JP2008059159A - Driving support device and driving support method for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To visually and surely recognize an object as obstacle. <P>SOLUTION: This driving support device is provided with an irradiation device 12 for defining the road surface as an imaging area F1 as a reference, in a state where an any object as an obstacle does not exist within the field angle of an imaging device 11 and for emitting irradiation rays of light, by defining a location beyond the road surface as the reference as an irradiation location IR; an image processor 13 for performing the image conversion processing of an image photographed by the imaging device 11 for generating a visual point conversion image photographed from a virtual visual point that is different from that of the imaging device 11; and an image display device 14 for displaying the visual point converted image. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle driving support device and a driving support method for assisting a driver's field of view by generating and displaying a captured image captured from a virtual viewpoint by performing image conversion processing on a captured image captured by an imaging device. .

  A view monitor system has been devised and implemented that can assist the driver's field of view by capturing the situation around the vehicle, which is a blind spot from the driver, and displaying it on the in-vehicle monitor with the camera device mounted on the vehicle. Has been. In such a view monitor system, an image picked up by a plurality of camera devices mounted on a vehicle is processed to generate an image picked up from an arbitrary viewpoint, and a blind spot for a driver is generated. Techniques that can further increase awareness have been devised.

  In particular, by performing an image conversion process on an image captured by a camera device installed at a predetermined position on the vehicle, it is as if the object was captured by a virtual camera that was virtually arranged to look down on the object from a high place. The technique of generating a simple bird's-eye view image and presenting it to the driver is very effective because the relationship between the vehicle and the obstacle can be clearly shown to the driver.

However, the bird's-eye view image generated and displayed in this way may be recognized as an image having a sense of incongruity for a driver who visually recognizes due to limitations of image processing. Therefore, in order to solve such a problem, a bird's-eye view image is generated by image processing, and a masking process is performed on an obstacle image in the bird's-eye view image to remove a sense of incongruity such as distortion, thereby improving driver visibility. Has been disclosed (see, for example, Patent Document 1).
Japanese Patent Laid-Open No. 2004-213489

  However, in the method disclosed in Patent Document 1 described above, since obstacles are detected by image processing, various image processing techniques such as feature point extraction and edge detection are used, and complex image processing algorithms are used. Therefore, there is a problem that a large delay is caused until a desired image is presented to the driver.

  Therefore, the present invention has been proposed in view of the above-described circumstances, and delays an image that can visually recognize an object that becomes an obstacle by a simple method based on a simple configuration. It is an object of the present invention to provide a vehicle driving support device and a driving support method that can support the driving of the driver by presenting them without any problems.

  A vehicle driving support apparatus according to the present invention is a vehicle driving support apparatus that assists a driver's field of view by displaying an image of the surroundings of a vehicle by an imaging device mounted on the vehicle. Irradiation light is emitted with a road surface that is an imaging range in a state where no obstacle is present in the corner as a reference, and a position that passes the reference road surface is an irradiation position. Then, by performing image conversion processing on the captured image captured by the imaging device, a viewpoint conversion image captured from a virtual viewpoint different from that of the imaging device is generated, and the generated viewpoint conversion image is displayed. Solve the problem.

  Further, the driving support method of the present invention is a driving support method for a vehicle driving support device that displays an image of the surroundings of the vehicle by an imaging device mounted on the vehicle and assists the driver's field of view. Irradiation light is emitted with a position passing through the reference road surface as an irradiation position, with a road surface as an imaging range in a state where no obstacle is present within the angle of view of the imaging apparatus. Then, by performing image conversion processing on the captured image captured by the imaging device, a viewpoint conversion image captured from a virtual viewpoint different from that of the imaging device is generated, and the generated viewpoint conversion image is displayed. Solve the problem.

  According to the present invention, by a simple method based on a simple configuration, an image that can visually recognize an object that becomes an obstacle can be quickly presented without delay, thereby driving the driver. It is possible to support well.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[Configuration of Vehicle Driving Support Device 1]
First, a vehicle driving support apparatus 1 shown as an embodiment of the present invention will be described with reference to FIG. As shown in FIG. 1, the vehicle driving assistance device 1 outputs and displays an image that has been subjected to predetermined image processing by the imaging device 11, the irradiation device 12, the image processing device 13, and the image processing device 13. The image display device 14 includes an input device 15 that inputs a request for image presentation from a user, and a control unit 16 that controls the vehicle driving support device 1 in an integrated manner. The vehicle driving support device 1 is mounted on a vehicle 50 as shown in FIG. 2. For example, the imaging device 11 captures an area around the vehicle 50 that becomes a blind spot from the driver and presents the captured image to the driver. By doing so, it is possible to assist the driver's field of view and assist the driving of the vehicle.

  As shown in FIG. 2, the vehicle driving support device 1 performs image processing on an image captured by an imaging device 11 that is an actual camera (hereinafter, referred to as an actual camera), as if it is a virtual camera IM. It is possible to generate a bird's-eye view image as captured at

  The imaging device 11 in FIG. 2 is schematically shown in order to explain the relationship between the real camera and the virtual camera IM, and does not indicate the actual size and attachment position. Actually, the imaging device 11 has a very small shape and does not protrude from the vehicle body of the vehicle 50, and a plurality of the imaging devices 11 are installed in the vehicle 50 or incorporated in the vehicle body.

  In FIG. 2, the position of the virtual camera IM is set to a position where an overhead image can be acquired. However, the present invention is not limited to this, and an arbitrary viewpoint direction is set as a virtual viewpoint. An image captured from this virtual viewpoint can be generated.

  The imaging device 11 is a camera device for imaging the required surrounding environment of the vehicle 50, and a plurality of the imaging devices 11 are installed in the vehicle 50. The imaging device 11 uses, for example, a CCD (Charge Coupled Devices) that can capture a small and high-quality image as an imaging element. An image captured by the imaging device 11 is output to the image processing device 13 as an electrical signal.

  The imaging direction of the imaging device 11 is determined in such a way that, when approaching the vehicle 50, an object that becomes an obstacle that touches or prevents the advancement can be imaged in advance. Therefore, the imaging direction is determined so that an area below the vehicle height can be imaged, not an area higher than the vehicle height of the vehicle 50. Therefore, when there is no obstacle as an obstacle as described above within the angle of view of the imaging device 11 shown in FIG. 2, the imaging device 11 images the road surface RS around the vehicle 50 as the imaging range F1. become.

  The irradiation device 12 includes, for example, an LED (Light Emitting Diode) that has high luminance, low power consumption, and long life as a light source, and is fixedly installed at a predetermined position of the vehicle 50. . As shown in FIG. 2, the irradiation device 12 is installed at the lowermost portion of the vehicle body of the vehicle 50 so that the irradiation light is irradiated toward the outside of the vehicle. For example, as shown in FIG. 3, the irradiation device 12 is embedded in the frame portion 51 on the side body side of the vehicle body below the vehicle door portion 52, or provided below the front bumper 53, the rear bumper 54, etc. It is installed so as to surround the vehicle 50.

  As shown in FIG. 2, the irradiation device 12 uses the imaging range F1 of the road surface RS around the vehicle imaged by the imaging device 11 in the state where there is no obstacle as an obstacle, and sets the reference road surface RS as the reference. It is installed so as to irradiate the irradiation light to the irradiation position IR on the road surface located outside the imaging range F1. Therefore, the irradiation light irradiated from the irradiation device 12 is irradiated toward the irradiation position IR at a position that passes the imaging range F1.

  The irradiation position IR for irradiating the irradiation light from the irradiation device 12 is prevented from overlapping even if it approaches the imaging range F1 as much as possible. That is, the irradiation light is not irradiated to the road surface RS of the imaging range F1.

  As described above, when the irradiation direction of the irradiation light irradiated from the irradiation device 12 is defined, the irradiation light irradiated from the irradiation device 12 to the object approaching the vehicle 50 and entering the angle of view of the imaging device 11 is obtained. Can be irradiated.

  Thereby, since the object can approach the vehicle 50 and can reliably irradiate the object having a height that may become an obstacle, the presence of the object in the image captured by the imaging device 11 Can be clearly distinguished from the background image. Therefore, the driver who has visually recognized the image displayed via the image display device 14 can reliably recognize the presence of an obstacle.

  Subsequently, a specific configuration example of the irradiation apparatus 12 will be described with reference to FIGS. 4, 5, and 6. In the following, only the case where the irradiation device 12 is installed on the side body side of the vehicle 50 will be described, but the same configuration is also provided when the irradiation device 12 is installed on the front bumper 53 and the rear bumper 54 shown in FIG. It can be.

  FIG. 4A is a diagram showing a state in which the vehicle 50 shown in FIG. 3 is viewed from the direction of arrow A, and FIG. 4B is a view taken along the line II shown in FIG. FIG. 4C is a diagram showing a state cut along the line II-II shown in FIG.

  As shown in FIG. 4B, the irradiation device 12 is installed in the lowermost part of the vehicle body of the vehicle 50 by being incorporated in a region formed so as to cut out the frame portion 51.

  As shown in FIGS. 4B and 4C, the irradiation device 12 emits light from the light emitting diode 31 that is a light source installed inside the frame portion 51 so that the light emission direction is vertically upward, and the light emitting diode 31 emits light. A reflector housing 32A optically designed to collect the reflected light by reflection, a diffuser plate 33 for diffusing and uniforming highly directional light reflected by the reflector housing 32A, and the interior of the irradiation device 12 And a transparent member 34 that emits the light diffused by the diffusion plate 33 to the outside. As the transparent member 34, not only an optically transparent member but also a lens or the like may be employed.

  FIG. 5A is a diagram showing a state in which the vehicle 50 shown in FIG. 3 is viewed from the direction of arrow A, and FIG. 5B is a view taken along the line II shown in FIG. FIG.5 (c) is a figure which showed a mode that it cut | disconnected by the II-II line | wire shown to Fig.5 (a).

  As shown in FIGS. 5B and 5C, the irradiation device 12 is a light source installed inside the frame portion 51 so that the light emission direction is substantially perpendicular to the surface forming the side body of the vehicle 50. The light emitting diode 31 is installed so as to cover the emission direction of the light emitting diode 31, and diffuses the highly directional light emitted from the light emitting diode 31 to make it uniform, and is emitted through the diffusion lens 35. The reflector housing 32B optically designed to reflect a part of the reflected light and guide it to the transparent member 34, and protects the inside of the irradiation device 12 and transmits the light emitted through the diffusion lens 35 to the outside. And a transparent member 34 that emits light. As the transparent member 34, not only an optically transparent member but also a lens or the like may be employed.

  FIG. 6A is a diagram showing a state in which the vehicle 50 shown in FIG. 3 is viewed from the direction of arrow A, and FIG. 6B is a view taken along the line I-I shown in FIG. FIG. 6C is a diagram showing a state cut along the line II-II shown in FIG.

  As shown in FIGS. 6B and 6C, the irradiation device 12 emits light from the light emitting diode 31 that is a light source installed inside the frame portion 51 so that the light emission direction is vertically upward, and the light emitting diode 31 emits light. The reflector housing 32C is optically designed to guide the light having strong directivity while being diffused so as to be uniform, and the transparent member 34 that emits the emitted light to the outside. As the transparent member 34, not only an optically transparent member but also a lens or the like may be employed.

  The configuration of the irradiation device 12 shown in FIGS. 4, 5, and 6 is an example, and does not limit the present invention. Therefore, various optical structures can be employed as long as the irradiation light irradiation position IR described with reference to FIG. 2 is satisfied. At this time, it is desirable to make an optical design such that the illuminance between adjacent light emitting diodes 31 is uniform.

  Further, instead of installing the irradiation device 12 directly in the frame portion 51 of the vehicle body of the vehicle 50, a side sill protector that is retrofitted to the frame portion 51 and functions as a protector for avoiding mud and pebbles, and also the frame portion 51. It may be installed in equipment such as aero parts to be attached later and installed at the bottom of the vehicle body.

  The image processing device 13 is equipped with hardware logic for generating a viewpoint-converted image such as a bird's-eye view image using the image captured by the imaging device 11. The image processing apparatus 13 that realizes such a function is equipped with a DSP (Digital Signal Processor) as a core of image processing, and can be designed as an ASIC (Application Specific Integrated Circuit) that is an application specific integrated circuit, or can be an FPGA (FPGA). (Field Programmable Gate Array). Since the image processing device 13 executes only image processing that realizes such viewpoint conversion, it is possible to realize very high-speed image calculation processing.

  The input device 15 is an input unit of the vehicle driving support device 1 and can input a request for image presentation from the driver, a command for using each function, and the like. As the input device 15, for example, various input devices such as a keyboard, a touch panel used in combination with the image display device 14, a mouse, and a pointing device can be used. The input device 15 may be a remote controller that remotely operates the vehicle driving support device 1.

  Of the input device 15, an input function for inputting a viewpoint conversion image presentation request that is a processing request to the image processing device 13 may be linked to a shift lever that changes a gear combination of the transmission (transmission). It can be presumed that an image whose viewpoint has been changed is often required when a vehicle is parked or stopped, particularly when the vehicle is traveling backward. Therefore, the viewpoint conversion image presentation request is input in response to the shift lever being switched to the “R (reverse)” position, whereby the viewpoint-converted image is automatically displayed from the image display device 14. To assist the driver's field of view.

  The input device 15 may be a voice input device when the vehicle driving support device 1 is provided with a voice recognition function, and the vehicle driving support device 1 can be operated by voice input.

  The image display device 14 is a display unit that displays the viewpoint conversion image generated by the image processing device 13 and presents it to the driver under the control of the control unit 16. The image display device 14 is, for example, a thin liquid crystal display having a relatively small inch size and is installed at a position that is easily visible to the user, mainly at a position that is easily visible to the driver. Further, the display panel of the image display device 14 may be a touch panel that combines the functions of the input device 15 described above.

[Processing Operation of Vehicle Driving Support Device 1]
Next, the processing operation of the vehicle driving support apparatus 1 will be described using the flowchart shown in FIG.

  In step S <b> 1, the control unit 16 determines whether a viewpoint conversion image presentation request has been made by the operation of the input device 15 by the driver. When the presentation request for the viewpoint conversion image is made, the control unit 16 proceeds to step S2. On the other hand, when the presentation request is not made, the control unit 16 enters a presentation request input standby state.

  In step S <b> 2, the control unit 16 controls the irradiation device 12 to start irradiation with irradiation light.

  In step S <b> 3, the control unit 16 controls the imaging device 11 and transfers the captured image to the image processing device 13.

  For example, when the vehicle 50 and the obstacle Hz are in a positional relationship as shown in FIG. 8, it is assumed that presentation of a viewpoint conversion image is requested in step S1. FIG. 8A is a diagram showing a positional relationship with an obstacle Hz that can be seen when the vehicle 50 is viewed from above, and FIG. 8B is a diagram when the vehicle 50 is viewed from the horizontal rear. It is the figure which showed the positional relationship with the obstacle Hz which can be seen.

  In step S <b> 4, the image processing device 13 performs viewpoint conversion processing using the image transferred from the imaging device 11, and generates a viewpoint conversion image (for example, a bird's-eye view image) in which the viewpoint is converted.

  In step S <b> 5, the control unit 16 transfers the viewpoint conversion image generated by the image processing device 13 to the image display device 14.

  In step S <b> 6, the control unit 16 performs display control so that the viewpoint conversion image generated and transferred by the image processing device 13 is displayed on the image display device 14.

  For example, it is assumed that the vehicle 50 and the obstacle Hz are in a positional relationship as shown in FIG. 8, and the obstacle Hz exists outside the angle of view of the imaging device 11 as shown in FIG. At this time, as shown in FIG. 9A, the irradiation device 12 irradiates irradiation light on the irradiation position IR on the road surface RS located outside the imaging range F1.

  Therefore, the viewpoint conversion image captured by the imaging device 11 and subjected to viewpoint conversion by the image processing device 13 is displayed on the display screen 14a of the image display device 14 as shown in FIG. 9B. As illustrated in FIG. 9B, the overhead view image that has undergone viewpoint conversion becomes an image as if the vehicle 50 was captured by the virtual camera IM that exists directly above, and exists outside the angle of view of the imaging device 11. Obstacle Hz is not projected.

  Further, it is assumed that the vehicle 50 and the obstacle Hz are in a positional relationship as shown in FIG. 8 and that the obstacle Hz exists within the angle of view of the imaging device 11 as shown in FIG. At this time, since the irradiation light is irradiated from the irradiation device 12 toward the irradiation position IR on the road surface RS located outside the imaging range F1, as shown in FIG. Irradiation light is irradiated to the obstacle Hz existing within the angle of view.

  Therefore, the viewpoint conversion image captured by the imaging device 11 and subjected to viewpoint conversion by the image processing device 13 is displayed on the display screen 14a of the image display device 14 as shown in FIG. As shown in FIG. 10B, the bird's-eye view image that has undergone viewpoint conversion becomes an image as if the vehicle 50 was captured by the virtual camera IM that exists directly above, and further, within the angle of view of the imaging device 11. The obstacle Hz that is distinguished from the background image is clearly shown by being present and being irradiated with the irradiation light from the irradiation device 12 (irradiation region RF).

  Further, the vehicle 50 and the obstacle Hz are in a positional relationship as shown in FIG. 8, and within the angle of view of the imaging device 11 as shown in FIG. 11A, further from the state of FIG. It is assumed that an obstacle Hz exists so as to approach the vehicle 50. Also in this case, as illustrated in FIG. 11A, the irradiation light is irradiated from the irradiation device 12 to the obstacle Hz existing within the angle of view of the imaging device 11.

  Therefore, the viewpoint conversion image captured by the imaging device 11 and subjected to viewpoint conversion by the image processing device 13 is displayed on the display screen 14a of the image display device 14 as shown in FIG. As shown in FIG. 11B, the overhead view image that has undergone viewpoint conversion becomes an image as if the vehicle 50 was captured by the virtual camera IM that exists directly above, and further, within the angle of view of the imaging device 11. The obstacle Hz that is distinguished from the background image is clearly shown by being present and being irradiated with the irradiation light from the irradiation device 12 (irradiation region RF).

  By the way, when the vehicle 50 and the obstacle Hz have a relationship as shown in FIG. 8 as in the case described above, and the obstacle Hz exists outside the angle of view of the imaging device 11, FIG. ), The irradiation light irradiated from the irradiation device 12 is irradiated toward the irradiation position IRx on the road surface RS located inside the imaging range F1 of the imaging device 11.

  In such a case, the viewpoint conversion image captured by the imaging device 11 and subjected to viewpoint conversion by the image processing device 13 is displayed on the display screen 14a of the image display device 14 as shown in FIG. As shown in FIG. 12B, the overhead view image subjected to the viewpoint conversion is an image as if the vehicle 50 was captured by the virtual camera IM that exists directly above.

  However, as shown in FIG. 12B, the irradiation light irradiated by the irradiation device 12 irradiates the imaging range F1 even though the obstacle Hz does not exist within the angle of view of the imaging device 11. Therefore, the display image as if some kind of obstacle is present is caused by the contrast generated between the region not irradiated with the irradiation light.

  A driver who visually recognizes such a display image may recognize that an obstacle exists even though no obstacle exists in the surrounding area of the vehicle 50, and may take unnecessary avoidance actions. There is a problem.

  That is, in order to irradiate the obstacle with the irradiation light only when the obstacle enters the angle of view of the imaging device 11, there is no obstacle as described with reference to FIG. In this state, with reference to the imaging range F1 of the road surface RS around the vehicle that is imaged by the imaging device 11, the irradiation on the road surface that is outside the imaging range F1 that images the road surface RS that is the reference and passes the imaging range F1 It is necessary to install the irradiation device 12 so as to irradiate the irradiation light with respect to the position IR.

  Returning again to the flowchart shown in FIG. 7, the description of the processing operation of the vehicle driving support device 1 will be continued.

  In step S <b> 7, the control unit 16 determines whether or not a request for presentation of the viewpoint conversion image has been made by the driver via the input device 15. When the viewpoint conversion image presentation request has been made, the control unit 16 returns the processing to step S3 and continues the viewpoint conversion image processing. In addition, when the presentation request for the viewpoint conversion image is canceled, the control unit 16 advances the processing to step S8.

  In step S8, the control unit 16 controls the irradiation device 12 to stop the irradiation of irradiation light.

  By executing such processing, the vehicle driving support device 1 can cause the image display device 14 to display a viewpoint conversion image obtained by converting the viewpoint of the image captured by the imaging device 11 mounted on the vehicle 50. . The driver can recognize the state of the surrounding area of the vehicle 50 by visually recognizing the viewpoint conversion image displayed on the image display device 14. At this time, if an object is present within the angle of view of the imaging device 11, the irradiation light irradiated by the irradiation device 12 is reliably irradiated to the object, so that the position of the object that is clearly distinguished from the background region and becomes an obstacle Can be displayed and displayed on the image display device 14.

[Installation position of irradiation device 12 with respect to height direction of vehicle body]
As described with reference to FIG. 2, the irradiation device 12 is installed at the bottom of the vehicle body of the vehicle 50 so that the irradiation light is irradiated toward the outside of the vehicle 50.

  For example, as shown in FIG. 13A, when the irradiation device 12 is installed at an intermediate position in the height direction of the vehicle body of the vehicle 50 so that the irradiation light is emitted toward the outside of the vehicle 50, the vehicle 50 The obstacle Hz1 having a height approximately equal to the vehicle height of the vehicle can be irradiated with irradiation light even if it enters the angle of view of the imaging device 11, whereas the obstacle Hz1 can be irradiated from the installation position of the irradiation device 12. However, even if the obstacle Hz2 is intruded into the angle of view of the imaging device 11, the irradiation light cannot be irradiated.

  On the other hand, as shown in FIG. 13 (b), when it is installed at the lowermost part of the vehicle 50 so that the irradiation light is emitted toward the outside of the vehicle 50, the obstacle Hz2 lower than the obstacle Hz1. Also, the irradiation light from the irradiation device 12 can be reliably irradiated.

  However, as shown in FIG. 13B, for an obstacle Hz3 lower than the installation position of the irradiation device 12 installed at the lowermost part of the vehicle body of the vehicle 50, depending on the irradiation angle θ of the irradiation light, the imaging device In some cases, it is not possible to irradiate the obstacle Hz3 that has entered the angle of view 11 with the irradiation light.

  In order to irradiate such an extremely low obstacle Hz3 with irradiation light, the angle α formed by the road surface RS and the irradiation light may be reduced as can be seen from FIG. As the irradiation device 12 is installed at a position lower than the vehicle body of the vehicle 50, the angle α can be reduced. However, as the obstacle Hz3 approaches the vehicle 50 within the angle of view of the imaging device 11, the angle α becomes smaller. The possibility that the irradiation light cannot be irradiated remains.

  Therefore, as shown in FIG. 13 (c), utilizing the fact that the light emitted from the light source is diffused according to the reach distance, the position where the irradiation device 12 is installed is the lowermost part of the vehicle body of the vehicle 50, The direction in which the irradiation light is irradiated is rotated by, for example, 180 degrees. Thereby, the irradiation light irradiated from the irradiation apparatus 12 passes through the space formed in the lower part of the vehicle body between the front wheels and the rear wheels, and reaches the irradiation position IR. That is, by setting the irradiation device 12 in this way, it is possible to earn the reach distance to the irradiation position IR of the irradiation light by the width of the vehicle 50.

  Therefore, as shown in FIG. 13C, the angle β formed by the road surface RS and the irradiation light is β <α with respect to the angle α shown in FIG. Even if the obstacle Hz3 approaches the vehicle 50, the irradiation light can be continuously irradiated.

[Light distribution control of irradiation light]
By defining the installation position of the irradiation device 12 and the irradiation direction of the irradiation light as described above, it is possible to reliably irradiate the irradiation light to obstacles of various heights that have entered the angle of view of the imaging device 11. it can.

  Furthermore, by controlling the light distribution of the irradiation light, it is possible to irradiate the obstacle light of various shapes so that the feature of the shape can be grasped. The obstacle Hz4 shown in FIGS. 14, 15, and 16 does not have a flat shape, but has a convex portion P whose shape has changed on the surface facing the vehicle 50.

  As shown in FIGS. 14, 15, and 16 for such an obstacle Hz4, the light distribution of the light distribution irradiated from the irradiation device 12 is controlled so that the upward diffusion degree is increased. When the obstacle Hz4 has entered the angle of view of the imaging device 11, the irradiation light is emitted to the convex portion P that is a point where the shape of the obstacle Hz4 has changed. be able to.

  For example, it is assumed that an obstacle Hz4 exists outside the angle of view of the imaging device 11 as shown in FIG. At this time, as shown in FIG. 14A, irradiation light is irradiated from the irradiation device 12 to the irradiation position IR on the road surface RS located outside the imaging range F1.

  Therefore, the viewpoint conversion image captured by the imaging device 11 and subjected to viewpoint conversion by the image processing device 13 is displayed on the display screen 14a of the image display device 14 as shown in FIG. As shown in FIG. 14B, the bird's-eye view image that has undergone viewpoint conversion becomes an image as if the vehicle 50 was captured by the virtual camera IM that exists directly above, and exists outside the angle of view of the imaging device 11. Obstacle Hz4 is not projected.

  Further, it is assumed that an obstacle Hz4 exists within the angle of view of the imaging device 11 as shown in FIG. At this time, since the irradiation light is irradiated from the irradiation device 12 toward the irradiation position IR on the road surface RS located outside the imaging range F1, as shown in FIG. Irradiation light is irradiated to the obstacle Hz4 existing in the angle of view.

  Therefore, the viewpoint conversion image captured by the imaging device 11 and subjected to viewpoint conversion by the image processing device 13 is displayed on the display screen 14a of the image display device 14 as shown in FIG. As shown in FIG. 15B, the overhead view image that has undergone viewpoint conversion becomes an image as if the vehicle 50 was captured by the virtual camera IM that exists directly above, and further, within the angle of view of the imaging device 11. The obstacle Hz4 distinguished from the background image is clearly shown by being present and being irradiated with the irradiation light from the irradiation device 12 (irradiation region RF).

  Further, as shown in FIG. 16A, it is assumed that an obstacle Hz4 exists in the angle of view of the imaging device 11 so as to be closer to the vehicle 50 than in the state of FIG. Also in this case, as shown in FIG. 16A, the irradiation light is irradiated from the irradiation device 12 to the obstacle Hz4 existing within the angle of view of the imaging device 11.

  Therefore, the viewpoint conversion image captured by the imaging device 11 and subjected to viewpoint conversion by the image processing device 13 is displayed on the display screen 14a of the image display device 14 as shown in FIG. As shown in FIG. 16B, the bird's-eye view image that has undergone viewpoint conversion becomes an image as if the vehicle 50 was captured by the virtual camera IM that exists directly above, and further, within the angle of view of the imaging device 11. The obstacle Hz4 distinguished from the background image is clearly shown by being present and being irradiated with the irradiation light from the irradiation device 12 (irradiation region RF).

  At this time, since the convex portion P of the obstacle Hz4 has also entered the angle of view of the imaging device 11, the projection portion P is also irradiated with the irradiation light from the irradiation device 12. Accordingly, as shown in FIG. 16B, the projection P projecting toward the vehicle 50, which is a point of shape change in the obstacle Hz4, is irradiated by the irradiation light from the irradiation device 12 (irradiation region RF). It can be clearly projected.

  As described above, when the light distribution of the irradiation light emitted from the irradiation device 12 is controlled so that the upper diffusion degree becomes large, that is, when the irradiation angle θ of the irradiation light is extremely large, the angle of view of the imaging device 11 is within the field angle. The driver can be presented with a viewpoint conversion image that clearly recognizes the shape of the surface facing the vehicle 50 side of the object that becomes the intruding obstacle at an extremely early stage.

  Conversely, if the light distribution of the irradiation light emitted from the irradiation device 12 is controlled so that the degree of diffusion becomes small, that is, if the irradiation angle θ of the irradiation light is extremely small, the angle of view of the imaging device 11 is reduced. Whether the object that has entered the obstacle is approaching or moving away from the vehicle 50 can be determined from the shape of the irradiated light.

  As shown in FIGS. 17, 18, and 19, the light distribution of the irradiation light irradiated from the irradiation device 12 is controlled so that the degree of diffusion becomes small.

  For example, it is assumed that an obstacle Hz5 exists outside the angle of view of the imaging device 11 as shown in FIG. At this time, as shown in FIG. 17A, irradiation light is irradiated from the irradiation device 12 to the irradiation position IR on the road surface RS located outside the imaging range F1.

  Therefore, the viewpoint conversion image captured by the imaging device 11 and subjected to viewpoint conversion by the image processing device 13 is displayed on the display screen 14a of the image display device 14 as shown in FIG. As illustrated in FIG. 17B, the overhead view image that has undergone viewpoint conversion is an image as if the vehicle 50 was captured by the virtual camera IM that exists directly above, and exists outside the angle of view of the imaging device 11. Obstacle Hz5 is not projected.

  Further, as shown in FIG. 18A, it is assumed that an obstacle Hz5 exists within the angle of view of the imaging device 11. At this time, since the irradiation light is irradiated from the irradiation device 12 toward the irradiation position IR on the road surface RS located outside the imaging range F1, as shown in FIG. Irradiation light is irradiated to the obstacle Hz5 existing within the angle of view.

  Therefore, the viewpoint conversion image captured by the imaging device 11 and subjected to viewpoint conversion by the image processing device 13 is displayed on the display screen 14a of the image display device 14 as shown in FIG. As shown in FIG. 18B, the overhead view image that has undergone viewpoint conversion becomes an image as if the vehicle 50 was captured by the virtual camera IM that exists directly above, and further, within the angle of view of the imaging device 11. The obstacle Hz5 distinguished from the background image is clearly shown by being present and being irradiated with the irradiation light from the irradiation device 12 (irradiation region RF).

  Further, as shown in FIG. 19A, it is assumed that an obstacle Hz5 exists in the angle of view of the imaging device 11 so as to be closer to the vehicle 50 than in the state of FIG. Also in this case, as shown in FIG. 19A, the irradiation light is irradiated from the irradiation device 12 to the obstacle Hz5 existing within the angle of view of the imaging device 11. As described above, the irradiation light irradiated from the irradiation device 12 has the irradiation angle θ extremely small so that the diffusion degree of the irradiation light is small. Therefore, as shown in FIG. When approaching the vehicle 50, irradiation light will be irradiated only to the partial area | region of the surface facing the vehicle 50 of the obstacle Hz5.

  Accordingly, the viewpoint conversion image captured by the imaging device 11 and subjected to viewpoint conversion by the image processing device 13 is displayed on the display screen 14a of the image display device 14 as shown in FIG. As shown in FIG. 19B, the overhead view image that has undergone viewpoint conversion is an image as if the vehicle 50 was captured by the virtual camera IM that exists directly above, and further, within the angle of view of the imaging device 11. The obstacle Hz5 distinguished from the background image is clearly shown by being present and being irradiated with the irradiation light from the irradiation device 12 (irradiation region RF).

  At this time, as shown in FIG. 19B, the irradiation region RF of the irradiation light irradiated to the obstacle Hz5 is narrower than the irradiation region of the irradiation light in FIG. 18B. I understand. This is because the light distribution of the irradiation light emitted from the irradiation device 12 is controlled so that the degree of diffusion is small, so that the area of the irradiation region RF on the facing surface facing the vehicle 50 with the obstacle Hz5 is the imaging device. This is because the maximum value is reached at the time of entry into the angle of view 11, that is, the position farthest from the vehicle within the angle of view of the imaging device 11, and thereafter becomes smaller as the vehicle 50 is approached.

  In other words, the driver determines the vehicle 50 and the obstacle based on the change in the area of the irradiation region RF of the irradiation light of the irradiation device 12 irradiated to the obstacle Hz5 in the viewpoint conversion image displayed on the display screen 14a of the image display device 14. The positional relationship with the object Hz5 can be grasped intuitively.

[Another configuration of the vehicle driving support device 1]
Next, another configuration of the vehicle driving support apparatus 1 shown as an embodiment of the present invention will be described. In the vehicle driving assistance device 1 described above, driving assistance is favorably performed when a viewpoint conversion image captured by the imaging device 11 and subjected to viewpoint conversion processing by the image processing device 13 is displayed on the image display device 14. Can do.

  In such a vehicle driving support device 1, the imaging device of the imaging device 11 is an imaging device that can detect light in the wavelength region from the visible light region to the infrared light region, and the light source of the irradiation device 12 is visible light. If the LED can emit light in the wavelength region up to the infrared region in addition to the region, the irradiation light is recognized even in the daytime when sunlight is strong. Will be able to. Such infrared light irradiated as irradiation light by the irradiation device 12 is detected by an imaging element provided in the imaging device 11. Therefore, the irradiation light irradiated to the obstacle object that has entered the angle of view of the image pickup device 11 is detected by the image pickup element so that the driver can recognize the image displayed on the image display device 14. Reflected.

  At this time, the image processing device 13 may have a function of merely generating a viewpoint conversion image obtained by converting the viewpoint of the captured image captured by the imaging device 11 as described above, but visualizes infrared light. Then, when displaying on the image display device 14, a process of further highlighting the irradiated portion of the infrared light may be executed. In this case, since it is only necessary to further enhance an easily detectable image region irradiated with infrared light, it can be realized by image processing with extremely low processing load.

  Such highlighting by the image processing device 13 can also be applied to light in the visible light region. The image processing device 13 detects an irradiation spot of the irradiation light irradiated from the irradiation device 12, performs predetermined image processing, and displays the highlighted portion. In this case, since it is only necessary to further enhance an easily detectable image region irradiated with visible light, it can be realized by image processing with extremely low processing load.

[Effect of the embodiment]
As described above, the vehicle driving support device 1 shown as the embodiment of the present invention uses the imaging range F1 as a reference in a state where an object that becomes an obstacle does not exist within the angle of view of the imaging device 11, and serves as a reference imaging range. Irradiation light is irradiated from the irradiation device 12 with the position passing F1 as the irradiation position IR.

  Thereby, when an object exists within the angle of view of the imaging device 11, the irradiation light irradiated by the irradiation device 12 is reliably irradiated to the object, so that the position of the object that is clearly distinguished from the background region and becomes an obstacle Can be displayed on the image display device 14 and presented to the user.

  Further, a plurality of irradiation devices 12 are installed around the lowermost part of the vehicle body of the vehicle 50, and the installation direction is determined by defining the irradiation direction so that the irradiation light is irradiated to the irradiation position IR toward the outside of the vehicle 50. Irradiation light can be reliably irradiated to an obstacle above the upper side.

  Thereby, the viewpoint conversion image which can be clearly distinguished from the background region and can clearly recognize the position of the obstacle is displayed on the image display device 14 and can be presented to the user.

  A plurality of irradiation devices 12 are installed around the lowermost part of the vehicle body of the vehicle 50, and the irradiation direction is defined so that the irradiation light passes through the space formed under the vehicle body and is irradiated to the irradiation position IR. Thereby, irradiation light can be reliably irradiated with respect to the obstacle lower than a vehicle body.

  Thereby, the viewpoint conversion image which can be clearly distinguished from the background region and can clearly recognize the position of the obstacle is displayed on the image display device 14 and can be presented to the user.

  In addition, light distribution control is performed to increase the degree of diffusion upward in the vehicle height direction so that the irradiation light is irradiated on the entire surface of the intrusion area of the object that has entered the angle of view of the imaging device 11. Thus, for example, even the surface shape of the object having a change such as the convex portion P can be recognized from the viewpoint conversion image displayed on the image display device 14.

  In addition, by controlling the light distribution of the irradiation light of the irradiation device 12 so that the irradiation area when irradiating the object existing at the position farthest from the vehicle 50 within the angle of view of the imaging device 11 is maximized, Within the angle of view of the imaging device 11, the irradiation area decreases as it approaches the vehicle 50, so that the positional relationship between the vehicle 50 and the obstacle object can be intuitively determined from the viewpoint conversion image displayed on the image display device 14. Can be grasped.

  In addition, the irradiation light emitted from the irradiation device 12 is light having a wavelength component in the infrared region, and the imaging element of the imaging device 11 is capable of sensing light of the wavelength component in the infrared region, thereby Even during strong daytime, driving assistance can be executed reliably.

  Furthermore, the image processing device 13 performs image processing so as to emphasize the portion irradiated with the irradiation light by the irradiation device 12, so that the presence of an object serving as an obstacle can be detected while performing image processing with a low processing load. Further, a viewpoint conversion image that can be surely recognized can be presented via the image display device 14.

  The above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and various modifications can be made depending on the design and the like as long as the technical idea according to the present invention is not deviated from this embodiment. Of course, it is possible to change.

It is a figure for demonstrating the structure of the driving assistance device for vehicles shown as embodiment of this invention. It is a figure for demonstrating the irradiation position of irradiation light. It is a figure for demonstrating the installation position of an irradiation apparatus. It is the figure which showed an example of the specific structure of an irradiation apparatus. It is the figure which showed another example of the specific structure of an irradiation apparatus. It is the figure which showed another example of the specific structure of an irradiation apparatus. It is a flowchart for demonstrating the processing operation of the said vehicle driving assistance device. FIG. 5 is a diagram showing an example of a specific positional relationship between a vehicle and an obstacle in explaining a state where irradiation light is actually irradiated from an irradiation device. It is a figure for demonstrating a mode that the irradiation light was irradiated, and a viewpoint conversion image, when an obstruction exists outside the angle of view of an irradiation apparatus. It is a figure for demonstrating a mode that the irradiation light was irradiated, and a viewpoint conversion image, when an obstruction penetrate | invades in the angle of view of an irradiation apparatus. It is a figure for demonstrating a mode and the viewpoint conversion image which irradiated the irradiation light when an obstruction approaches the vehicle further from the state shown in FIG. It is a figure for demonstrating the harmful effect at the time of overlapping the irradiation position of an irradiation apparatus in the imaging range of an imaging device. It is a figure for demonstrating the installation position with respect to the height direction of the vehicle body of an irradiation apparatus. It is a figure for demonstrating the light distribution control of the irradiation apparatus for responding to the obstruction which has a shape change on the surface. It is a figure for demonstrating the light distribution control of the irradiation apparatus for responding to the obstruction with a shape change on the surface. It is a figure for demonstrating the light distribution control of the irradiation apparatus for responding to the obstruction with a shape change on the surface. It is a figure for demonstrating performing light distribution control of an irradiation apparatus so that the positional relationship of a vehicle and an obstruction can be grasped | ascertained visually. It is a figure for demonstrating performing light distribution control of an irradiation apparatus so that the positional relationship of a vehicle and an obstruction can be grasped | ascertained visually. It is a figure for demonstrating performing light distribution control of an irradiation apparatus so that the positional relationship of a vehicle and an obstruction can be grasped | ascertained visually.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle drive assistance device 11 Imaging device 12 Irradiation device 13 Image processing device 14 Image display device 16 Control part 31 Light emitting diode 51 Frame part

Claims (8)

A vehicle driving assistance device for assisting the driver's field of view by displaying an image of the vehicle surroundings captured by an imaging device mounted on the vehicle,
Irradiation means for irradiating irradiation light with a position passing through the reference road surface as an irradiation position, with a road surface as an imaging range in a state where an object that becomes an obstacle does not exist within the angle of view of the imaging device,
Image processing means for generating a viewpoint conversion image captured from a virtual viewpoint different from that of the imaging device by performing image conversion processing on the captured image captured by the imaging device;
A vehicle driving support apparatus comprising: display means for displaying a viewpoint conversion image generated by the image processing means. A plurality of the irradiation means are installed around the lowermost part of the vehicle body of the vehicle,
The vehicle driving support device according to claim 1, wherein an irradiation direction is defined so that the irradiation light is irradiated to the irradiation position toward the outside of the vehicle. A plurality of the irradiation means are installed around the lowermost part of the vehicle body of the vehicle,
The vehicle driving support device according to claim 1, wherein an irradiation direction is defined so that the irradiation light passes through a space formed under the vehicle body and is irradiated to the irradiation position. The irradiation light irradiated from the irradiation means is directed upward in the vehicle height direction so that the irradiation light is irradiated to the entire area of the intrusion area within the angle of view of the object that has entered the angle of view of the imaging device. The vehicle driving support device according to claim 1, wherein light distribution control for increasing a degree of diffusion is performed. Light distribution control is performed such that the irradiation area of the irradiation light emitted from the irradiation unit is maximized when it is irradiated to an object that is farthest from the vehicle within the angle of view of the imaging device. The driving support device for a vehicle according to any one of claims 1 to 3, wherein The irradiation light emitted from the irradiation means is light having a wavelength component in the infrared region,
The vehicle driving support device according to any one of claims 1 to 5, wherein the imaging device senses light having a wavelength component in the infrared region. The vehicular driving support apparatus according to any one of claims 1 to 6, wherein the image processing unit performs image processing so as to emphasize a portion irradiated with irradiation light by the irradiation unit. . A driving support method for a vehicle driving support device that displays an image of the surroundings of a vehicle by an imaging device mounted on the vehicle and assists the driver's field of view,
An irradiation step of irradiating irradiation light with a position passing through the reference road surface as an irradiation position with reference to a road surface that is an imaging range in a state where an object that becomes an obstacle does not exist within the angle of view of the imaging device;
An image processing step of generating a viewpoint conversion image captured from a virtual viewpoint different from that of the imaging device by performing an image conversion process on the captured image captured by the imaging device;
And a display step of displaying the viewpoint conversion image generated by the image processing step.

Images