JP2008149786A - Vehicle driving assistance device and vehicle driving assistance system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To maintain safety in driving a vehicle at a high level by recognizing a specific object easily from an indicated image. <P>SOLUTION: A vehicle driving assistance device 10 is equipped with a view field interception determining unit 16a to determine whether a front view field of the driver of the own vehicle 1 is intercepted by the other forward vehicle 2, an image acquiring unit 16b to acquire an image including a frontal image of the vehicle ahead 2 when the front view field is determined to be intercepted by the forward vehicle 2, a specific object recognition unit 16c to recognize out of the acquired image the specific object which is not visible to the driver because of interception by the forward vehicle 2 and which nevertheless the driver should recognize visually, an image reading unit 16e to read a simplified image obtained by the simplification of the recognized specific object, and a head-up display indicating unit 17 to indicate only the simplified image which is read out. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle driving support device and a vehicle driving support system.

Conventionally, an in-vehicle image display device is known (for example, see Patent Document 1). In this in-vehicle image display device, when the forward view of the driver of the host vehicle is blocked by a forward vehicle (for example, a truck, a bus, etc.), the forward vehicle is blocked by the forward vehicle and the driver cannot see the front. A front image obtained by photographing the front of the vehicle is acquired and the image is displayed. Thereby, driving safety can be maintained.
JP 2004-114709 A

  However, since the in-vehicle image display device displays the front image as it is, the display image includes many images that the driver does not need to visually recognize. Therefore, it becomes difficult for the driver to recognize a specific object (for example, a vehicle, a pedestrian, a traffic light, an intersection, etc.) that the driver should visually recognize from the display image, and the driver's safety may not be maintained at a high level. There is.

  This invention is made | formed in view of this point, The place made into the objective is to maintain the safety | security of a driving | operation at a high level.

  A first aspect of the present invention is a vehicle driving support device for supporting driving of a vehicle, wherein a visibility blockage determining means for determining whether a forward view of a driver of the host vehicle is blocked by a forward vehicle, and the front When it is determined that the field of view is obstructed by the preceding vehicle, the image obtaining means for obtaining an image including a forward image of the preceding vehicle, and the driving performed by being obstructed by the preceding vehicle from the obtained image. A specific object recognizing unit that recognizes a specific object that the driver cannot visually recognize and that the driver should visually recognize, an image reading unit that reads out a simplified image obtained by simplifying the recognized specific object, and the read-out simplified unit An image display means for displaying only an image is provided.

  As a result, from the acquired image including the forward image of the preceding vehicle, a specific object that is blocked by the preceding vehicle and cannot be visually recognized by the driver of the host vehicle and that the driver should visually recognize is recognized and recognized. Therefore, the driver can easily recognize the specific object from the display image, and the driving safety is high. Can be maintained at a level.

  According to a second aspect of the present invention, in the first aspect of the present invention, the second aspect of the invention further comprises specific object extraction means for extracting the recognized specific object that is closest to the host vehicle, and the image reading means is the extraction section. It is configured to read out a simplified image obtained by simplifying the specified object.

  As a result, the recognized specific object that is closest to the host vehicle is extracted, a simplified image obtained by simplifying the extracted specific object is read, and only the read simplified image is displayed. The driver can more easily recognize the specific object from the display image, and can maintain driving safety at a higher level.

  According to a third aspect of the present invention, in the first aspect of the present invention, the image reading means further comprises specific object extracting means for extracting the recognized specific objects existing within a predetermined range around the host vehicle. A simple image obtained by simplifying the extracted specific object is read out.

  As a result, among the recognized specific objects, those existing within a predetermined range around the host vehicle are extracted, a simplified image obtained by simplifying the extracted specific objects is read, and only the read simplified image is displayed. Thus, the driver can more easily recognize the specific object from the display image, and can maintain driving safety at a higher level.

  According to a fourth aspect of the present invention, in any one of the first to third aspects, the image processing device further includes image changing means for changing the simplified image according to the recognized state of the specific object. is there.

  Thereby, since a simple image is changed according to the state of the recognized specific thing, a simple image can be used according to the state of the recognized specific thing. For this reason, the driver can accurately recognize the state of the recognized specific object.

  According to a fifth invention, in any one of the first to fourth inventions, the image display means is configured to display on a front window.

  Thereby, since it displays on a front window, a driver | operator's visual recognition operation amount can be reduced and the burden can be eased.

  According to a sixth aspect, in the fifth aspect, the apparatus further comprises image color correction means for changing the color of the simplified image in accordance with the color of the back surface of the preceding vehicle.

  Thereby, since the color of a simple image is changed according to the color of the back surface of a front vehicle, the color of a simple image can be made according to the color of the back surface of a front vehicle. For this reason, the driver | operator can visually recognize a simple image easily.

  According to a seventh invention, in any one of the first to sixth inventions, the image acquisition means is configured to acquire the image from the preceding vehicle through inter-vehicle communication. It is.

  Thereby, since the image containing the front image of a front vehicle is acquired from a front vehicle by vehicle-to-vehicle communication, the image can be acquired easily.

  An eighth invention is characterized in that, in any one of the first to sixth inventions, the image acquisition means is configured to acquire the image from a roadside camera by road-to-vehicle communication. is there.

  Thereby, since the image containing the front image of a front vehicle is acquired from roadside camera by road-to-vehicle communication, the image can be acquired easily.

  A ninth aspect of the present invention is a vehicle driving support system for supporting driving of a vehicle, the visibility blocking determining means for determining whether the forward visibility of the driver of the host vehicle is blocked by the forward vehicle, and the front When it is determined that the field of view is obstructed by the preceding vehicle, the image obtaining means for obtaining an image including a forward image of the preceding vehicle, and the driving performed by being obstructed by the preceding vehicle from the obtained image. A specific object recognizing unit that recognizes a specific object that the driver cannot visually recognize and that the driver should visually recognize, an image reading unit that reads out a simplified image obtained by simplifying the recognized specific object, and the read-out simplified unit An image display means for displaying only an image is provided.

  A tenth aspect of the invention is a vehicular driving support apparatus for supporting driving of a vehicle, the visibility blocking determining means for determining whether the forward visibility of the driver of the host vehicle is blocked by the forward vehicle, and the front When it is determined that the field of view is obstructed by the preceding vehicle, the image obtaining means for obtaining an image including a forward image of the preceding vehicle, and the driving performed by being obstructed by the preceding vehicle from the obtained image. A specific object recognizing means for recognizing a specific object that cannot be visually recognized by the driver and an image display means for displaying only an image of the recognized specific object. is there.

  As a result, from the acquired image including the forward image of the preceding vehicle, a specific object that is blocked by the preceding vehicle and cannot be visually recognized by the driver of the host vehicle and that the driver should visually recognize is recognized and recognized. Since only the image of the specific object is displayed, the driver can easily recognize the specific object from the display image, and can maintain the driving safety at a high level.

  An eleventh aspect of the present invention is a vehicle driving support system for supporting driving of a vehicle, the visibility blocking determining means for determining whether the forward visibility of the driver of the host vehicle is blocked by the forward vehicle, and the front When it is determined that the field of view is obstructed by the preceding vehicle, the image obtaining means for obtaining an image including a forward image of the preceding vehicle, and the driving performed by being obstructed by the preceding vehicle from the obtained image. A specific object recognizing means for recognizing a specific object that cannot be visually recognized by the driver and an image display means for displaying only an image of the recognized specific object. is there.

  According to the present invention, from the acquired image including the forward image of the preceding vehicle, the driver recognizes a specific object that is blocked by the preceding vehicle and cannot be visually recognized by the driver of the host vehicle, and that the driver should visually recognize, Since the simplified image obtained by simplifying the recognized specific object is read and only the read simplified image is displayed, the driver can easily recognize the specific object from the displayed image, and driving safety. Sex can be maintained at a high level.

  According to another invention, from the acquired image including the forward image of the preceding vehicle, a specific object that is blocked by the preceding vehicle and cannot be visually recognized by the driver of the host vehicle and that the driver should visually recognize is recognized. Since only the image of the recognized specific object is displayed, the driver can easily recognize the specific object from the display image, and can maintain the driving safety at a high level.

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

(Embodiment 1)
FIG. 1 is a block diagram of a vehicle driving support apparatus 10 according to an embodiment of the present invention, FIG. 2 is a schematic plan view of a vehicle 1 on which the vehicle driving support apparatus 10 is mounted, and FIG. It is a side view which shows the mode of the periphery of the vehicle 1 by which the driving assistance device 10 for vehicles is mounted. In FIG. 3, a vehicle around the vehicle 1 is indicated by a symbol a, a pedestrian is indicated by a symbol h, a traffic light is indicated by a symbol s, and a shooting range of each of the cameras 2a, 3 and 11 is indicated by a dashed line. The vehicle driving support device 10 is for supporting the driving of the vehicle 1 and, as shown in FIGS. 1 to 3, a camera 11, a vehicle speed sensor 12, a communication antenna 13, a GPS antenna 14, and a storage device 15. , An image processing device 16 and a head-up display display device 17 (corresponding to image display means). A camera 11, a vehicle speed sensor 12, a communication antenna 13, a GPS antenna 14, a storage device 15, and a head-up display display device 17 are connected to the image processing device 16 so as to be able to exchange signals.

  The camera 11 is a stereo camera, photographs the front of the host vehicle 1, and transmits the front image to the image processing device 16.

  The image processing device 16 includes a visual field interruption determination unit 16a (corresponding to visual field interruption determination unit), an image acquisition unit 16b (corresponding to image acquisition unit), a specific object recognition unit 16c (corresponding to specific object recognition unit), and a specific object extraction. A device 16d (corresponding to the specific object extracting means), an image reader 16e (corresponding to the image reading means), an image changing device 16f (corresponding to the image changing means), and an image color correcting device 16g (corresponding to the image color correcting means). Have.

  The visibility cut-off determination device 16a determines whether the front view of the driver of the host vehicle 1 is blocked by the front vehicle 2 (a vehicle immediately in front of the host vehicle 1, a truck in FIG. 3). Specifically, as shown in FIG. 4, the visual field cut-off determination unit 16 a extracts the front view image V of the driver of the host vehicle 1 from the image from the camera 11 and equidistant plane D from the front view image V. (The hatched portion in FIG. 4) is extracted, and when the area occupancy ratio of the equidistant surface D with respect to the forward view image V is equal to or greater than a predetermined value α (for example, 80%), the forward view of the driver of the host vehicle 1 Is determined to be blocked by the forward vehicle 2. The forward view of the driver of the host vehicle 1 is a predetermined range or a range determined according to the driver's line of sight detected by an eye camera (not shown). Or The equidistant surface D is the back surface of the front vehicle 2 having the same distance from the host vehicle 1, and this distance is calculated based on the image from the camera 11.

  When it is determined that the forward view of the driver of the host vehicle 1 is blocked by the forward vehicle 2, the image acquisition unit 16b transmits an image request signal to the outside of the vehicle via the communication antenna 13, and the forward vehicle An image including a front image obtained by photographing the front of 2 is acquired. The image acquisition unit 16b acquires the image by vehicle-to-vehicle communication from the preceding vehicle 2 that has received the image request signal, or receives the image request signal from the roadside camera 3 (this embodiment). In this case, it is obtained by road-to-vehicle communication from a stereo camera). Specifically, an image (see FIG. 3 and FIG. 5A) taken in front of the front vehicle 2 by a camera 2a (stereo camera in the present embodiment). A one-dot chain line in FIG. Images obtained through the communication antennas 2b and 13 of the front vehicle 2 and the host vehicle 1 or taken from behind by the roadside camera 3 (see FIG. 3 and FIG. 5B. One point of FIG. 5B) The chain line indicates the shooting range) through the roadside camera 3 and the communication antennas 3a and 13 of the host vehicle 1. In FIG. 5, a vehicle around the vehicle 1 is denoted by a, a pedestrian is denoted by h, a traffic light is denoted by s, and an intersection is denoted by i.

  The specific object recognizer 16c is blocked by the preceding vehicle 2 from the image acquired by the image acquirer 16b, and the driver of the host vehicle 1 cannot visually recognize part or all thereof, and the driver is driving. A specific object to be visually recognized is recognized by pattern matching. As this specific object, there are a surrounding vehicle a (including a two-wheeled vehicle), a pedestrian h, a traffic light s, and an intersection i. The pattern matching is performed based on the reference pattern of each specific object stored in advance in the storage device 15.

  The specific object extractor 16d extracts a specific object recognized by the specific object recognizer 16c, which is present closest to the host vehicle 1. The image reader 16e reads a simplified image obtained by simplifying each specific object extracted by the specific object extractor 16d. This simplified image is stored in advance in the storage device 15 for each specific object.

  The image changer 16f changes each simplified image read by the image reader 16e in accordance with the actual state of each extracted specific object. The image color corrector 16g changes the color of each read-out simple image according to the color of the back surface of the vehicle 2 ahead. Specifically, the image color corrector 16g changes the color of each simplified image to a color that is easy for the driver of the vehicle 1 to visually recognize according to the color of the back surface of the vehicle 2 ahead.

  The head-up display display device 17 displays only each simplified image on a portion corresponding to (opposed to) the rear surface of the front vehicle 2 on the front window 1a. Here, since each specific object is displayed not as a real image but as a simple image, even if the head-up display display device 17 has a low performance, the driver can These specific items can be easily recognized, and the cost of the head-up display display device 17 can be reduced. The display position of the simplified image is determined according to the actual position of the specific object corresponding to the simplified image.

-Image processing control of vehicle driving support device-
(The entire)
Hereinafter, the overall image processing control of the vehicle driving support apparatus 10 will be described with reference to the flowchart of FIG. 6.

  In step SA1, signals from various sensors including the vehicle speed sensor 12 are input. In step SA2, a front image of the host vehicle 1 is acquired from the camera 11 of the host vehicle 1. In step SA3, a field-of-view image V (see FIG. 4) of the vehicle driver is cut out from the front image of the vehicle 1. In step SA4, an equidistant surface D (see FIG. 4) is extracted from the field-of-view image V of the vehicle driver. In step SA5, the area occupation ratio of the equidistant surface D with respect to the visual field region image V is calculated. In step SA6, it is determined whether or not the area occupation ratio is larger than a predetermined value α. If the determination result in step SA6 is YES, the process proceeds to step SA7, and if NO, the process returns to step SA1.

  In step SA7, an image including a front image of the front vehicle 2 is acquired by vehicle-to-vehicle communication or road-to-vehicle communication. In step SA8, a specific object located on the other side of the forward vehicle 2 that is obstructed by the forward vehicle 2 and is difficult for the driver of the host vehicle 1 to view while the driver needs to visually recognize while driving. It is determined whether or not it was recognized. If the determination result in step SA8 is YES, the process proceeds to step SA9, and if NO, the process returns to step SA1.

  In step SA9, a display target is extracted from the recognized specific object. In step SA10, the simplified image to be displayed is displayed on the front window 1a. Then end.

(Display target extraction)
Hereinafter, the display target extraction control of the vehicle driving support apparatus 10 will be described with reference to the flowchart of FIG.

  In step SB 1, the position information of the host vehicle 1 is acquired via the GPS antenna 14. In step SB2, it is determined whether or not the image acquired in step SA7 is an image from the preceding vehicle 2. If the determination result in step SB2 is YES (that is, if it is an image from the preceding vehicle 2), the process proceeds to step SB3, and if NO (that is, if it is an image from the roadside camera 3), the process proceeds to step SB6.

  In step SB3, the distance between the specific object recognized in step SA8 and the preceding vehicle 2 is calculated based on the image acquired in step SA7. In step SB4, the peripheral vehicle a having the shortest distance from the preceding vehicle 2 among the peripheral vehicles a included in the specific object (that is, the closest distance to the own vehicle 1) is extracted as a display target (FIG. 5). At this time, the lighting state of the brake lamp and the direction indicator of the surrounding vehicle a is also detected. In step SB5, among pedestrians h, traffic lights s, and intersections i included in the specific object, pedestrians h, traffic lights s, and intersections i that are closest to the preceding vehicle 2 are extracted as display targets ( (See FIG. 5). At this time, the moving direction of the pedestrian h and the lighting state of the traffic light s are also detected. Then end.

  On the other hand, in step SB6, the position information of the roadside camera 3 is acquired by road-to-vehicle communication. In step SB7, the distance between the specific object recognized in step SA8 and the roadside camera 3 is calculated based on the image acquired in step SA7. In step SB8, the distance of the specific object from the own vehicle 1 is calculated based on the position information of the own vehicle 1, the position information of the roadside camera 3, and the distance from the specific object of the roadside camera 3.

  In step SB9, from the specific object recognized in step SA8, the distance from the own vehicle 1 is approximate to the distance from the subject vehicle 1 in front of the own vehicle 1 (this distance is detected by the own vehicle 1). The specific object (that is, the preceding vehicle 2) to be extracted is extracted. In step SB10, the specific object extracted in step SB9 is excluded from the specific object recognized in step SA8. In step SB11, the peripheral vehicle a closest to the host vehicle 1 is extracted as a display target from the peripheral vehicles a included in the specific object (see FIG. 5). At this time, the lighting state of the brake lamp and the direction indicator of the surrounding vehicle a is also detected. In step SB12, among pedestrians h, traffic lights s, and intersections i included in the specific object, pedestrians h, traffic lights s, and intersections i that are closest to the vehicle 1 are extracted as display targets ( (See FIG. 5). At this time, the moving direction of the pedestrian h and the lighting state of the traffic light s are also detected. Then end.

(Simplified image display)
Hereinafter, the simplified image display control of the vehicle driving support apparatus 10 will be described with reference to the flowcharts of FIGS. 8 and 9.

  In step SC1, it is determined whether or not the display object includes the traffic light s. If the determination result in step SC1 is YES, the process proceeds to step SC2, and if NO, the process proceeds to step SC6.

  In step SC2, the simplified image of the traffic light s is read from the storage device 15. In step SC3, the size of the simplified image is corrected according to the distance from the own vehicle 1 (or the distance from the preceding vehicle 2). Specifically, the size of the simplified image is increased as the distance is shorter, and the size of the simplified image is decreased as the distance is longer. In step SC4, the color of the traffic light main body of the simplified image is corrected according to the color of the equidistant surface D (that is, the back surface of the preceding vehicle 2). In step SC5, the simplified image is corrected according to the actual lighting state of the traffic light s. Specifically, when the blue light is on, the color in the smallest lamp on the left side of the simplified image s ′ is blue (see FIG. 10A). The color in the lamp is yellow (see FIG. 10B), and when the red lamp is lit, the color in the largest lamp on the left side is red (see FIG. 10C).

  In step SC6, it is determined whether or not the display target includes the surrounding vehicle a. If the determination result in step SC6 is YES, the process proceeds to step SC13, and if NO, the process proceeds to step SC7.

  In step SC7, a simplified image of the surrounding vehicle a is read from the storage device 15. In step SC8, the size of the simplified image is corrected according to the distance from the own vehicle 1 (or the distance from the preceding vehicle 2). Specifically, the closer the distance is, the larger the size of the simplified image a ′ is (see FIG. 11A), and the farther the distance is, the smaller the size of the simplified image a ′ is (see FIG. 11). 11 (b)). In step SC9, the color of the vehicle main body portion of the simplified image is corrected according to the color of the equidistant surface D (that is, the back surface of the preceding vehicle 2). In step SC10, it is determined whether the brake lamp or the direction indicator of the actual surrounding vehicle a is lit. If the decision result in the step SC10 is YES, the process advances to a step S11 so that at least one color of the vehicle body portion and the lamp portion of the simplified image a ′ is darkly corrected (that is, the color density is darkened or the color is darkened). (Refer to FIG. 12A). On the other hand, in the case of NO, the process proceeds to step SC12, and at least one color of the vehicle body portion and the lamp portion of the simplified image a ′ is lightly corrected (that is, the color density is lightened or the color is lightened). (Refer FIG.12 (b)).

  In step SC13, it is determined whether or not the pedestrian h is included in the display target. If the determination result in step SC13 is YES, the process proceeds to step SC14, and if NO, the process proceeds to step SC20.

  In step SC14, the simplified image of the pedestrian h is read from the storage device 15. In step SC15, the size of the simplified image is corrected according to the distance from the own vehicle 1 (or the distance from the preceding vehicle 2). Specifically, the size of the simplified image is increased as the distance is shorter, and the size of the simplified image is decreased as the distance is longer. In step SC16, the color of the simplified image is corrected according to the color of the equidistant surface D (that is, the back surface of the preceding vehicle 2). In step SC17, it is determined whether or not the actual pedestrian h is moving in the direction of the actual own vehicle 1. If the decision result in the step SC17 is YES (that is, if the vehicle is moving in the direction of the host vehicle 1), the process proceeds to a step SC18, and the color of the simplified image is corrected deeply (that is, the color density is increased). Or make the color darker). On the other hand, in the case of NO (that is, when moving in a direction different from the direction of the own vehicle 1), the process proceeds to step SC19, and the color of the simplified image is lightly corrected (that is, the color density is lightened). Or make the color lighter).

  In step SC20, it is determined whether or not the intersection i is included in the display target. If the determination result of step SC20 is YES, the process proceeds to step SC21, and if NO, the process proceeds to step SC24.

  In step SC21, the simplified image of the intersection i is read from the storage device 15. In step SC22, the size of the simplified image is corrected according to the distance from the own vehicle 1 (or the distance from the preceding vehicle 2). Specifically, the size of the simplified image is increased as the distance is shorter, and the size of the simplified image is decreased as the distance is longer. In step SC23, the color of the simplified image is corrected according to the color of the equidistant surface D (that is, the back surface of the forward vehicle 2).

  In step SC24, each simplified image is displayed on the front window 1a. An example of this display image is shown in FIG. In FIG. 13, the simplified image of the surrounding vehicle is denoted by a ′, the simplified image of the pedestrian is denoted by h ′, the simplified image of the traffic light is denoted by s ′, and the simplified image at the intersection is denoted by symbol i ′.

-Effect-
As described above, according to the present embodiment, from the acquired image including the front image of the preceding vehicle 2, the driver of the host vehicle 1 is invisible and is visually recognized by the preceding vehicle 2 because it is blocked by the preceding vehicle 2. A specific image to be recognized is recognized, a simplified image obtained by simplifying the recognized specific object is read, and only the read simplified image is displayed, so that the driver can easily recognize the specific object from the display image. And driving safety can be maintained at a high level.

  Moreover, since the thing which exists in the nearest vicinity of the own vehicle 1 among the recognized specific objects is extracted, the simplified image which simplified the extracted specific object is read, and only the read simplified image is displayed. The driver can more easily recognize the specific object from the display image, and can maintain driving safety at a higher level.

  Moreover, since the simplified image is changed according to the state of the recognized specific object, the simplified image can be made to correspond to the recognized state of the specific object. For this reason, the driver can accurately recognize the state of the recognized specific object.

  Moreover, since it displays on the front window 1a, a driver | operator's visual recognition operation amount can be reduced and the burden can be eased.

  In addition, since the color of the simplified image is changed according to the color of the back surface of the preceding vehicle 2, the color of the simplified image can be made according to the color of the back surface of the preceding vehicle 2. For this reason, the driver | operator can visually recognize a simple image easily.

  Moreover, since the image containing the front image of the front vehicle 2 is acquired from the front vehicle 2 by vehicle-to-vehicle communication, the image can be acquired easily.

  Moreover, since the image containing the front image of the front vehicle 2 is acquired from the roadside camera 3 by road-to-vehicle communication, the image can be acquired easily.

(Embodiment 2)
In the present embodiment, the specific object extractor 16d extracts those existing in the extraction area (corresponding to a predetermined range around the host vehicle 1) among the specific objects recognized by the specific object recognizer 16c. The other points are almost the same as in the first embodiment.

-Image processing control of vehicle driving support device-
(Display target extraction)
Hereinafter, the display target extraction control of the vehicle driving support apparatus 10 will be described with reference to the flowchart of FIG.

  In step SB 1 ′, the position information of the host vehicle 1 is acquired via the GPS antenna 14. In Step SB2 ′, it is determined whether or not the image acquired in Step SA7 is an image from the preceding vehicle 2. If the determination result in step SB2 ′ is YES (that is, if it is an image from the preceding vehicle 2), the process proceeds to step SB3 ′, and if NO (that is, if it is an image from the roadside camera 3), step SB6 ′. Proceed to

  In step SB3 ′, the distance between the specific object recognized in step SA8 and the preceding vehicle 2 is calculated based on the image acquired in step SA7. In step SB4 ′, an extraction area corresponding to the host vehicle speed is calculated. Specifically, a range of a predetermined circle having the radius obtained by multiplying the vehicle 1 by the coefficient of the vehicle 1 as the center and the vehicle speed is obtained as the extraction area. In step SB5 ', the surrounding vehicle a located in the extraction area among the surrounding vehicles a included in the specific object is extracted as a display target (see FIG. 5). At this time, the lighting state of the brake lamp and the direction indicator of the surrounding vehicle a is also detected. In step SB6 ′, among pedestrians h, traffic lights s, and intersections i included in the specific object, pedestrians h, traffic lights s, and intersections i located in the extraction area are extracted as display targets (FIG. 5). At this time, the moving direction of the pedestrian h and the lighting state of the traffic light s are also detected. Then end.

  On the other hand, in step SB7 ′, the position information of the roadside camera 3 is acquired by road-to-vehicle communication. In step SB8 ′, the distance between the specific object recognized in step SA8 and the roadside camera 3 is calculated based on the image acquired in step SA7. In step SB9 ', the distance from the own vehicle 1 of the specific object is calculated based on the position information of the own vehicle 1, the position information of the roadside camera 3, and the distance from the roadside camera 3 of the specific object.

  In step SB10 ', the distance from the specific object recognized in step SA8 is the distance from the own vehicle 1 of the shield in front of the own vehicle 1 (this distance is detected by the own vehicle 1). The specific object to be approximated (that is, the preceding vehicle 2) is extracted. In step SB11 ′, the specific object extracted in step SB9 ′ is excluded from the specific object recognized in step SA8. In step SB12 ′, an extraction area corresponding to the host vehicle speed is calculated. Specifically, a range of a predetermined circle having the radius obtained by multiplying the vehicle 1 by the coefficient of the vehicle 1 as the center and the vehicle speed is obtained as the extraction area. In step SB13 ′, among the surrounding vehicles a included in the specific object, the surrounding vehicle a located in the extraction area is extracted as a display target (see FIG. 5). At this time, the lighting state of the brake lamp and the direction indicator of the surrounding vehicle a is also detected. In step SB14 ′, among pedestrians h, traffic lights s, and intersections i included in the specific object, pedestrians h, traffic lights s, and intersections i located in the extraction area are extracted as display targets (FIG. 5). At this time, the moving direction of the pedestrian h and the lighting state of the traffic light s are also detected. Then end.

-Effect-
As described above, according to the present embodiment, among the recognized specific objects, those existing in the extraction area of the host vehicle 1 are extracted, and a simplified image obtained by simplifying the extracted specific objects is read out and read out. Since only the simplified image is displayed, the driver can more easily recognize the specific object from the display image, and the driving safety can be maintained at a higher level.

(Other embodiments)
In each of the above embodiments, among the recognized specific objects, those that are closest to the own vehicle 1 and those that are within a predetermined range around the own vehicle 1 are extracted, and the extracted specific objects are simplified. However, the present invention is not limited to this. For example, a simplified image obtained by simplifying a recognized specific object is read, and only the read simplified image is displayed. You may do it.

  Moreover, in each said embodiment, although the simplified image is displayed on the part corresponding to the back surface of the front vehicle 2 on the front window 1a, it is not restricted to this, For example, on the back surface of the front vehicle 2 on the front window 1a You may display on parts other than a corresponding part, or you may display on the display apparatus (not shown) in a vehicle.

  Moreover, in each said embodiment, although the specific thing is recognized with the own vehicle 1, it is not restricted to this, For example, you may recognize a specific thing with the front vehicle 2 or the roadside camera 3 (vehicle driving assistance system) Equivalent).

  Further, in each of the above embodiments, a simplified image obtained by simplifying the recognized specific object is read and only the read simplified image is displayed. However, even if only the actual image of the recognized specific object is displayed. good. Thereby, from the acquired image including the forward image of the forward vehicle 2, the driver of the host vehicle 1 is obstructed by the forward vehicle 2 and cannot recognize the specific object and the driver should recognize the specific object, Since only the real image of the recognized specific object is displayed, the driver can easily recognize the specific object from the display image, and can maintain driving safety at a high level. Also in this case, the recognized specific objects that are closest to the own vehicle 1 and those that are within a predetermined range around the own vehicle 1 are extracted, displayed on a display device in the vehicle, A specific object may be recognized by the forward vehicle 2 or the roadside camera 3.

  Moreover, in each said embodiment, although the camera 11 of the own vehicle 1, the camera 2a of the front vehicle 2, and the roadside camera 3 are comprised by the stereo camera, it does not restrict to this, For example, it comprises by a normal camera. Also good. In this case, the forward view image V of the driver of the own vehicle 1 is extracted from the image from the camera 11 of the own vehicle 1, a single plane is extracted from the forward view image V, and the single plane with respect to the forward view image V is extracted. When the area occupancy is equal to or greater than the predetermined value α, it is determined that the forward view of the driver of the host vehicle 1 is blocked by the forward vehicle 2. This single surface is the back surface of the front vehicle 2 having the same color, and is determined based on the image from the camera 11.

  The present invention is not limited to the embodiments, and can be implemented in various other forms without departing from the spirit or main features thereof.

  As described above, the above-described embodiment is merely an example in all respects and should not be interpreted in a limited manner. The scope of the present invention is indicated by the claims, and is not restricted by the text of the specification. Further, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

  As described above, the vehicle driving support apparatus according to the present invention can be applied to a use for maintaining driving safety at a high level.

It is a block diagram of the driving assistance device for vehicles concerning the embodiment of the present invention. 1 is a schematic plan view of a vehicle on which a vehicle driving support device is mounted. It is a side view which shows the mode of the periphery of the vehicle by which the driving assistance device for vehicles is mounted. It is a figure which shows the front view of the driver | operator of a vehicle. It is a schematic plan view which shows the mode of the periphery of the vehicle by which the driving assistance device for vehicles is mounted, (a) is a figure which shows the imaging range of the camera of a front vehicle, (b) is the imaging range of a roadside camera. FIG. It is a flowchart of the whole image processing control of the driving assistance device for vehicles. It is a flowchart of the display object extraction control of the driving assistance device for vehicles. It is a flowchart of a part of simple image display control of the driving assistance apparatus for vehicles. It is a flowchart of a part of simple image display control of the driving assistance apparatus for vehicles. It is a figure which shows the simple image of a traffic light, (a) is a figure when the traffic light is lit in blue, (b) is a figure when the traffic light is lit in yellow, and (c) is a traffic light. FIG. 6 is a diagram when the red light is on. It is a figure which shows the simple image of a surrounding vehicle, (a) is a figure when a distance is near, (b) is a figure when a distance is long. It is a figure which shows the simple image of a surrounding vehicle, (a) is a figure when a brake lamp or a direction indicator is lit, (b) is a case where a brake lamp or a direction indicator is not lit FIG. It is a figure which shows a mode that the simple image was displayed on the front window. It is a flowchart of the display object extraction control of the driving assistance device for vehicles.

Explanation of symbols

1 Vehicle (own vehicle)
DESCRIPTION OF SYMBOLS 1a Front window 2 Front vehicle 3 Roadside camera 10 Driving support apparatus 16 for vehicles Image processing apparatus 16a Visibility interruption | blocking determination device (Visibility interruption | blocking determination means)
16b Image acquisition device (image acquisition means)
16c Specific object recognizer (specific object recognition means)
16d specific substance extractor (specific substance extraction means)
16e Image reader (image reading means)
16f Image changer (image change means)
16g image color corrector (image color correction means)
17 Head-up display display device (image display means)
a Surrounding vehicle h Pedestrian s Traffic light i Intersection a ′ Simplified image of surrounding vehicle h ′ Simplified image of pedestrian s ′ Simplified image of traffic light i ′ Simplified image of intersection

Claims (11)

A vehicle driving support device for supporting driving of a vehicle,
Visibility cut-off determination means for determining whether the forward view of the driver of the host vehicle is blocked by the forward vehicle;
Image acquisition means for acquiring an image including a forward image of the forward vehicle when the forward view is determined to be blocked by the forward vehicle;
Specific object recognition means for recognizing a specific object that is blocked by the preceding vehicle and cannot be visually recognized by the driver and that the driver should visually recognize from the acquired image,
Image reading means for reading a simplified image obtained by simplifying the recognized specific object;
A vehicle driving support apparatus comprising: an image display means for displaying only the read simplified image. The vehicle driving support device according to claim 1,
A specific object extracting means for extracting the recognized specific object that is closest to the host vehicle;
The vehicle driving support apparatus, wherein the image reading means is configured to read a simplified image obtained by simplifying the extracted specific object. The vehicle driving support device according to claim 1,
A specific object extracting means for extracting the recognized specific object existing within a predetermined range around the host vehicle;
The vehicle driving support apparatus, wherein the image reading means is configured to read a simplified image obtained by simplifying the extracted specific object. In the vehicle driving assistance device according to any one of claims 1 to 3,
A vehicle driving support apparatus, further comprising image changing means for changing the simplified image in accordance with the recognized state of the specific object. In the vehicle driving support device according to any one of claims 1 to 4,
The vehicle driving support apparatus, wherein the image display means is configured to display on a front window. The vehicle driving support device according to claim 5,
The vehicle driving support apparatus further comprising image color correction means for changing the color of the simplified image in accordance with the color of the back surface of the preceding vehicle. In the vehicle driving support device according to any one of claims 1 to 6,
The driving support apparatus for a vehicle, wherein the image acquisition means is configured to acquire the image from the preceding vehicle by inter-vehicle communication. In the vehicle driving support device according to any one of claims 1 to 6,
The vehicle driving support apparatus, wherein the image acquisition means is configured to acquire the image from a roadside camera by road-to-vehicle communication. A vehicle driving support system for supporting driving of a vehicle,
Visibility cut-off determination means for determining whether the forward view of the driver of the host vehicle is blocked by the forward vehicle;
An image acquisition means for acquiring an image including a forward image of the forward vehicle when it is determined that the forward view is blocked by the forward vehicle;
Specific object recognition means for recognizing a specific object that is obstructed by the vehicle ahead and cannot be visually recognized by the driver and that the driver should visually recognize from the acquired image,
Image reading means for reading a simplified image obtained by simplifying the recognized specific object;
A vehicle driving support system comprising image display means for displaying only the read simplified image. A vehicle driving support device for supporting driving of a vehicle,
Visibility cut-off determination means for determining whether the forward view of the driver of the host vehicle is blocked by the forward vehicle;
An image acquisition means for acquiring an image including a forward image of the forward vehicle when it is determined that the forward view is blocked by the forward vehicle;
Specific object recognition means for recognizing a specific object that is obstructed by the vehicle ahead and cannot be visually recognized by the driver and that the driver should visually recognize from the acquired image,
A vehicle driving support apparatus, comprising: an image display unit that displays only the image of the recognized specific object. A vehicle driving support system for supporting driving of a vehicle,
Visibility cut-off determination means for determining whether the forward view of the driver of the host vehicle is blocked by the forward vehicle;
An image acquisition means for acquiring an image including a forward image of the forward vehicle when it is determined that the forward view is blocked by the forward vehicle;
Specific object recognition means for recognizing a specific object that is obstructed by the vehicle ahead and cannot be visually recognized by the driver and that the driver should visually recognize from the acquired image,
A vehicle driving support system comprising image display means for displaying only an image of the recognized specific object.