the vehicle surrounding sensor 14. The limited display position of which the absolute value of the difference between the left and right video display positions Xl and Xr is the smallest value (that is, the closest position) is selected as the left and right video display position. Set. The details of the calculation method of the left and right video display positions Xl and Xr will be further described in the flowchart of FIG.

  The video display start time at the video display position set here is the time when the front bumper of the vehicle reaches a position before a predetermined distance ΔL just before reaching the intersection entrance, and then the intersection After entering the intersection, the display position once set at the time of entering the intersection (when the front end of the vehicle front bumper reaches the intersection entrance) is not changed after entering the intersection. When a predetermined distance is advanced or acceleration is detected, the video is displayed at a fixed display position until the video display is completed. As a result, it is possible to avoid the annoyance that the direction in which the driver visually recognizes the display position of the image fluctuates in an intersection where the driver needs further attention for safety confirmation.

  Next, an example of a detection method for detecting that the front bumper of the vehicle has approached immediately before the intersection entrance will be described with reference to FIG. FIG. 7 is a conceptual diagram illustrating an example of a detection method for detecting a time point (timing) immediately before a vehicle enters an intersection. As shown in FIG. 7, among the measurement results of the vehicle surrounding sensor 14 (distance sensor) attached to the left corner of the front bumper of the vehicle, the distance dl (m) to the obstacle in the right lateral direction of the front bumper of the vehicle and the front bumper of the vehicle Two distances dl2 (m) from the right side to the obstacle diagonally to the left front by a preset angle θs are used.

In the case of FIG. 7A in which the vehicle is still in front of the intersection, the wall on the left side road of the vehicle continues not only in the left direction just beside the vehicle but also in the diagonally forward direction from the right side of the vehicle front bumper by an angle θs. ,
dl = dl2 * cosθs
The relationship is established.

On the other hand, in the case of FIG. 7B in which the front end of the front bumper of the vehicle reaches the entrance of the intersection, the diagonally forward left direction by an angle θs from the side of the front bumper of the vehicle deviates from the wall of the left road of the vehicle and enters the intersection. Since only dl2 becomes a greatly increased distance,
dl <dl2 * cos θs
This relationship is established. Therefore, it is only necessary to detect the timing at which this relationship is established.

  In order to detect the distances dl and dl2 from the vehicle front bumper right side left direction and the vehicle front bumper right side to the obstacles in the diagonally left front direction by an angle θs, for example, the ultrasonic sensor 141 is positioned near the left corner of the front bumper. May be attached one by one in each direction, or when using the millimeter wave radar 142 for short distance measurement near the left corner of the front bumper, the center of the detection range is It is also possible to scan from the left to the left diagonally forward by a predetermined angle θs.

  Here, the obliquely forward angle θs, that is, the scanning angle θs, is from transmission of a video switching command (command including a display position and a command value of a display range) to the camera video switching device 17 until a video is displayed on the display device 18. In consideration of the time lag Td (sec) of the vehicle, the vehicle speed Va (m / s) when approaching the intersection is also taken into consideration, and the higher the vehicle speed Va (m / s), the larger the angle is set. You may do it.

  Further, in order to detect a position just a predetermined distance ΔL (m) from the entrance of the intersection, the larger the measurement result of the distance dl to the obstacle in the lateral direction of the vehicle front bumper (that is, the margin on the lateral side of the vehicle) is larger. The scanning angle θs may be set to a small angle.

  In order to set the scanning angle θs so as to satisfy these two conditions, the following equation may be used.

θs = arctan (ΔL / dl)
Here, ΔL = Va * Td
That is, the scanning angle θs is variably set according to the vehicle speed Va (m / s) and the margin of the road just beside the vehicle.

  A specific processing flow relating to the control of the display position of the video as described above will be described with reference to the flowchart of FIG. FIG. 8 is a flow chart for explaining an example of the flow of the video display method in the vehicle display device according to the present invention, that is, the vehicle video display control method. The operation of the flowchart shown in FIG. 8 may be started every predetermined time interval (for example, 1.0 [s]) in the intersection determination unit 15 of FIG. You may make it start whenever it travels a distance (for example, 100 m). Further, the operation of FIG. 8 can be realized as a video display control program by program logic. When the intersection discriminating means 15 is also realized by program logic, the operation of the video display method shown in FIG. 8 is started by the main program of the intersection discriminating means 15.

  In the flowchart of FIG. 8, the intersection determination unit 15 first reads the road map information around the host vehicle transmitted from the navigation device 13 by the navigation information reading unit 152, and points data on the road in the traveling direction of the host vehicle, Link data is acquired (step S111). Based on the acquired point data and link data on the road in the traveling direction of the own vehicle, the intersection extraction unit 153 extracts information on the nearest intersection existing on the road in the traveling direction of the own vehicle, and calculates the distance to the intersection. calculate.

  With reference to the distance to the nearest intersection calculated by the intersection extraction unit 153 and the vehicle information from the vehicle information collection unit 12 acquired by the vehicle information reading unit 151, the intersection entry determination unit 154 Is determined to approach a predetermined distance from the front of the intersection (step S112).

  Here, the predetermined distance is determined based on the estimated arrival time until the vehicle enters the intersection calculated from the traveling speed of the host vehicle obtained as vehicle information from the vehicle information collecting unit 12. Is. For example, when the vehicle is traveling at a traveling speed of 40 km / h, the positioning error of the own vehicle position measuring device 131 (for example, a GPS system) in the navigation device 13 is taken into consideration as securing an estimated arrival time of about 2 seconds. For example, 20 m.

  In step S112, if the host vehicle is less than or equal to the predetermined distance (YES in step S112), the fact that the vehicle is approaching an intersection is displayed in order to display an image around the host vehicle at an appropriate display position on the display device 18. The intersection approach information shown is output to the video display position / display range command unit 111 of the video control means 11.

  The video display position / display range command unit 111 that has received the intersection approach information exists in the range of several tens of centimeters to several meters around the vehicle by receiving an obstacle detection signal that is a measurement result of the vehicle surrounding sensor 14. The distance to the obstacle to be acquired is acquired, and it is detected whether or not the front bumper front end of the vehicle has reached the intersection entrance (step S113).

  Here, as a specific detection method for detecting the timing (timing) at which the front end of the front bumper of the vehicle approaches the entrance of the intersection, as shown in FIG. 7, the vehicle surrounding sensor 14 attached to the left corner of the front bumper is used. The distance dl (m) to the obstacle (wall) in the left-right direction of the front bumper of the vehicle and the distance dl2 (m) to the obstacle (wall) diagonally to the left front by an angle θs from the side of the vehicle front bumper , And the first time point when the relationship between the distance dl (m) and the distance dl2 (m) starts to satisfy the following inequality may be used. That is, the first time point when the following inequality relationship is established is determined as the time point when the front end of the front bumper of the vehicle starts to enter the intersection entrance, and an image around the vehicle is displayed on the display device 18 for safety confirmation. .

dl <dl2 * cos θs
In step S113, when it is detected that the front bumper front end of the vehicle has reached the intersection entrance (YES in step S113), the video display position / display range command unit 111 measures the distance to the obstacle on the left and right sides of the vehicle. Accordingly, the display positions for displaying the left and right images of the front end of the vehicle photographed by the in-vehicle camera 16 on the display device 18 are calculated, and the display position and display range on the display device 18 are designated. A switching command is generated and output to the camera video switching device 17 (step S114).

  Here, as a specific calculation method for calculating the display position and display range for displaying the video on the display device 18, for example, the calculation method as shown in FIG. 5 described above may be used. A specific example of the calculation method will be described in detail. FIG. 9 is a conceptual diagram illustrating an example of a specific calculation method for calculating a display position for displaying an image on the display device 18.

  As shown in FIG. 9, the following relationship is established with the average eyepoint of Japanese drivers as the reference eyepoint.

tan θl = (WL + dl) / LT = Xl / D
tan θr = (WR + dr) / LT = Xr / D
Here, θl and θr are angles formed with the vehicle front direction in the line-of-sight direction for visually confirming the vehicle front bumper left end direction and the vehicle front bumper right end direction from the reference eye point of the driver, respectively. WL (m) and WR (m) are distances corresponding to the respective lateral widths of the vehicle from the reference eye point of the driver to the left side of the vehicle and the right side of the vehicle, and D (m) is the driver. The distance from the reference eye point to the horizontal center line of the display device 18.

  LT (m) is a distance from the reference eye point of the driver to the front end of the vehicle front bumper, and is a fixed value determined from the vehicle body dimensions. It should be noted that dl (m) and dr (m) are the distances to obstacles in the left lateral direction and right lateral direction detected by the vehicle surrounding sensor 14 attached to the left and right corners of the vehicle front bumper, respectively. The distance is a variable value according to the running state of the vehicle.

  Therefore, the video display position Xl (m) on the left side of the vehicle front end and the video display position Xr (m) on the right side of the vehicle front end can be calculated based on the following formulas (1) and (2).

Xl = D * (WL + dl) / LT (1)
Xr = D * (WR + dr) / LT (2)
In step S114, the camera video switching device 17 that has received the video switching command output from the video display position / display range command unit 111 receives the vehicle based on the display positions Xl and Xr instructed by the video switching command. The display position of the image captured by the in-vehicle camera 16 on the display device 18 is changed so as to switch the position for displaying the image on the left and right sides of the front end.

  As a result, the display position of the driver with an average viewpoint (eye point) is changed to the position of the line of sight that looks from the left front corner of the vehicle front bumper to the left side front direction and from the right front corner of the vehicle front bumper to the right side front direction. Displayed on the display device 18, the driver can check the video on the display device 18 without changing the line-of-sight direction in which the vicinity of the intersection entrance is visually confirmed.

  As described in detail above, the following effects are obtained in the present embodiment.

  When it is detected that an intersection is approached based on information acquired by the navigation device 13, road conditions (such as the prospect and road width), vehicle conditions, and drive conditions (such as vehicle speed, steering angle, and eye point) around the vehicle are detected. Depending on the detection result, the display positions of the left and right side images of the front end of the vehicle on the display device 18 are set with reference to the driver's line-of-sight direction (visual confirmation direction). Further, it is possible to display an image of the left and right sides of the front end of the vehicle at a position where the driver's line-of-sight movement is minimized.

  Further, when it is detected that the vehicle has approached the intersection based on the information acquired by the navigation device 13, the left and right driver's line of sight at the time of entering the intersection is determined using the estimation result of the left and right margins (remaining road width) of the vehicle. Estimating the direction (visual confirmation direction), and setting the display position of the left and right images of the vehicle front end on the display device 18 with reference to the visual confirmation direction of the driver, the left and right visuals when entering the intersection The images on the left and right sides of the front end of the vehicle can be confirmed with a minimum amount of line-of-sight movement from the confirmation direction.

  Furthermore, the left and right visual confirmation directions when entering the intersection are based on the time when the front bumper front end of the vehicle approaches the intersection entrance, so that the vehicle front end can be accurately matched to the driver's visual confirmation direction when entering the actual intersection. The display positions of the left side image and the right side image can be determined.

  Further, by limiting the display positions of the left and right side images of the front end of the vehicle to a specific number of stages of limited display positions in the display device 18 installed on the instrument panel, the display position on the display device 18 (display device) It is possible to cope with the above-mentioned restriction conditions, and it is possible to minimize the influence on the display position of other contents such as TV and alarm.

  In addition, the display position of the image on the left and right sides of the front end of the vehicle determined immediately before entering the intersection is not changed even after entering the intersection, so that the display position of the image moves after entering the intersection. Annoyance can be prevented.

  Furthermore, when the display start timing of the left and right side images of the front end of the vehicle is set to a point when the front end of the front bumper of the vehicle reaches a predetermined distance from the entrance of the intersection, the in-vehicle camera attached to the front end of the vehicle The video display can be started at the timing when the video necessary for safety confirmation can be acquired.

  Furthermore, by estimating the road shape of the road using the road width, the number of lanes, or the road type at the current position of the vehicle, for example, an intersection with a narrow road width such as a residential area and a poor view. In addition, the video can be displayed only when the left and right side images of the front end of the vehicle are required for safety confirmation.

  Furthermore, the timing at which the front end of the vehicle front bumper enters the intersection can be accurately detected by using the measurement result obtained by measuring the distance to the obstacle both on the side of the vehicle and obliquely forward of the vehicle.

  Furthermore, the timing at which the front end of the front bumper is considered to have entered the intersection can be adjusted according to the approach speed of the vehicle to the intersection by changing the measurement angle obliquely forward of the vehicle according to the vehicle speed. In addition, by setting the measurement angle in front of the vehicle according to the distance to the obstacle directly beside the vehicle side, it is possible to accurately detect that the front end of the front bumper has reached a predetermined distance from the entrance of the intersection. be able to.

(Second Embodiment)
Next, a second embodiment of the vehicle display device and the vehicle image display control method according to the present invention will be described. In the present embodiment, the display position Xl of the image on the left side of the vehicle front end on the display device 18 and the display position Xr of the image on the right side of the vehicle front end on the display device 18 according to the sliding position and the reclining angle of the driver seat. An example is described in which the reference eye point position of the driver used when calculating is corrected in the vehicle body longitudinal direction (front-rear direction).

  As a configuration of the vehicle display device in the present embodiment, as compared with the system configuration in FIG. 1 in the first embodiment, the front-rear sliding amount of the driver seat and the reclining angle of the seat back as indicated by a broken line in FIG. The sheet position detecting means 19 for realizing the sheet position detecting step for detecting the above is added. FIG. 10 is a system configuration diagram showing an example different from FIG. 1 of the basic configuration of the vehicular display device according to the present invention, and shows a system configuration in the second embodiment.

  The operation of the sheet position detection means 19 newly added in the present embodiment will be described below with reference to FIG. FIG. 11 is a conceptual diagram for explaining an example of a change in the seat position of the driver's seat, and shows a sliding amount in the front-rear direction of the driver's seat and a reclining angle of the driver's seat back.

  As shown in FIG. 11, the backward slide from the reference position (reference sheet position) of the seat at the reference eye point of the driver is defined as + side, the slide amount is Δs (m), and the reference angle θ at the reference eye point is determined. When the rearward inclination is set to the + side and the reclining angle is set to Δθ, when such a change in the seat position of the driver's seat is detected by the seat position detecting means 19, the seat position detecting means 19 It is sent to the video control means 11.

  In the image control means 11 that has received the seat position change information such as the slide amount Δs (m) and the reclining angle Δθ as described above from the seat position detection means 19, the display position of the image on the display device 18 on the left side of the front end of the vehicle. X1 and the reference eye point position used when calculating the display position Xr on the display device 18 of the image on the right side of the front end of the vehicle are corrected based on the seat position change information. A specific method for correcting the reference eye point position is as follows.

  Here, if θ is the reclining reference angle of the seat back at the reference eye point and LS is the length from the seat back rotation center to the headrest at the reclining, the driver's A movement amount Δle by which the eye point moves backward from the position of the reference eye point is given by the following equation.

Δle = LS × {cos θ−cos (θ−Δθ)}
Further, when the seat is moved backward by the slide amount Δs (m) from the position of the reference eye point while being tilted by the reclining angle Δθ, the total of the driver's eye point moving backward from the position of the reference eye point The movement amount ΔSP is given by the following equation.

ΔSP = Δs + Δle
Therefore, when the seat position change information as described above is detected by the seat position detecting means 19, the display position X1 of the image on the left side of the front end of the vehicle and the image on the right side of the front end of the vehicle are displayed on the display unit 18. The expressions (1) and (2) shown in the first embodiment for calculating the display position Xr are corrected as follows. That is, in the above formulas (1) and (2), the distance LT (m) from the driver's reference eye point to the front end of the vehicle front bumper and the distance D (m) from the reference eye point to the lateral center of the display device 18 Are corrected to (LT + ΔSP) and (D + ΔSP) by the total movement amount ΔSP (m), respectively, and calculated by the following equations (1A) and (2A), respectively.

Xl = (D + ΔSP) * (WL + dl) / (LT + ΔSP) (1A)
Xr = (D + ΔSP) * (WR + dr) / (LT + ΔSP) (2A)
In the camera video switching device 17 that has received the video switching command to move to the display position Xl and the display position Xr calculated by the formulas (1A) and (2A) from the video control means 11, the video switching command is instructed. Based on the display positions Xl and Xr, the display position on the display device 18 of the image captured by the in-vehicle camera 16 attached to the left and right sides of the front end of the vehicle is changed.

  As a result, even when the seat position of the driver's seat is changed, an average viewpoint (eye point) driver visually observes the left front side direction from the left front corner of the vehicle front bumper and the right front side direction from the right corner of the vehicle front bumper. It is possible to change the display position for displaying the video on the display device 18 with higher accuracy by changing the position to the confirmed gaze direction, and the driver checks the video without changing the gaze direction. be able to.

  Note that the specific processing flow relating to the control of the display position of the image as described above is described in step S114 in the flowchart of FIG. 8 shown in the first embodiment, the image display position Xl (m ) And the video display position Xr (m) on the right side are calculated by adding the correction calculation according to the seat position of the driver's seat as described above, and the case of the flowchart of FIG. This is exactly the same, and redundant description here is omitted.

  As described in detail above, in this embodiment, in addition to the effects in the first embodiment, the following effects can be obtained.

  That is, by detecting the change state of the seat position of the driver's seat and correcting the display positions on the display device 18 for the left and right images of the front end of the vehicle, driving corresponding to the difference in the driver's seat position The video on the display device 18 can be confirmed without significantly changing the direction of the inside line of sight.

(Third embodiment)
Next, a third embodiment of the vehicle display device and the vehicle image display control method according to the present invention will be described. In this embodiment, the overall configuration of the vehicular display device is the same as the system configuration of FIG. 1 in the first embodiment, but the display device 18 as a hardware configuration includes the display device 18 in the first embodiment. Unlike the case of the wide display 181 or the horizontal display 182 arranged at the upper part of the instrument panel or the passenger's seat dashboard as shown in FIG. 2, a head-up display (HUD: Head-Up Display) that can be displayed on the windshield is provided. The case where it is used is described.

  The head-up display (HUD) is infinite so that the driver can view the captured image without refocusing when switching the driver's viewpoint from the external image in front of the windshield to the image captured by the in-vehicle camera 16. The photographed image formed at the point is projected onto a large transparent optical glass, that is, a windshield. When displaying an image on such a head-up display (HUD), the image of the left and right sides of the front end of the vehicle photographed by the in-vehicle camera 16 attached to the left and right ends of the vehicle front bumper is converted from the viewpoint, or the vehicle When the car reaches the intersection, the in-vehicle camera 16 takes a picture of the road that crosses the road on the other side of the road, and the bag also passes through the wall and takes a picture of the other side of the wall. It is also effective to display the image in a form that overlaps the external image in front of the windshield using this head-up display (HUD).

  As a result, as shown in FIG. 12, the image captured by the in-vehicle camera 16 is displayed so as to overlap the field of view of the driver viewing the front front, front left and right from the windshield, so the driver moves the viewpoint The image can be visually recognized without refocusing and refocusing. As an image to be displayed on the head-up display (HUD), for example, a camera is installed at an intersection with poor visibility, and an image obtained by photographing a road side intersecting with the traveling road is transmitted by a radio signal. Can be received by the infrastructure receiver 135 and displayed in the navigation device 13 shown in FIG.

  FIG. 12 is a conceptual diagram for explaining a situation in which an image of a road on the other side of the intersection wall is displayed by a head-up display. FIG. 12 (A) is an image of a road on the other side of the intersection wall. As in the first embodiment, the image is displayed on the horizontal display 182 at the top of the instrument panel. FIG. 12B shows an image of the road on the other side of the intersection wall by a head-up display (HUD). The case where it displays in the HUD display area 183 on a windshield is shown.

  Next, a display method on a head-up display (HUD) used as the display device 18 in the present embodiment will be described below with reference to FIG.

  As shown in FIG. 12B, when the front bumper front end of the vehicle approaches the entrance of the intersection at an intersection with poor visibility such as the left and right sides being walls, the intersection on the other side of the wall intersects. An object on the road is photographed by an in-vehicle camera 16 attached to the front of the front bumper, and is in a line-of-sight direction (viewpoint) from the driver's eyepoint toward the wall corner (intersection entrance), that is, in the first implementation. The video imaged by the in-vehicle camera 16 is converted into a viewpoint and displayed on the HUD display area 183 arranged in the vicinity of the display position calculated in step S114 of the flowchart of FIG.

  In the case of the first embodiment, as shown in FIG. 12A, a similar image is displayed at a display position on, for example, the horizontal display 182 above the instrument panel. As a result, even at an intersection where the line of sight is poor, an image in which the other side of the wall is transparent is displayed on the HUD display area 183 (FIG. 12B) on the windshield and on the horizontal display 182 (FIG. 12). (In the case of (A)).

  A specific viewpoint conversion setting method will be further described with reference to an example shown in FIG. FIG. 13 is a conceptual diagram illustrating an example of a viewpoint conversion method for converting the viewpoint of the video of the road on the other side of the intersection wall.

  First, as shown in FIG. 9 described in the first embodiment, the obstacles in the left lateral direction and right lateral direction of the vehicle body detected by the vehicle surrounding sensor 14 attached to the left corner portion and the right corner portion of the vehicle front bumper. Dl (m) and dr (m), the distance WL, WR from the driver's reference eye point to the side of the vehicle right and left, and the distance LT from the reference eye point to the vehicle front bumper The line-of-sight direction angles θl and θr from the reference eye point to the left end and the right end of the intersection entrance are calculated. As shown in FIG. 9, the calculation formula is as follows.

θl = arctan {(WL + dl) / LT}
θr = arctan {(WR + dr) / LT}
Next, as shown in FIG. 13, a predetermined distance VL (m) (for example, 2 m) is photographed from the left end and the right end of the intersection entrance to a depth direction, that is, an extension direction of each intersecting road. Calculate angles θlv and θrv from the driver's reference eye point at points PVl and PVr, which are advanced by VL (m) in the extending direction of the roads intersecting from the left and right ends of the intersection entrance so as to fall within the image range. To do. The calculation formula is as follows.

θlv = arctan {(WL + dl + VL) / LT}
θrv = arctan {(WR + dr + VL) / LT}
The viewpoint of the video converted from the above θl and θr, θlv and θrv, the viewpoint position is the reference eyepoint, and the viewing direction of the virtual camera is (θl + θlv) / 2
(Θr + θlr) / 2
The projection plane for viewpoint conversion may be set on a plane that is perpendicular to the viewing direction of the virtual camera and passes through the points PVl and PVr.

  The specific processing flow relating to the control of the display position of the video as described above is the first embodiment, except for the processing for performing viewpoint conversion as described above on the head-up display (HUD). 8 is exactly the same as the flowchart of FIG. 8 shown in FIG.

  As described in detail above, in the present embodiment, in addition to the effects in the first and second embodiments, the following effects can be obtained.

  That is, an image of a predetermined range (for example, 2 m) obtained by extending the image captured by a camera attached to the front end of the vehicle so as to be further away from the intersection from the left end and the right end of the intersection entrance on the intersecting road. By displaying the video with the viewpoint changed so that it can be seen from the eye point, the video can be seen so that the state behind the obstacle (wall) existing up to the intersection entrance can be seen through the obstacle. Can be displayed.

(Fourth embodiment)
Next, a fourth embodiment of the vehicle display device and the vehicle image display control method according to the present invention will be described. In the present embodiment, an example of calculating the display position Xl of the image on the left side of the vehicle front end on the display device 18 and the display position Xr of the image on the right side of the vehicle front end on the display device 18 according to the line-of-sight direction of the driver. Explains.

  As a configuration of the display device for a vehicle in the present embodiment, a driver gaze direction detecting step for detecting a gaze direction of the driver as shown by a broken line in FIG. 14 with respect to the system configuration in FIG. 1 in the first embodiment. A driver line-of-sight direction detection means 20 for realizing the configuration is added. FIG. 14 is a system configuration diagram showing an example further different from FIG. 1 of the basic configuration of the vehicle display device according to the present invention, and shows a system configuration in the fourth embodiment. Here, the case where the driver gaze direction detecting means 20 is added to the system configuration of FIG. 1 is shown, but the present invention is not limited to this. For example, the system configuration of FIG. 10 shown in the second embodiment is used. On the other hand, the driver gaze direction detecting means 20 may be added.

  As a specific hardware configuration of the driver gaze direction detection means 20, for example, a system including means (steps) for tracking the movement of the eyeball of the driver using infrared rays, a CCD camera or the like is used to photograph the periphery of the driver's face. Then, a system having means (steps) for extracting an eye image using image processing such as pattern matching and detecting the movement of the eyeball in the extracted eye image can be used.

  Next, the operation of the driver gaze direction detecting means 20 newly added in the present embodiment will be described.

  Among the movements of the left and right gaze directions of the driver detected using the driver gaze direction detecting means 20 during a predetermined time (for example, 3 seconds) after the arrival of the vehicle front bumper at the intersection entrance is detected, The maximum angle at which the left and right gaze directions are maximum with respect to the center line of the driver's seat is extracted, and the left and right maximum angles are respectively observed at the left and right ends of the intersection entrance shown in FIG. 9 of the first embodiment. The visual line angles θl and θr are adopted and corrected. Thus, as in the case of FIG. 9, the left and right display positions of the video on the display device 18 are set to the positions Xl and Xr in the driver's line-of-sight directions θl and θr detected from the driver's reference eyepoint. To do.

  The specific processing flow related to the control of the display position of the video as described above is the same as the processing except for detecting and correcting θl and θr indicating the left and right maximum line-of-sight directions of the driver when entering the intersection. 8 is exactly the same as the flowchart of FIG. 8 shown in the first embodiment, and a duplicate description thereof is omitted here.

  As described in detail above, in the present embodiment, in addition to the effects in the first and second embodiments, the following effects can be obtained.

  That is, using the driver gaze direction detection means 20 by infrared or image processing, the gaze direction at the time of visual confirmation of the driver when reaching the intersection entrance is detected and displayed on the detected gaze direction. By setting the display positions Xl and Xr of the video display device 18 on the left and right sides of the front end of the vehicle, the left and right videos are displayed at positions where the amount of eye movement is minimized according to the driver's visual confirmation behavior. be able to.

  Although the embodiment of the present invention has been described in detail above, the present invention is not limited to the embodiment, and may be implemented in any form without departing from the gist of the present invention. For example, any of the above-described embodiments may be combined and executed.

It is a system configuration figure showing an example of the basic composition of the display for vehicles by the present invention. It is a block block diagram which shows an example of the hardware constitutions of the display apparatus for vehicles by this invention. It is a road classification table for demonstrating an example of the order | rank of the importance for every road classification. It is a conceptual diagram for demonstrating the concept which changes the display position of an image | video according to the margin (remaining road width) of the vehicle left side. It is a conceptual diagram which shows an example of the method of moving and setting the display position of an image | video horizontally according to the margin (remaining road width) of a vehicle side. It is a conceptual diagram which shows an example at the time of restricting and setting the display position of an image | video to the specific several steps in a display apparatus. It is a conceptual diagram explaining an example of the detection method which detects the time immediately before a vehicle approachs an intersection. It is a flowchart for demonstrating an example of the flow of the image | video display method in the display apparatus for vehicles by this invention. It is a conceptual diagram explaining an example of the specific calculation method which calculates the display position which displays an image | video on a display apparatus. It is a system block diagram which shows the example different from FIG. 1 of the basic composition of the display apparatus for vehicles by this invention. It is a conceptual diagram for demonstrating an example of the change of the seat position of a driver's seat. It is a conceptual diagram for demonstrating the condition which displays the image | video of the road beyond the wall of an intersection with a head-up display. It is a conceptual diagram which shows an example of the viewpoint conversion method which converts the viewpoint of the image | video of the road beyond the wall of an intersection. It is a system block diagram which shows the example further different from FIG. 1 of the basic composition of the display apparatus for vehicles by this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... In-vehicle LAN, 11 ... Image | video control means, 12 ... Vehicle information collection means, 13 ... Navigation apparatus, 14 ... Vehicle surrounding sensor, 15 ... Intersection discrimination means, 16 ... Car-mounted camera, 17 ... Camera image switching device, 18 ... Display device 111 ... Video display position / display range command section 131 ... Own vehicle position measurement device 132 ... road information acquisition means 133 ... map database (DB) 134 ... antenna 135 ... infrastructure receiver 141 ... super Acoustic wave sensor, 142 ... millimeter wave radar, 151 ... vehicle information reading unit, 152 ... navigation information reading unit, 153 ... intersection extraction unit, 154 ... intersection entry judgment unit, 181 ... wide display, 182 ... horizontal monitor, 183 ... HUD display area.

Claims (44)

  In a vehicle display device comprising: an in-vehicle camera attached to a position at which at least a left and right side image of a vehicle front end can be photographed; and a display device that displays an image of the vehicle left and right front end side imaged by the in-vehicle camera; A navigation device that acquires road map information around the current position of the vehicle, vehicle information collection means that collects vehicle information indicating the running state and operation status of the vehicle, and a vehicle surrounding sensor that measures the distance to obstacles around the vehicle And intersection determination means for determining the presence or absence of an approaching road on the road using the road map information acquired by the navigation device and the vehicle information collected by the vehicle information collection means, and the intersection determination The display device for the image on the left and right sides of the front end of the vehicle photographed by the vehicle-mounted camera according to the result of determination by the means and the measurement result of the vehicle surrounding sensor Based on the video switching means generated by the video control means and the video control means for generating a video switching command for switching the position for displaying the video at the determined display position on the display device. And a camera image switching means for setting a display position on the display device and displaying an image of the left and right sides of the front end of the vehicle captured by the in-vehicle camera at the display position. Display device.   2. The vehicle display device according to claim 1, wherein the video control unit determines a horizontal position on the display device as a display position for displaying a video on the left and right sides of the front end of the vehicle. Display device.   3. The vehicular display device according to claim 1, wherein the video control means is a limited display of a predetermined number of stages that is limited in advance on the display device as a display position for displaying video on the left and right sides of the front end of the vehicle. A vehicle display device that selects any one of the limited display positions from among the positions.   4. The vehicle display device according to claim 3, wherein the video control unit selects a limited display position from among the limited display positions of a predetermined number of steps, the determination result of the intersection determination unit, The vehicle display device, wherein the limited display position at a position closest to a display position at which an image on the left and right sides of the vehicle front end calculated in accordance with a measurement result of the vehicle surrounding sensor is to be displayed is selected.   5. The vehicle display device according to claim 1, wherein the video control unit is configured to respond to a margin of a road on the left and right sides of the vehicle at the time when the intersection is determined to have entered the intersection by the intersection determination unit. A vehicle display device that determines a display position of an image on the left and right sides of the front end of the vehicle.   6. The vehicular display device according to claim 5, wherein the video control means sets a time point when it is determined that the front end of the vehicle front bumper has approached the intersection entrance as the time point when the vehicle enters the intersection.   The vehicle display device according to claim 6, wherein the video control means measures the vehicle front bumper laterally lateral direction measured by the vehicle surrounding sensor when determining when the front end of the vehicle front bumper reaches the intersection entrance, and A vehicle display device that makes a determination based on distance information to an obstacle that exists in both of the vehicle front bumper side obliquely forward direction having a preset angle. 8. The display device for a vehicle according to claim 7, wherein the video control means dl is a distance to an obstacle existing laterally in the lateral direction of the vehicle front bumper, and is obliquely forward in the lateral direction of the vehicle front bumper having a preset angle. When the distance to the existing obstacle is dl2 and the angle is θs with the angle from the lateral side of the vehicle as θs, the front end of the vehicle front bumper reaches the intersection entrance when the relationship shown in the following equation is established. A display device for a vehicle, characterized in that it is determined from a time point.
dl <dl2cosθs   9. The vehicle display device according to claim 7 or 8, wherein the image control means can change the angle indicating the vehicle front bumper side obliquely forward direction in accordance with a vehicle speed and a margin of a road just beside the vehicle. A display device for a vehicle, characterized by being set to   The vehicle display device according to claim 9, wherein the angle indicating the vehicle front bumper side diagonal forward direction is set to a larger angle as the vehicle speed is faster, and a smaller angle as the margin of the road just beside the vehicle is larger. A vehicle display device.   11. The vehicle display device according to claim 5, wherein the image control means is included in the road map information acquired by the navigation device for a road that forms an intersection where a vehicle enters. Whether to output the video switching command for instructing to switch the display position for displaying the video on the left and right sides of the front end of the vehicle according to at least one of the road width, the number of lanes, and the road type around the vehicle position A vehicle display device characterized by determining whether or not.   12. The vehicular display device according to claim 11, wherein the video switching command is output when the road forming the intersection is a road type having a higher priority than the road on which the vehicle travels. A display device for vehicles.   12. The vehicle display device according to claim 11, wherein the road forming the intersection is one or more of a predetermined road width or less, a predetermined number of lanes or less, and a predetermined road type as a road for displaying an image. The vehicle display device is characterized in that the video switching command is output when the condition is satisfied.   The vehicle display device according to any one of claims 5 to 13, wherein the video control means is configured to start from the time when the front end of the vehicle front bumper reaches a position in front of a predetermined distance from the intersection entrance. The display apparatus for vehicles which starts the display of the image | video of this.   15. The vehicle display device according to claim 5, wherein the image control means displays a display position for displaying an image on the left and right sides of the vehicle front end determined when the vehicle front bumper front end reaches the intersection entrance. The vehicle display device is characterized in that, after entering the intersection, the vehicle display device does not change until the video display is finished after passing the intersection.   16. The vehicle display device according to any one of claims 5 to 15, wherein when the video control unit determines that a vehicle front bumper has entered an intersection, an in-vehicle camera displays an intersection road extending left and right from the intersection. Of the range from the left end and the right end of the intersection entrance to a predetermined distance among the images taken by the above, is converted to the image viewed from the eye point of the driver of the vehicle, and the direction of the line of sight from the eye point A display position for displaying the video whose viewpoint has been converted is set at a position on the display device that coincides with the display device.   The vehicle display device according to any one of claims 1 to 16, further comprising seat position detecting means for detecting a change in position of a driver's seat and outputting the change as seat position change information, wherein the video control means includes A display device for a vehicle, wherein a display position for displaying an image on the left and right sides of the front end of the vehicle is corrected based on the seat position change information output by the seat position detecting means.   18. The vehicular display device according to claim 17, wherein the seat position change information output by the seat position detecting means includes at least a sliding amount of the driver seat back and forth and a reclining angle of the driver seat back. A display device for vehicles.   The vehicle display device according to any one of claims 1 to 18, further comprising gaze direction detection means for detecting a gaze direction of the driver, wherein the video control means is responsive to a detection result of the driver gaze direction detection means. A vehicle display device that corrects a display position for displaying an image on the left and right sides of the front end of the vehicle.   20. The vehicle display device according to claim 19, wherein the driver gaze direction detection means detects the movement of the driver's eyeball using infrared rays, or an image of an eye part in a face image obtained by photographing the periphery of the driver's face. A vehicular display device comprising at least one of means for detecting movement of an eyeball in a video image of an eye extracted by image processing.   21. The vehicle display device according to claim 1, wherein the display device is a horizontally long display installed on an upper part of an instrument panel.   21. The vehicle display device according to claim 1, wherein the display device is a head-up display that can be displayed on a windshield.   A video display control method for a vehicle that controls a display position and a display range when a left and right side image captured by a vehicle-mounted camera attached to a position at which at least a left and right side image of the front end of the vehicle can be captured is displayed on a display device Vehicle information collecting step for collecting vehicle information indicating the vehicle running state and operation status, a vehicle surrounding sensing step for measuring the distance to an obstacle around the vehicle, and the vicinity of the current position of the vehicle acquired by the navigation device The road map information, the vehicle information collected in the vehicle information collection step, the intersection determination step for determining the presence or absence of an intersection approaching on the traveling road, the determination result determined in the intersection determination step, the vehicle According to the measurement result measured by the ambient sensing step, the left and right sides of the front end of the vehicle photographed by the in-vehicle camera A video control step for determining a display position of the video on the display device and generating a video switching command for switching a position for displaying the video to the determined display position on the display device, and the video control step generated A camera image switching step of setting a display position on the display device based on the image switching command and displaying an image of the left and right sides of the front end of the vehicle captured by the in-vehicle camera at the display position. A video display control method for a vehicle.   24. The vehicle image display control method according to claim 23, wherein the image control step determines a horizontal position on the display device as a display position for displaying an image on the left and right sides of the front end of the vehicle. A vehicle video display control method.   25. The vehicle image display control method according to claim 23 or 24, wherein the image control step has a predetermined number of steps limited in advance on the display device as a display position for displaying images on the left and right sides of the front end of the vehicle. A video display control method for a vehicle, wherein one of the limited display positions is selected from the limited display positions.   26. The video display control method for a vehicle according to claim 25, wherein the video control step includes an intersection determination step when selecting any one of the limited display positions from a predetermined number of the limited display positions. As a result of determining whether or not there is an approach to the vehicle, the limitation is the position closest to the display position where the image on the left and right sides of the front end of the vehicle calculated according to the measurement result measured in the vehicle surrounding sensing step is to be displayed A video display control method for a vehicle, wherein a display position is selected.   27. The vehicle image display control method according to claim 23, wherein the image control step includes a margin of left and right roads at the time of entering the intersection determined to have entered the intersection by the intersection determining step. A vehicle image display control method, wherein the display position of the image on the left and right sides of the front end of the vehicle is determined according to the above.   28. The vehicle image display control method according to claim 27, wherein the image control step is a time point when it is determined that the front end of the vehicle front bumper has approached the intersection entrance as the intersection entry time point. Control method.   29. The vehicle image display control method according to claim 28, wherein the image control step includes a vehicle front bumper side direction measured by the vehicle surrounding sensing step when determining when the front end of the vehicle front bumper reaches the intersection entrance. An image display control method for a vehicle, characterized in that the determination is made based on distance information to an obstacle existing in both a right lateral direction and a vehicle front bumper side oblique forward direction having a preset angle. 30. The vehicle image display control method according to claim 29, wherein the image control step includes dl as a distance to an obstacle that exists in a direction lateral to the vehicle front bumper side, and a vehicle front bumper side obliquely forward having a preset angle. When the distance to the obstacle present in the direction is dl2, and the angle is the angle from the lateral direction of the vehicle, θs, the vehicle front bumper front end is at the intersection entrance when the relationship shown in the following equation is established. A video display control method for a vehicle, characterized in that it is determined that the point in time has come.
dl <dl2cosθs   31. The vehicle image display control method according to claim 29 or 30, wherein the image control step determines the angle indicating the vehicle front bumper side obliquely forward direction according to a vehicle speed and a margin of a road just beside the vehicle. A video display control method for a vehicle, characterized in that it is variably set.   32. The video display control method for a vehicle according to claim 31, wherein the angle indicating the vehicle front bumper side oblique forward direction is set to a larger angle as the vehicle speed is faster, and the angle is smaller as the margin of the road just beside the vehicle is larger. An image display control method for a vehicle, characterized in that an angle is set.   The video display control method for a vehicle according to any one of claims 27 to 32, wherein the video control step is included in the road map information acquired by the navigation device for a road that forms an intersection where a vehicle enters. The image switching command for instructing to switch the display position for displaying the image on the left and right sides of the front end of the vehicle is output in accordance with at least one of the road width, the number of lanes, and the road type around the current vehicle position. A video display control method for a vehicle characterized by determining whether or not to perform.   34. The video display control method for a vehicle according to claim 33, wherein, for a road forming an intersection, the video switching command is output when the intersecting road has a higher priority than the road on which the vehicle travels. A video display control method for a vehicle.   34. The vehicle image display control method according to claim 33, wherein a road forming an intersection is any one of a predetermined road width or less, a predetermined number of lanes or less, and a predetermined road type as a road for displaying an image. Or a video display control method for a vehicle, which outputs the video switching command when a plurality of conditions are satisfied.   36. The video display control method for a vehicle according to claim 27, wherein the video control step includes a step of determining whether the vehicle front end left and right from the time when the vehicle front bumper front end reaches a position a predetermined distance from the intersection entrance. A video display control method for a vehicle, characterized by starting display of a side video.   37. The vehicle image display control method according to claim 27, wherein the image control step displays an image on the left and right sides of the vehicle front end determined when the vehicle front bumper front end reaches the intersection entrance. A video display control method for a vehicle, wherein the position is not changed after entering the intersection and passing through the intersection until the video display is finished.   The video display control method for a vehicle according to any one of claims 27 to 37, wherein when the vehicle front bumper determines that the vehicle has entered an intersection, the image control step uses an intersection road extending left and right from the intersection. Of the images taken by the in-vehicle camera, the image of the range from the left end of the intersection entrance to the predetermined distance from the right end is converted to the image viewed from the eyepoint of the driver of the vehicle, A video display control method for a vehicle, wherein a position for displaying the video subjected to viewpoint conversion is set at a position on the display device that coincides with a viewpoint direction.   The video display control method for a vehicle according to any one of claims 23 to 38, further comprising a seat position detecting step of detecting a change in the position of the driver's seat and outputting it as seat position change information. A vehicle image display control method for correcting a display position for displaying an image on the left and right sides of the front end of the vehicle based on the seat position change information output by the seat position detecting step.   40. The vehicle image display control method according to claim 39, wherein the seat position change information output by the seat position detection step includes at least a sliding amount of the driver seat back and forth and a reclining angle of the driver seat back. A video display control method for a vehicle.   41. The vehicle image display control method according to claim 23, further comprising a gaze direction detection step of detecting a gaze direction of the driver, wherein the video control step is a detection result of the driver gaze direction detection step. And a display position for displaying the image of the left and right sides of the front end of the vehicle is corrected according to the above.   42. The vehicle image display control method according to claim 41, wherein the driver gaze direction detecting step detects the movement of the eyeball of the driver by infrared rays, or the eye part in the face image obtained by photographing the periphery of the face of the driver. A vehicle video display control method comprising at least one of extracting a video image by image processing and detecting a movement of an eyeball in the video image of the eye.   43. The vehicle image display control method according to claim 23, wherein the display device is a horizontally long display installed on an upper part of an instrument panel.   43. The vehicle image display control method according to claim 23, wherein the display device is a head-up display capable of being displayed on a windshield.

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