JP2007283862A - Vehicle periphery monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle periphery monitoring device which can recognize an entity in a vehicle peripheral area including the area adjacent to the lower side of a vehicle body and can facilitate safety confirmation by a driver. <P>SOLUTION: The vehicle periphery monitoring device mounted on a vehicle to monitor a vehicle peripheral area is provided with an image pickup means for picking up an image of the vehicle peripheral area including the area adjacent to the lower side of the vehicle body, a drive means for driving the image pickup means in the roof outer periphery of the vehicle, a control means for the drive means so as to drive the image pickup means at the position capable of picking up the image of a target area of the driver set in advance according to at least one of a traveling state and a peripheral state of the vehicle, and a display means for displaying the image picked up by the image pickup means. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle periphery monitoring device.

  Conventionally, for safety confirmation by a driver, there has been known a monitoring device for outputting image information acquired by an imaging camera provided at a predetermined position of a vehicle to a monitor and monitoring a vehicle peripheral area that becomes a blind spot of the driver. Yes. In relation to this, for example, Japanese Patent Application Laid-Open No. 2002-12081 discloses an apparatus that acquires image information with a camera provided in a ceiling of a vehicle interior, and for example, Japanese Patent Application Laid-Open No. 2001-331789 discloses An apparatus for acquiring image information with a camera provided in the center of the roof is disclosed.

JP 2002-12081 A JP 2001-331789 A

However, in the case where the camera is provided in the vehicle interior or the center of the roof, it is difficult to capture the portion close to the vehicle tire or side sill even when the field angle is widened in the vertical direction of the vehicle to the maximum. As a result, there was a problem that obstacles, motorcycles, lanes, or pedestrians that fell down around the vehicle could not be recognized, and safety could not be secured sufficiently. .
In particular, in the case where the camera is provided in the vehicle interior, there is a problem that space in the vehicle interior is sacrificed or the movement of the occupant is restricted because the camera itself is configured as a projection. .

  The present invention has been made in view of the above technical problem, and provides a vehicle periphery monitoring device that can recognize a presence in a vehicle peripheral region including a region adjacent to the lower side of the vehicle body and facilitate safety confirmation by a driver. The purpose is to provide.

  In view of this, the invention according to claim 1 of the present application is the vehicle periphery monitoring device mounted on a vehicle for monitoring the vehicle periphery region, the image pickup means for capturing the vehicle periphery region including the region adjacent below the vehicle body, and the imaging Driving means for driving the means on the outer periphery of the roof of the vehicle, and driving for driving the imaging means to a position where a region of interest of a driver set in advance according to at least one of the traveling state and the surrounding situation of the vehicle can be imaged It has a control means for controlling the means and a display means for displaying an image picked up by the image pickup means.

  The invention according to claim 2 of the present application is characterized in that, in the invention according to claim 1, the imaging means is attached to the outer periphery of the roof via a rod member that is tiltable outward of the vehicle. is there.

  Furthermore, the invention according to claim 3 of the present application is characterized in that, in the invention according to claim 1 or 2, a plurality of the imaging means are provided so as to image different vehicle peripheral areas.

  Furthermore, in the invention according to claim 4 of the present application, in any of the inventions according to claims 1 to 3, the control unit moves the imaging unit to a preset specific position under a predetermined condition. The drive means is controlled so as to stop.

  Furthermore, the invention according to claim 5 of the present application is characterized in that, in the invention according to claim 4, the predetermined condition is a condition relating to a running state of the vehicle.

  Furthermore, the invention according to claim 6 of the present application is characterized in that, in the invention according to claim 4 or 5, the predetermined condition is that an obstacle is detected by an obstacle detection means mounted separately on the vehicle. It is.

  Furthermore, the invention according to claim 7 of the present application is characterized in that, in any of the inventions according to claims 4 to 6, the predetermined condition is a condition relating to a vehicle operation by a driver.

  Furthermore, the invention according to claim 8 of the present application is a vehicle periphery monitoring device mounted on a vehicle to monitor a vehicle periphery region, and is arranged at a predetermined interval on the outer periphery of the roof of the vehicle, and is adjacent to the vehicle as a whole. A plurality of image pickup means for picking up the entire area around the vehicle including the area to be displayed, display means for display output based on image information acquired by the image pickup means, and preset in accordance with at least one of the running state of the vehicle and the surrounding situation Control means for controlling the display means so as to be displayed and output based on image information from an image pickup means for picking up a region of interest as a vehicle peripheral region to be noticed by the driver. It is a thing.

  Furthermore, the invention according to claim 9 of the present application is characterized in that, in any of the inventions according to claims 1 to 8, the imaging means is an omnidirectional visual sensor.

  According to the invention according to claim 1 of the present application, the position of the imaging means is set according to the running state of the vehicle and the surrounding situation, and the most notable area is imaged at each time point. It is possible to recognize the presence in the vehicle surrounding area including the vehicle, and to facilitate the safety confirmation by the driver.

  Further, according to the invention according to claim 2 of the present application, since the imaging means is attached via the rod member that is tilted outward of the vehicle, a larger imaging range is secured, and the region adjacent to the lower side of the vehicle body is secured. The surrounding area including the vehicle can be reliably imaged.

  Further, according to the third aspect of the present invention, the imaging range by the imaging means can be expanded, and the driver can confirm a larger vehicle peripheral area at a time.

  Furthermore, according to the invention according to claim 4 of the present application, the imaging unit is moved to a specific position set in advance at a predetermined condition, and the most noticeable region at each time point is imaged. Safety confirmation by the driver can be facilitated.

  Furthermore, according to the invention of claim 5 of the present application, it is possible to appropriately determine the most notable region at each time point according to the traveling state of the vehicle.

  Furthermore, according to the invention according to claim 6 of the present application, it is possible to appropriately determine the most notable area when detecting obstacles by the obstacle detection means mounted separately on the vehicle, and to ensure safe driving performance. .

  Furthermore, according to the invention of claim 7 of the present application, it is possible to appropriately determine the most notable area at each time point while taking into account the operation of the vehicle by the driver.

  Furthermore, according to the invention according to claim 8 of the present application, image information corresponding to the most notable region at each time point is displayed and output according to the running state of the vehicle and the surrounding situation. It is possible to recognize the presence in the vehicle surrounding area including the adjacent area, and to facilitate the safety confirmation by the driver.

  Furthermore, according to the invention according to claim 9 of the present application, since the omnidirectional visual sensor is employed as the imaging means, a larger imaging range is ensured, and the vehicle peripheral area including the area adjacent to the lower part of the vehicle body is obtained. An image can be reliably captured.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
(Embodiment 1)
1 and 2 are a plan view and a perspective view, respectively, of a vehicle 1 equipped with a vehicle periphery monitoring device according to an embodiment of the present invention. In the vehicle 1, a guide rail 2 is provided along the outer periphery of the roof, and a vehicle periphery monitoring camera 3 (hereinafter simply referred to as “camera”) including an omnidirectional visual sensor is attached to the guide rail 2. . The camera 3 enables imaging of a vehicle peripheral area including an area adjacent to the lower side of the vehicle body, is driven on the guide rail 2 by a pulse motor (not shown), and is movable along the outer periphery of the roof. The image information acquired by the camera 3 is displayed and output on a monitor 4 provided in the passenger compartment, so that the driver can easily visually recognize an area that is difficult to see from the driver's seat or a blind spot area.

  The camera 3 is composed of an omnidirectional visual sensor. However, the present invention is not limited to this. For detecting an obstacle, a two-wheeled vehicle, a pedestrian, a lane, etc. in a vehicle peripheral region such as a CCD, CMOS sensor, or infrared sensor. Any appropriate means may be employed.

  In the present embodiment, the auto mode in which the driving of the camera 3 along the outer periphery of the roof is automatically controlled according to the running state of the vehicle 1 and the surrounding situation, and the driver is manually operated by the operation unit 5 (see FIG. 4). The manual mode to be operated is set. In detecting the running state and surrounding conditions of the vehicle 1, a vehicle speed sensor 6, a rudder angle sensor 8 for detecting the steering angle of the handle 7, a laser radar 9 for detecting a traveling vehicle and an obstacle in front of the vehicle, A gear position sensor (not shown) for detecting the position of the gear and an on / off switch (not shown) for a direction indicator are used. These components are connected to the CPU 10, and each operation is controlled by the CPU 10 together with the camera 3 and a pulse motor that drives the camera 3. Reference numeral 11 denotes a collision avoidance actuator that automatically applies a brake when the CPU 10 determines that the possibility of a collision is high based on detection signals from the vehicle speed sensor 6, the steering angle sensor 8, the laser radar 9, and the like. Represents a brake actuator).

FIG. 3 shows an example of the display screen of the monitor 4. On the monitor 4, an image 21 based on image information acquired by the camera 3 and an indicator 22 representing the current position and monitoring direction of the camera 3 are displayed. The indicator 22 schematically shows the monitoring directions of the guide rail 2, the camera 3, and the camera 3, and in FIG. 3, they are represented by reference numerals 22a, 22b, and 22c, respectively.
According to the state shown in FIG. 3, it can be seen that the camera 3 is on the guide rail 2 at the center in the vehicle width direction in front of the vehicle, and the monitoring direction is in front of the vehicle.

  FIG. 4 shows an example of the operation unit 5. The operation unit 5 includes a camera display unit 31 that indicates the current position of the camera 3, a mode selector switch 32 that switches between an auto mode and a manual mode related to camera driving, and a joystick 33 that can be operated by the driver under the manual mode setting. Is provided. In the display unit 31, the guide rail 2 and the camera 3 are schematically drawn. In FIG. 4, they are represented by reference numerals 31 a and 31 b, respectively. Here, corresponding to the actual current position of the camera 3, the camera 31b in the display unit 31 moves on the guide rail 31b while blinking.

(Embodiment 2)
FIG. 5 is a perspective view of a vehicle equipped with a vehicle periphery monitoring device according to Embodiment 2 of the present invention. In the second embodiment, the camera 3 is attached to the guide rail 2 via the extension rod 15. The extension rod 15 is slidably attached to the guide rail 2 so that the camera 3 is driven on the guide rail 2 and is movable along the outer periphery of the roof, as in the first embodiment. .

  Further, the extension rod 15 is tilted outward from the vehicle. 5A shows a state in which the extension rod 15 is upright (off state), while FIG. 5B shows a state in which the extension rod 15 is tilted outward (on state). Is expressed. In the auto mode as described above, on / off switching of the extension rod 15 is also controlled. On the other hand, in the manual mode, the extension rod 15 is turned on and off by the operation of the driver.

  Thus, the camera 3 is attached via the retractable extension rod 15, so that the entire imaging range of the camera 3 can be expanded. Specifically, when the extension rod 15 is in the upright state, the traffic condition in front of the vehicle can be easily confirmed by the camera 3, while when the extension rod 15 is tilted outward from the vehicle, it is compared with the case of the first embodiment. As a result, it is possible to more reliably image the vehicle peripheral area including the area adjacent to the lower side of the vehicle body with the camera 3.

(Embodiment 3)
In Embodiments 1 and 2 described above, only one camera 3 is attached to the guide rail 2, but the present invention is not limited to this, and a plurality of cameras may be provided. In the third embodiment, an example in which two cameras 3A and 3B are provided will be taken up.
6 (a) and 6 (b) are perspective views of a vehicle on which the vehicle periphery monitoring device according to the third embodiment of the present invention is mounted and two cameras 3A and 3B are attached. It is. The two cameras 3A and 3B are driven on the guide rail 2 as in the first and second embodiments, and are movable along the outer periphery of the roof. In the present embodiment, the cameras 3A and 3B can be moved in conjunction with each other.

  Specifically, in the state shown in FIG. 6A, the camera 3 </ b> A is disposed on the front side of the vehicle on the guide rail 2, while the camera 3 </ b> B is disposed on the guide rail 2 behind the vehicle. Reference numerals S1 and S2 represent imaging ranges by the cameras 3A and 3B, respectively. This is an arrangement example of the cameras 3A and 3B employed when the vehicle 1 travels straight, for example, and the camera 3A is arranged so as to capture an area to be noted at that time, while the camera 3B. Are arranged so that the imaging range around the vehicle is maximized.

  Further, in the state shown in FIG. 6B, the camera 3 </ b> A is disposed at the front right end on the guide rail 2, while the camera 3 </ b> B is disposed at the rear left end on the guide rail 2. That is, the cameras 3 </ b> A and 3 </ b> B are arranged on the diagonal line of the guide rail 2. Reference numerals S3 and S4 represent imaging ranges by the cameras 3A and 3B, respectively. This is an example of the arrangement of the cameras 3A and 3B employed when the vehicle 1 is parked with a right turn backward, for example, and is an area that the camera 3A should be noted at that time (for example, a fender at the front right side of the vehicle). And the area around the tire), while the camera 3B captures the area that is most difficult to confirm from the driver at that time (the area around the fender and the tire on the left side of the vehicle). Is arranged.

In FIG. 7, an example of the display screen of the monitor 4 in the vehicle periphery monitoring apparatus containing the two cameras 3A and 3B is shown. On the monitor 4, an image 51 composed of images 51a and 51b based on image information acquired by the cameras 3A and 3B, respectively, and an indicator 52 indicating the current position and monitoring direction of the camera 3 are displayed. The indicator 52 schematically shows the monitoring directions of the guide rail 2, the cameras 3A and 3B and the cameras 3A and 3B. In FIG. 7, the guide rail 2 is denoted by reference numeral 52a, and the cameras 3A and 3B are denoted by reference numerals 52b and 52b, respectively. In 52c, the monitoring directions of the cameras 3A and 3B are indicated by reference numerals 52d and 52e, respectively.
According to the state shown in FIG. 7, it can be seen that the camera 3 is on the guide rail 2 at the center in the vehicle width direction in front of the vehicle, and the monitoring direction is in front of the vehicle.

  FIG. 8 shows an example of the operation unit 5 for driving the two cameras 3A and 3B. The operation unit 5 switches a camera display unit 41 indicating the current position of the cameras 3A and 3B, a mode change switch 42 for switching between an auto mode and a manual mode related to camera driving, and a camera to be operated under the manual mode setting. A camera changeover switch 43 and a joystick 44 that can be operated by the driver under the manual mode setting are provided. In the display unit 41, the guide rail 2 and the cameras 3A and 3B are schematically drawn. In FIG. 8, the guide rail 2 is represented by reference numeral 41a, and the cameras 3A and 3B are represented by reference numerals 41b and 41c, respectively. Here, the cameras 41b and 41c in the display unit 41 move on the guide rail 31b while blinking corresponding to the actual positions of the actual cameras 3A and 3B.

  Next, the drive control of the camera 3 (cameras 3A and 3B in the case of the third embodiment) according to the traveling state and the surrounding situation of the vehicle 1 will be described by summarizing the first to third embodiments.

  FIG. 9 shows a table representing the positions of the cameras 3, 3 </ b> A and 3 </ b> B preset according to the traveling state of the vehicle 1, the monitoring direction by the cameras 3, 3 </ b> A and 3 </ b> B, and the extension rod on / off state. The alphabets representing the positions of the cameras 3, 3A and 3B correspond to the alphabets in FIG.

  For example, when the vehicle 1 has a left curve and there is one camera, the camera 3 is arranged at a position H (or A) in FIG. At this time, the extension rod 15 is set to an off state. On the other hand, when there are two cameras, cameras 3A and 3B are arranged at positions H (or A) and D (or E) in FIG. 10 in order to monitor the lower left and lower right of the vehicle 1. Is done.

  Further, for example, when the vehicle 1 is receding in a straight line, when there is one camera, the camera 3 is arranged at a position F in FIG. At this time, the extension rod 15 is set to an on state. On the other hand, when there are two cameras, cameras 3A and 3B are arranged at positions E and G in FIG.

FIG. 11 is a flowchart showing the overall flow of the control process of the vehicle periphery monitoring device. When signals from various sensors and switches such as the mode speed switch 32 in the vehicle speed sensor 6, the steering angle sensor 8, and the operation unit 5 are input to the CPU 10 (# 11), first, based on the signal from the mode switch 32, It is determined whether or not the manual mode is on (# 12). As a result, when it is determined that the camera 3 is turned on, the camera 3 is moved in the monitoring direction or held at the position after the movement in accordance with the driver's operation via the joystick 33 (# 14). Thus, the process is returned.
On the other hand, if it is determined in step # 12 that the manual mode is turned off, that is, the auto mode is turned on, it is subsequently determined whether or not a predetermined time has elapsed after the manual mode is turned off. (# 13).

  As a result of step # 13, when it is determined that the predetermined time has not elapsed, the process proceeds to step # 14, and the camera 3 is moved in the monitoring direction according to the operation of the driver or held at the position after the movement. Here, the operation of the driver under the manual mode setting is valid within a predetermined time after switching to the auto mode. On the other hand, if it is determined that the predetermined time has elapsed, it is then determined whether or not an obstacle has been detected by the laser radar 9 (# 15).

If it is determined as a result of step # 15 that an obstacle has been detected, the camera 3 is moved to the position where the obstacle is detected (the forward position in the present embodiment) or held at the position after the movement. (# 17). When two cameras are provided as in the third embodiment, only one of the cameras is moved to the obstacle detection position. Thus, the process is returned. In addition to the laser radar 9, a radar for detecting an obstacle behind the vehicle may be provided, and when it is determined that the obstacle is detected by the radar, the camera movement to the rear position may be executed.
On the other hand, if it is determined in step # 15 that no obstacle is detected, it is subsequently determined whether or not a predetermined time has elapsed after the obstacle is not detected (the obstacle is not detected). (# 16).

  If it is determined in step # 16 that the predetermined time has not elapsed, the process proceeds to step # 17, and the camera 3 is moved to the failure detection position or held at the position after the movement. On the other hand, if it is determined that the predetermined time has elapsed, the traveling state of the vehicle 1 is subsequently determined (# 18). Details of this vehicle running state step will be described later with reference to FIGS.

  After step # 18, it is determined whether or not the vehicle 1 is in a predetermined traveling state (# 19). As a result, if it is determined that the vehicle 1 is in the predetermined traveling state, the camera 3 enters the traveling state. It is moved in the corresponding monitoring direction or held at the moved position (# 21). Thus, the process is returned. On the other hand, if it is determined that the vehicle is not in the predetermined traveling state, it is subsequently determined whether or not a predetermined time has elapsed after entering a state other than the predetermined traveling state (# 20).

  As a result of step # 20, when it is determined that the predetermined time has not elapsed, the process proceeds to step # 21, and the camera 3 is moved in the monitoring direction according to the traveling state or held at the position after the movement. . On the other hand, when it is determined that the predetermined time has elapsed, the camera 3 is moved around the guide rail 2 at a constant speed.

  Next, the traveling state determination step in FIG. 11 will be described in detail. 12 to 14 show the first to third subflows for the running state determination step, respectively. Referring to FIG. 12, first, it is determined whether or not the engine is within a predetermined time after the engine is started (# 31). As a result, if it is determined that the engine is within the predetermined time, then the gear position sensor is continued. Is determined based on the signal from (# 33). On the other hand, if it is determined that it is not within the predetermined time, it is subsequently determined whether or not it is within the predetermined time after the start of traveling (# 32).

  As a result of step # 33, when it is determined that the gear position is forward, it is determined that the vehicle 1 is in the “front start” state (# 34). On the other hand, when it is determined that the gear position is not forward, it is determined that the vehicle 1 is in a state other than the predetermined traveling state (# 35). After step # 34 or # 35, the process returns to the main flow of FIG.

  If it is determined in step # 32 that the vehicle is within a predetermined time after the start of traveling, the process proceeds to step # 33, where the above-described steps are executed, and on the other hand, it is determined that the vehicle is not within the predetermined time. Then, based on the signal from the steering angle sensor 8, it is determined whether the steering angle or the yaw rate is smaller than a predetermined angle (T1) (# 36).

  If it is determined in step # 36 that the steering angle or yaw rate is smaller than the predetermined angle (T1), then it is determined whether or not the gear position is in the forward gear and the forward vehicle speed exceeds zero. (# 37). On the other hand, if it is determined that the steering angle or yaw rate is equal to or greater than the predetermined angle (T1), it is then determined whether the gear position is in the back gear (# 42).

  In step # 37, based on the signals from the gear position sensor and the vehicle speed sensor 6, it is determined whether or not the gear position is in the forward gear and the forward vehicle speed exceeds 0. As a result, it is determined that both conditions are satisfied. If so, it is determined that the vehicle 1 is in the “straight running” state (# 38). Thereafter, the process returns to the main flow of FIG. On the other hand, if it is determined that both conditions are not satisfied, it is further determined whether the gear position is in the back gear and the rear vehicle speed exceeds 0 (# 39). As a result, both conditions are satisfied. If so, it is determined that the vehicle 1 is in the “straight forward and backward” state (# 40). On the other hand, if it is determined that both conditions are not satisfied, it is determined that the vehicle is in a state other than the predetermined traveling state (# 41). After step # 40 or # 41, the process returns to the main flow of FIG.

  In step # 42, it is determined whether or not the gear position is in the back gear (# 42). If it is determined in step # 42 that the gear position is not in the back gear, the reference numeral X in FIG. The process proceeds to step # 46 in FIG. On the other hand, if it is determined that the gear position is in the back gear, it is then determined whether or not the handle 7 is at a left angle (# 43). As a result, if it is determined that the handle 7 is at the left angle, it is determined that the vehicle 1 is in the “right turn backward when parked” state (# 44), and on the other hand, it is determined that the handle 7 is not at the left angle. If so, it is determined that the vehicle 1 is in the “left turn backward when parked” state (# 45). After step # 44 or # 45, the process returns to the main flow of FIG.

  Next, referring to FIG. 13, in step # 46, it is determined whether or not the direction indicator is turned on. As a result, if it is determined that the direction indicator is not turned on, in FIG. Then, the process proceeds to step # 57 in FIG. On the other hand, if it is determined that the direction indicator is on, then it is determined whether the right direction indicator is on and the handle 7 is at the right angle (# 47).

  If it is determined as a result of step # 47 that both conditions are satisfied, it is then determined whether or not the vehicle 1 has been traveling straight ahead (# 48). On the other hand, if it is determined that both conditions are not satisfied, it is determined whether the left direction indicator is turned on and the handle 7 is at a left angle (# 52).

  As a result of Step # 48, when it is determined that the vehicle 1 is not traveling straight ahead, it is determined that the vehicle 1 is in the “right turn” state (# 50), and on the other hand, it is determined that the vehicle 1 is traveling straight ahead. If so, it is then determined by the camera arranged at the position F on the guide rail 2 whether the shape of the front passage is a right turn (# 49). As a result, when it is determined that the vehicle is turning right, it is determined that the vehicle 1 is in the “right turn” state (# 50). On the other hand, when it is determined that it is not turning right, the vehicle 1 is in a predetermined traveling state. It is determined that the state is other than (# 51). After step # 50 or # 51, the process returns to the main flow of FIG.

  If it is determined as a result of step # 52 that the left direction indicator is turned on and the handle 7 is at the left angle, it is subsequently determined whether or not the vehicle 1 is traveling straight ahead. On the other hand, if it is determined that both conditions are not satisfied, it is determined that the vehicle 1 is in a state other than the predetermined traveling state (# 56).

  Furthermore, if it is determined in step # 53 that the vehicle 1 has not traveled straight, it is determined that the vehicle 1 is in the “left turn” state (# 55), while the vehicle 1 travels straight ahead. If it is determined that it has been, then it is determined by the camera located at the position F on the guide rail 2 whether the shape of the front passage is a left turn (# 54). As a result, when it is determined that the vehicle is turning left, it is determined that the vehicle 1 is in the “left turn” state (# 55). On the other hand, when it is determined that the vehicle is not turning left, the vehicle 1 is in a predetermined traveling state. It is determined that the state is other than (# 56). After step # 55 or # 56, the process returns to the main flow of FIG.

  Next, referring to FIG. 14, in step # 57, based on the signal from the steering angle sensor 8, it is determined whether or not the handle 7 is at the left angle (# 57). If it is determined that the handle 7 is not at the left angle, the process proceeds to step # 62.

  In step # 58, it is determined whether or not the vehicle 1 has been traveling straight ahead. As a result, if it is determined that the vehicle 1 has not traveled straight, the vehicle 1 is in the “left curve” state. (# 60), on the other hand, if it is determined that the vehicle 1 is traveling straight ahead, then the position of F on the guide rail 2 determines whether or not the shape of the front passage is a left curve. (# 59). As a result, when it is determined that the vehicle is a left curve, it is determined that the vehicle 1 is in the “left curve” state (# 60). On the other hand, when it is determined that the vehicle 1 is not a left curve, the vehicle 1 is predetermined. It is determined that the vehicle is in a state other than the traveling state (# 61). After step # 60 or # 61, the process returns to the main flow of FIG.

  Further, in step # 62, it is determined whether or not the vehicle 1 has been traveling straight ahead. As a result, if it is determined that the vehicle 1 has not traveled straight, the vehicle 1 is in the “right curve” state. (# 64), on the other hand, if it is determined that the vehicle 1 is traveling straight ahead, then it is determined whether the shape of the front passage is a right curve or not on the guide rail 2. (# 63). As a result, if it is determined that the vehicle is a right curve, it is determined that the vehicle 1 is in the “right curve” state (# 64). On the other hand, if it is determined that the vehicle 1 is not a right curve, the vehicle 1 is predetermined. It is determined that the vehicle is in a state other than the traveling state (# 65). After step # 64 or # 65, the process returns to the main flow of FIG.

  As is clear from the above description, according to the first to third embodiments, the positions of the cameras 3, 3A, 3B are set according to the running state of the vehicle 1 and the surrounding situation, and the most notable area at each time point Therefore, it is possible to recognize the existence object in the vehicle peripheral region including the region adjacent to the lower side of the vehicle body, and the safety confirmation by the driver can be facilitated.

  It should be noted that the present invention is not limited to the illustrated embodiments, and it goes without saying that various improvements and design changes can be made without departing from the scope of the present invention. For example, in the above-described embodiment, the example in which the camera 3 is movable along the outer periphery of the roof has been taken up. However, the present invention is not limited to this, and a plurality of cameras are fixed to the outer periphery of the roof with a predetermined interval. A configuration may be adopted in which the entire area around the vehicle including an area adjacent to the vehicle is imaged as a whole. In this case, an output image from an imaging unit that captures the region of interest is displayed after the vehicle surrounding region to be noticed by the driver is determined according to any one of the driving state and the surrounding situation of the vehicle. It becomes like this.

It is a top view of the vehicle by which the vehicle periphery monitoring apparatus which concerns on Embodiment 1 of this invention is mounted. It is a perspective view of the said vehicle with which one camera was attached. It is a figure which shows an example of the display screen of the monitor which displays an image based on the image information acquired from the said camera. It is a figure which shows an example of the operation part for camera drive control. (A) It is a vehicle by which the vehicle periphery monitoring apparatus which concerns on Embodiment 2 of this invention is mounted, Comprising: It is a perspective view of the vehicle to which the camera was attached via the extension rod. In this figure, the extension rod is in an upright state. (B) It is a vehicle by which the vehicle periphery monitoring apparatus which concerns on the said Embodiment 2 is mounted, Comprising: It is a perspective view of the vehicle to which the camera was attached via the extension rod. In this figure, the extension rod is in a state of falling outside the vehicle. (A) It is a vehicle by which the vehicle periphery monitoring apparatus which concerns on Embodiment 3 of this invention is mounted, Comprising: It is a perspective view of the vehicle to which two cameras were attached. In this figure, the camera is in a state of being arranged in the front and rear of the vehicle. (B) It is a vehicle by which the vehicle periphery monitoring apparatus which concerns on the said Embodiment 3 is mounted, Comprising: It is a perspective view of the vehicle to which two cameras were attached. In this figure, the camera is in a state of being arranged on the diagonal of the guide rail. It is a figure which shows an example of the display screen of the monitor which displays an image based on the image information acquired from two cameras. It is a figure which shows an example of the operation part for camera drive control. It is a table showing the position of the camera set in advance according to the traveling state of the vehicle, the monitoring direction by the camera, and the on / off state of the extension rod. It is explanatory drawing showing the position of the camera preset according to the driving | running | working state of the vehicle. It is a flowchart about the drive control process of a vehicle periphery monitoring camera. FIG. 12 is a first part of a flowchart of a vehicle traveling state determination step (# 18) in FIG. 11; 12 is a second part of a flowchart of the vehicle travel state determination step (# 18) in FIG. 11. FIG. 12 is a third part of a flowchart of the vehicle travel state determination step (# 18) in FIG. 11.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... Guide rail, 3, 3A, 3B ... Camera, 4 ... Monitor, 5 ... Operation part, 6 ... Vehicle speed sensor, 8 ... Rudder angle sensor, 9 ... Laser radar, 10 ... CPU, 15 ... Extension rod .

Claims (9)

In the vehicle periphery monitoring device mounted on the vehicle for monitoring the vehicle periphery region,
Imaging means for imaging a vehicle peripheral region including a region adjacent to the lower side of the vehicle body;
Driving means for driving the imaging means on the outer periphery of the roof of the vehicle;
Control means for controlling the driving means so as to drive the imaging means to a position where a region of interest of a driver set in advance according to at least one of the running state and surrounding situation of the vehicle can be imaged;
A vehicle periphery monitoring device comprising: display means for displaying an image picked up by the image pickup means.   The vehicle periphery monitoring device according to claim 1, wherein the imaging unit is attached to the outer periphery of the roof via a rod member that is tiltable outward of the vehicle.   The vehicle periphery monitoring device according to claim 1 or 2, wherein a plurality of the image pickup means are provided so as to image different vehicle periphery regions.   The said control means controls the said drive means so that the said imaging means will move to a predetermined specific position and stop at the time of a predetermined condition, It is any one of Claims 1-3 characterized by the above-mentioned. Vehicle periphery monitoring device.   The vehicle periphery monitoring device according to claim 4, wherein the predetermined condition is a condition relating to a running state of the vehicle.   6. The vehicle periphery monitoring device according to claim 4 or 5, wherein the predetermined condition is that an obstacle is detected by an obstacle detection means mounted separately on the vehicle.   The vehicle periphery monitoring device according to any one of claims 4 to 6, wherein the predetermined condition is a condition related to an operation of the vehicle by a driver. In the vehicle periphery monitoring device mounted on the vehicle for monitoring the vehicle periphery region,
A plurality of imaging means that are arranged on the outer periphery of the roof of the vehicle at a predetermined interval and that image the entire vehicle periphery including the region adjacent to the vehicle as a whole;
Display means for displaying and outputting based on the image information acquired by the imaging means;
The display means so as to be displayed and output based on image information from an imaging means for imaging a region of interest as a vehicle peripheral region to be noticed by a driver set in advance according to at least one of a running state and a surrounding situation of the vehicle And a vehicle periphery monitoring device characterized by comprising:   The vehicle periphery monitoring device according to claim 1, wherein the imaging unit is an omnidirectional visual sensor.

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