JP2008278526A - Drive support image generator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a drive support image generator in which video images photographed with the same camera are processed appropriately and converted into video images suitable for the drive situation, and which can be presented to a driver, regardless of the open/closed state of a side mirror. <P>SOLUTION: A drive support image generator comprises: a camera 3 attached to a case constituting an open/close side mirror mounted on a vehicle, the camera being for imaging the side part of the vehicle; a vehicle speed sensor 9 for detecting the speed of the vehicle; and an image conversion means 4 which selects a parameter for processing image data of photographed video images captured from the camera 3, on the basis of the detection signals of the vehicle speed sensor 9 and processes the image data, on the basis of the selected parameter. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a driving assistance image generation apparatus that performs driving assistance by photographing a vehicle periphery with a camera and displaying the image on a monitor screen in the vehicle, and in particular, an image taken by a camera attached to a side mirror of the vehicle to a driver. The present invention relates to a driving support image generation apparatus to be presented.

  In recent years, with the widespread use of large vehicles mainly for recreation called RV, it has become difficult to provide a driver with a sufficient field of view using only mirrors that have been conventionally mounted on vehicles such as side mirrors and rearview mirrors. It is coming. In view of this, driving support devices that are equipped with cameras at various locations in the vehicle, display images from these in-vehicle cameras on a monitor screen in the passenger compartment, and present them to the driver are becoming popular.

  For example, in the prior art described in Patent Document 1 below, a camera is installed on the lower part of the side mirror in the road surface direction, and the image of the blind spot position that cannot be confirmed directly by the driver through the side mirror is displayed on the monitor screen. By doing so, the driver's vision is assisted.

Japanese Patent Laid-Open No. 2000-240629 (FIGS. 7 to 9)

  However, the conventional driving support device with a camera attached to the side mirror is based on the premise that the image captured by the camera is used with the openable side mirror open, and is used with the side mirror closed. Is not assumed.

  Currently, in many vehicles, the side mirrors are openable, and the side mirrors are opened during normal driving to check the safety of the side of the rear. It is normal to close the side mirror because it may interfere with driving.

  Therefore, if the side mirror of the host vehicle is reflected in the monitor screen while the side mirror is open, and the vehicle image is set to be displayed vertically on the monitor screen, the side mirror is closed. In the state, for example, in the closed state in which the side mirror is rotated 90 ° from the open state, the vehicle image in the monitor screen is also rotated 90 ° on the monitor screen and displayed in the horizontal direction.

  In addition, since the rotation axis for opening and closing the side mirror is usually different from the center of the lens of the camera, the relative position of the vehicle and the camera differs between the opened state and the closed state of the side mirror, The camera shooting range with the side mirror open and the camera shooting range with the side mirror closed are different.

  For this reason, if you are familiar with the monitor screen when the side mirror is in the open state, the image in the monitor screen when the side mirror is in the closed state is the same as the image that was taken when the side mirror was open. Unlike this, there is a problem that the video is difficult to grasp intuitively.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a driving assistance image generating apparatus that displays on a monitor screen an image that is always easily understandable and intuitive for the driver, regardless of whether the side mirror is open or closed.

  The driving assistance image generating apparatus of the present invention that achieves the above object is provided with an imaging unit that is attached to a casing constituting an openable side mirror mounted on a vehicle, and that opens and closes the side mirror. A state sensor for detecting a state and an image conversion unit for processing image data of a captured video captured from the imaging unit based on a detection signal of the state sensor are provided.

  With this configuration, it becomes possible to process and convert the output image to the monitor screen according to the open / closed state of the side mirror at the time of driving the vehicle, and to the driver regardless of the open / closed state of the side mirror. Video can be presented in an easy-to-understand manner.

  The driving assistance image generating apparatus of the present invention that achieves the above object is also provided with an imaging unit that is attached to a casing constituting an openable side mirror mounted on a vehicle, and that images the side of the vehicle, A vehicle speed sensor for detecting the speed, and a parameter for processing image data of the captured video captured from the imaging unit based on a detection signal of the vehicle speed sensor, and the image data is selected based on the selected parameter. And image conversion means for processing.

  With this configuration, it becomes possible to process and convert the output image to the monitor screen according to the driving situation assumed from the vehicle speed at the time of driving the vehicle. When turning left, a wide range of images can be automatically displayed on the monitor screen, so that images suitable for driving conditions can be presented to the driver.

  The driving assistance image generating apparatus of the present invention that achieves the above object is also provided with an imaging unit that is attached to a casing constituting an openable side mirror mounted on a vehicle, and that images the side of the vehicle, and the side mirror A state sensor for detecting the open / close state of the vehicle, a vehicle speed sensor for detecting the speed of the vehicle, and processing image data of the captured video captured from the imaging means based on the detection signal of the state sensor and the detection signal of the vehicle speed sensor And image conversion means for processing.

  With this configuration, the driving support image generation device can more accurately determine the driving situation at the time of vehicle driving from the state of the side mirror and the vehicle speed, and the output image to the monitor screen is processed and converted according to the current driving situation. Thus, a side image of the host vehicle suitable for the current driving situation can be presented to the driver in an easy-to-understand manner. Also, for example, when the vehicle speed is 30 km / h and it can be determined that the driver has forgotten to open the side mirror despite the side mirror being closed, an alarm is output or the side mirror is automatically opened. Is possible.

  Preferably, the image conversion means of the driving assistance image generating apparatus is configured such that an image of a side surface of the vehicle shown in a captured image by the imaging means is installed in the vehicle regardless of an open / closed state of the side mirror. The processing is performed so that the image is displayed in the vertical direction on the monitor screen.

  With this configuration, the driver can always make a determination by fixing the direction in which the host vehicle is facing on the monitor screen, and can intuitively grasp the image displayed on the monitor screen.

  Preferably, the image conversion means of the driving assistance image generating apparatus is configured to have a predetermined position on a monitor screen on which a specific position image in a video image taken by the imaging means is installed in the vehicle regardless of an open / closed state of the side mirror. The processing is performed so as to be displayed at a position.

  With this configuration, the driver can always easily and intuitively grasp the relative positional relationship between the host vehicle and the surrounding situation on the monitor screen.

  Preferably, the image conversion means of the driving assistance image generating device converts a video image taken by the imaging means into image data viewed from a virtual viewpoint and displays the image data on a monitor screen installed in the vehicle. And

  With this configuration, it is possible to select a virtual camera position, angle of view, etc. without being subject to physical restrictions such as the actual installation position of the imaging means (camera), and to present an easy-to-see image useful for driving operation to the driver. .

  The driving assistance image generating apparatus that achieves the above object includes: an imaging unit that is mounted on a vehicle and that images the surroundings of the vehicle; a vehicle speed sensor that detects a speed of the vehicle; and the imaging that is based on a detection signal of the vehicle speed sensor. Image conversion means for selecting a parameter for processing the image data of the captured video captured from the means and processing the image data based on the selected parameter.

  With this configuration, it is possible to process a video image taken by the same imaging means according to the driving situation and present it to the driver. For example, during start-up or normal driving, the driver needs a video with a wide field of view to confirm safety, but when widening the zoom image of a limited area for checking the positional relationship between the surroundings and the vehicle However, according to the configuration of the present invention, an image corresponding to each driving situation is presented to the driver.

  According to the present invention, it is possible to provide an excellent driving assistance image generating device that can always present an image of the vicinity of the side of the host vehicle to the driver in an easy-to-understand manner regardless of the open / closed state of the side mirror. It is possible to provide a driving assistance image generating apparatus capable of appropriately processing and converting a video into a video suitable for the driving situation and presenting it to the driver.

  Embodiments of the present invention will be described below with reference to the drawings.

(First embodiment)
FIG. 1 is a schematic diagram showing a state in which a driving support apparatus having a driving support image generating apparatus according to a first embodiment of the present invention is attached to a vehicle. The driving support image generating apparatus includes an image pickup means (hereinafter referred to as a camera) 3 including an image sensor such as a CCD or a CMOS, which is installed in a lower part of a side mirror 2 of a vehicle 1 so that a lens optical axis faces downward. An image conversion means 4 installed at an appropriate location in the vehicle and processing an image captured by the camera 3 is provided. This driving support image generation device and image conversion by the image conversion means 4 installed in the vicinity of the driver's seat in the passenger compartment. The driving support device is constituted by the display means 5 for displaying the subsequent image on the monitor screen.

  The camera 3 is attached to the side mirror opposite to the driver's position, for example, the left side mirror (referred to as a “side mirror” as a concept including the side mirror main body and its housing) in the case of a right-hand drive vehicle. Thus, the vehicle is installed so that a part of the vehicle is reflected on the side of the vehicle body near the left side of the vehicle body. In the example of FIG. 1, the angle of view θ is the shooting range of the camera 3.

  FIG. 2 is a schematic view of the left side mirror as viewed from above. A side mirror 2 provided on the left side 1a of the vehicle 1 so as to be openable and closable around a shaft 6 is opened and closed at an arbitrary angle from an open position indicated by a dotted line to a closed position indicated by a solid line. 2 is detected by a state sensor installed in the vicinity.

  FIGS. 3A, 3B, and 3C are explanatory diagrams of detection of the open / closed state of the side mirror by the state sensor. As shown in FIG. 3A, the shaft 6 is provided with a rotor portion 6 a having an elliptical cross section, and the state sensor detects the rotation state of the rotor portion 6 a that rotates as the side mirror 2 opens and closes. In this example, the state sensor has a pressing bar 7 protruding from the radial direction of the shaft 6 toward the rotor part 6a, and one end of the pressing bar 7 is in sliding contact with the surface of the rotor part 6a.

  As a result, when the side mirror is in the “open” state, the pusher 7 enters the shaft 6 as shown in FIG. 3A, and in the middle of the transition from the “open” state to the “closed” state, the pusher 7 3B is in the middle state shown in FIG. 3B, and the pusher 7 is most removed from the shaft 6 as shown in FIG.

  The state sensor outputs a position signal according to the position of the pusher 7. In this example, an open signal is output at the “open” state position of the side mirror 2, and a close signal is output at the “closed” state position. The state sensor may be configured to detect the two positions of the side mirror, that is, the open state and the closed state. Also, the state sensor detects the rotation angle of the side mirror according to the position of the pusher 7 and detects the position signal according to the rotation angle. May be output.

  FIG. 4 is a block configuration diagram of the driving support apparatus according to the first embodiment of the present invention. The driving assistance image generating apparatus detects the open state and the closed state of the side mirror 2 shown in FIG. 1, outputs the open signal when the side mirror 2 is open, and outputs the close signal when the side mirror is closed, and the side mirror described above. 2, a camera 3 that is attached to the lower portion of the side mirror 2 and captures the lower road surface state of the side mirror 2 and outputs captured image data; the output signal of the state sensor 8 and the captured image data of the camera 3 are captured; The image conversion means 4 to output and the display means 5 to display the image data output from the image conversion means 4 on the monitor screen are provided.

  In this embodiment, the image conversion means 4 is a position adjustment means 41 for taking in the output signal of the state sensor 8 and the imaged image data based on the instruction signal from the position adjustment means 41 for taking the imaged image data of the camera 3. And affine transformation means 42 for processing and converting the data and outputting it to the display means 5.

  The position adjusting unit 41 outputs a preset parameter value to the affine transformation unit 42 according to the open / closed state of the side mirror input from the state sensor 8. Examples of the parameters include “cutout range” for cutting out the monitor display range from the captured image data, “rotation angle” and “movement amount” of the side mirror, and “magnification ratio” for monitor display.

  The affine transformation means 42 converts the video inputted from the camera 3 based on the parameter value inputted from the position adjustment means 41 as described later, and the image data converted by the affine transformation means 42 is displayed on the display means 5. Is displayed.

  Next, the operation of the driving support apparatus according to the present embodiment will be described in detail. In the following, for simplicity of explanation, the state sensor 8 detects two positions of the side mirror in the open state and the closed state, and exemplifies the display image when the side mirror is open and the display image when the side mirror is closed. To explain.

  When the side mirror 2 is in the open state, an open signal is output from the state sensor 8 to the position adjusting means 41. The position adjusting unit 41 is prepared in advance with the parameter values described above that are output to the affine transformation unit 42 when the side mirror 2 is in the open state. The position adjusting unit 41 receives an open signal from the state sensor 8. These parameter values are output to the affine transformation means 42 in response to.

  FIG. 5 is an image taken by the camera 3 when the side mirror 2 is in the open state. Since this image itself is an image that is easy to see for the driver, in this embodiment, the image is set to be displayed on the monitor screen of the display means 5 as it is.

  That is, since the side image 1b of the host vehicle is displayed in the vertical direction on the monitor screen and the range shown on the monitor screen is also appropriate, the position adjusting means 41 has each parameter value for the side mirror open state as The cutout range is “entire screen”, the rotation angle is 0 degree, the movement amount is 0, and the value indicating the enlargement ratio is 1 is output to the affine transformation means. As a result, the affine transformation means 42 outputs the input image data to the display means 5 without actually performing any processing.

  FIG. 6 is an image taken by the camera 3 when the side mirror 2 is in the closed state, and a monitor screen when the position adjusting means 41 operates the affine conversion means 42 with the same parameter values as in the side mirror open state. FIG. The video in FIG. 6 is a video in which the side mirror 2 is rotated by 50 ° compared to the video in FIG. 5. Therefore, on the monitor screen, the side image 1 b of the host vehicle is in the vertical direction of the monitor screen. The image is inclined at an angle of 50 °.

  Even if the video in FIG. 6 is presented to the driver as it is, the driver is accustomed to the video in FIG. 5, so the user can intuitively grasp the video on the monitor screen with consistency with the direction of the vehicle. Is difficult. Therefore, in the present embodiment, the value of the parameter corresponding to the detection position of the state sensor 8 of the driving assistance image generating device is output from the position adjustment unit 41 to the affine transformation unit 42.

  In other words, the position adjustment unit 41 is preset with values of the cutout range “whole screen”, a rotation angle of 50 degrees, a movement amount of 0, and an enlargement ratio of 1 as parameter values for the side mirror closed state. These values are output to the affine transformation means 42 when a closing signal is input from.

  The affine transformation means 42 rotates the image data inputted from the camera 3 by 50 ° based on the image processing command constituted by the parameter value, and outputs it to the display means 5. As a result, an image rotated by 50 ° with respect to the image of FIG. 6 is displayed on the monitor screen as shown in FIG. In this monitor screen, the side image 1b of the host vehicle is in the vertical direction of the monitor screen, and is an image that is easy to grasp intuitively for the driver.

  In the present embodiment, the image of FIG. 7 is further processed and displayed on the monitor screen. As described above in the section “Problems to be Solved by the Invention”, the relative position between the camera 3 and the host vehicle 1 changes depending on the opening / closing position of the side mirror 2, and the shooting range of the camera 3 is changed. It will come off.

  That is, since the position of the camera 3 in the closed state of the side mirror 2 shown in FIG. 3 and the camera position 3a in the opened state of the side mirror 2 are shifted, the respective shooting ranges are shifted. As a result, for example, the side image 1b of the own vehicle The position of the arbitrary fixed point A shown in FIG. 5 above is displayed at the position B shifted on the monitor screen of FIG.

  Therefore, in this embodiment, the value of “movement amount” of the above parameter is set so as to eliminate this deviation, and the image shown in FIG. 7 is displayed in the vertical direction on the monitor screen based on the movement amount setting value. The display is shifted in the horizontal direction as shown in FIG. As a result, the position (x, y) on the monitor screen of the fixed point A becomes the same position in FIG. 5 and FIG. 8, and the driver looks at the monitor screen image of FIG. In addition, it is possible to determine the relative positional relationship of the surrounding situation.

  Thus, according to the present embodiment, by detecting the open / closed state of the side mirror and converting the image according to the state, it is possible to provide an image that is always easy for the driver to grasp regardless of the state of the side mirror. It becomes.

  Further, as illustrated in FIGS. 5 and 7, since the vehicle is always displayed on the monitor screen so as to face a predetermined direction regardless of the state of the side mirror, the driver is not aware of the state of the side mirror. The situation on the side of the vehicle can be monitored in the same way.

  Further, as illustrated in FIG. 5 and FIG. 8, the specific position on the vehicle or road surface is always displayed at the same position on the monitor screen regardless of the state of the side mirror. Even if changes, the driver can easily grasp the positional relationship between the monitor screen and the surrounding situation.

  Note that there may be a case where an image is not displayed on a part of the screen due to the conversion by the affine conversion means 42. This is the area where hatching is shown in FIGS. Since this area can be predicted in advance, the captured image of the camera is not displayed in this area but is displayed as a graphic or the like. For example, the graphic image is solid with red or black.

(Second Embodiment)
FIG. 9 is a block configuration diagram of the driving support apparatus according to the second embodiment of the present invention. The driving support apparatus captures the camera 3 that captures the surroundings of the vehicle, the vehicle speed sensor 9 that detects the speed of the vehicle, the captured image data of the camera 3 and the detected vehicle speed detected by the vehicle speed sensor 9, and the captured image data. Image conversion means 4 for processing the image data, and display means 5 for displaying the image data converted by the image conversion means 4 on a monitor screen. The driving support device is attached to the vehicle in the same manner as in FIG.

  The camera 3 is installed so as to image a blind spot area from the driver on the left side of the vehicle (in the case of a right-hand drive vehicle), and the vehicle speed sensor 9 is installed in the vicinity of the drive shaft, for example, every time the tire rotates. Then, the vehicle speed is measured by generating a pulse signal, and the detected vehicle speed value is output to the image conversion means 4.

  The image conversion unit 3 includes a viewpoint adjustment unit 43 that receives a detection signal of the vehicle speed sensor 9, and an affine conversion unit 42 that processes captured image data of the camera 3 based on an instruction from the viewpoint adjustment unit 43.

  The viewpoint adjustment unit 43 outputs, to the affine transformation unit 42, a parameter value based on a vehicle speed detection value input from the vehicle speed sensor 9 among preset parameter values. Examples of the parameter include a cutout range and an enlargement rate. The affine conversion means 42 processes and converts the video input from the camera 3 based on the parameter value input from the viewpoint adjustment means 43.

  Next, the operation of the driving support apparatus according to the present embodiment will be described in more detail.

  If the output of the vehicle speed sensor 9 indicates a speed of 0 km / h for 10 seconds or longer, the viewpoint adjustment unit 43 determines that the vehicle is in a stopped state. When the vehicle is stopped, it is desirable for the driver to visually confirm a wide range on the side of the vehicle on the monitor screen to confirm safety, and therefore, it is necessary to display a wide range of images on the monitor screen.

  Therefore, when it is determined that the vehicle is stopped, the viewpoint adjustment unit 42 sets the cutout range as “entire screen” and the enlargement ratio as “1” as parameter values, and outputs them to the affine transformation unit 42. FIG. 10 shows an image of the monitor screen that displays the video image taken by the camera 3 at this time. FIG. 10 is a diagram in which the image captured by the camera 3 with the side mirror opened is displayed as it is on the monitor screen.

  On the other hand, when the vehicle speed of the moving vehicle is 5 Km / h or less, it can be determined that the vehicle is in a state of stopping or parking. In this case, if a left-side zoom image that is a blind spot position from the driver is displayed on the monitor screen, it is useful for parking driving.

  Therefore, the viewpoint adjustment unit 43 uses, for example, a cutout range “screen center area (in FIG. 10) as a parameter value for providing the driver with a zoomed image so that the vehicle side position can be easily confirmed. The enlargement ratio is set to “2” and output to the affine transformation means 42. As a result, the affine transformation means 42 cuts out the video in the frame 45 in FIG. 10 from the captured image data of the camera 3, generates image data enlarged twice, and outputs it to the display means 5. As a result, the image shown in FIG. 11 is displayed on the monitor screen, and the driver can easily grasp the condition of the blind spot position.

  As described above, in the present embodiment, image conversion is performed in accordance with the driving situation that is detected from the vehicle speed by detecting the vehicle speed. Are automatically provided to the driver.

(Third embodiment)
FIG. 12 is a block configuration diagram of a driving assistance apparatus according to the third embodiment of the present invention. This driving support device includes a camera 3 that captures images of the surroundings of the vehicle, a state sensor 8 that detects the open / closed state of the side mirror, a vehicle speed sensor 9 that detects the speed of the vehicle, and the captured image data of the camera 3 and the state sensor 8. Image conversion means 4 that takes in the detection value and the detection value of the vehicle speed sensor 9 to process the captured image data, and display means 5 that displays the image data converted by the image conversion means 4 on a monitor screen. Configured. The driving support device is attached to the vehicle in the same manner as in FIG.

  The camera 3 is installed so as to image a blind spot from the driver on the left side of the vehicle (in the case of a right-hand drive vehicle), the state sensor 8 is installed in the vicinity of the left side mirror, and the vehicle speed sensor 9 is, for example, Installed near the drive shaft.

  The image conversion unit 4 according to the present embodiment includes a viewpoint adjustment unit 43 that receives detection signals of the state sensor 8 and the vehicle speed sensor 9, and the captured image data of the camera 3 based on an instruction from the viewpoint adjustment unit 43. And a viewpoint conversion means 44 for converting into image data viewed from a virtual viewpoint that is different from the actual installation position.

  FIG. 13 is an explanatory diagram of viewpoint conversion. The viewpoint conversion means 44 converts the video imaged by the actual camera 3 into an image as if it was captured by the virtual camera 11 installed at the virtual viewpoint by performing road projection conversion.

  It is assumed that a point 12 on the road surface is photographed at the pixel position (X, Y) of the virtual camera 11 and is photographed at the pixel position (x, y) by the camera 3. At this time, the pixel (X, Y) corresponds to the pixel (X, Y). By performing this operation for all the pixels of the virtual camera 11, a video by the virtual camera 11 can be generated from the captured image data of the camera 3.

  It is possible for the arithmetic processing means to calculate such viewpoint conversion processing for all pixels one by one, but in this embodiment, the correspondence between the pixel (X, Y) and the pixel (x, y) is changed. All pixels are prepared in advance as a mapping table, and the viewpoint of the captured video of the real camera 3 is converted in real time. This mapping table can be calculated in advance by determining the camera parameters of the camera 3 and the virtual camera 11.

  This mapping table is prepared in advance for each position where the virtual camera 11 is provided, and a number is assigned to each mapping table. Then, the viewpoint adjustment unit 43 instructs the viewpoint conversion unit 44 on the number of the mapping table to be used based on the open / close state of the side mirror input from the state sensor 8 and the vehicle speed detection value input from the vehicle speed sensor 9. It is the composition to do.

  FIG. 14 is a detailed configuration diagram of the viewpoint conversion means 44. The viewpoint conversion unit 44 is based on a frame memory 21 that temporarily records captured image data input from the real camera 3, a memory 22 that records a plurality of mapping tables, and a mapping table recorded in the memory 22. A pixel reading unit 23 that reads the value of the corresponding pixel from the frame memory 21 and a video signal generation unit 24 that generates an output image signal from the read pixel value.

  The pixel reading unit 23 selects, for example, the mapping table # 2 from the plurality of mapping tables recorded in the memory 22 based on the table number instructed from the viewpoint conversion unit 43. Thus, the subsequent viewpoint conversion process is performed with reference to the mapping table # 2, and the pixel value recorded in the frame memory 21 is read out and output to the video signal generation means 24 at an appropriate timing. The video signal generation unit 24 generates an output image signal from the input pixel value and outputs the output image signal to the display unit 5.

  Next, the operation of the driving support apparatus according to the present embodiment will be described.

  For example, it is assumed that a signal indicating that the side mirror 2 is closed is output from the state sensor 8, and a signal traveling at a low speed of 3 km / h is output from the vehicle speed sensor 9.

  In this case, the viewpoint adjustment unit 43 determines that the vehicle is traveling on a narrow road or is moving closer, and performs mapping to convert the image into a video from a virtual camera installed at a virtual position 2 m above the side mirror 2. The table number “# 1” is output to the viewpoint conversion means 44. The viewpoint conversion unit 44 converts the video captured from the camera 3 according to the mapping table of the number “# 1” in the memory 22 and outputs the converted video to the display unit 5.

  FIG. 15 is a diagram showing an image taken by the actual camera 3 at this time. On the left side of the vehicle, a parking space adjacent to the vehicle is shown in a lattice pattern. Since the camera 3 is a wide-angle camera, the image has a large perspective, and the image is distorted as the distance increases.

  Since the above-mentioned vehicle driving situation is “being narrowed”, a distant image is unnecessary for the driver, and a zoom image near the left front wheel that is a blind spot from the driver is required. The mapping table # 1 used at this time zooms the rectangular frame 45 shown in the video of FIG. 15 as shown in FIG. 16, and the zoomed video in the rectangular frame 45 is viewed from the upper viewpoint 2m. 6 is a table that is converted into an image and displayed on the monitor screen of the display means 5. The image converted in this way and displayed on the monitor screen is shown in FIG. The driver can perform the width-shifting operation with peace of mind by confirming the image of FIG. 17 on the monitor screen.

  In the embodiment described above, the image of FIG. 17 is displayed on the monitor screen during the shifting operation. However, the images of FIG. 15, FIG. 16, and FIG. It may be configured to switch. Further, as shown in FIG. 18, the monitor screen is divided into two, and the left region X1 displays, for example, an image corrected so that a straight line is displayed as a straight line by removing lens distortion from the image captured by the camera 3. In the right area X2, videos converted into videos from a virtual camera installed above the side mirror may be displayed.

  In the above-described embodiment, the image displayed on the monitor screen has been described. For example, a signal detected that the side mirror is in the closed state is output from the state sensor 8, and the vehicle travels at a medium speed of 20 km / h. When the vehicle speed sensor 9 outputs a warning signal, the viewpoint adjustment means 43 may determine that the driver is driving with the side mirror closed by mistake and output a warning signal. For example, the message “Please open the side mirror” is displayed on the monitor screen or the sound is output. Alternatively, the side mirror may be automatically opened together with the warning signal or instead of the warning signal.

  As described above, the driving support apparatus according to the present embodiment can more accurately determine the driving situation by detecting the open / closed state of the side mirror and the vehicle speed, and processes the output image according to the current driving situation. Therefore, it is possible to provide an easy-to-understand picture of the vicinity of the side of the host vehicle suitable for the current driving situation. In addition to the above-described embodiment, a more detailed driving situation can be determined by adding a steering angle sensor, a distance measuring sensor, or the like to the driving support device.

  Further, in each of the above-described embodiments, the example in which the video is switched for the two positions of the side mirror in the open state and the closed state has been described. It is also possible to always display the side image of the host vehicle vertically on the monitor screen. Accordingly, the driver can check the side image of the host vehicle on the monitor screen without worrying about the open / closed state and the open / close angle of the side mirror.

  Furthermore, regardless of the open / closed state of the side mirror, the vehicle or the specific position on the road surface is always displayed at the same position on the monitor. Can be easily grasped.

  According to the present invention, it is possible to provide an excellent driving assistance image generating device that can always present an image of the vicinity of the side of the host vehicle to the driver in an easy-to-understand manner regardless of the open / closed state of the side mirror. It is possible to provide a driving assistance image generating apparatus capable of appropriately processing and converting a video into a video suitable for the driving situation and presenting it to the driver.

The schematic diagram which shows the state which attached the driving assistance device which concerns on the 1st Embodiment of this invention to the vehicle. The schematic diagram which looked at the left side mirror of the vehicle carrying the driving assistance device which concerns on the 1st Embodiment of this invention from upper direction BRIEF DESCRIPTION OF THE DRAWINGS It is detection explanatory drawing of the side mirror opening / closing state in the driving assistance device which concerns on the 1st Embodiment of this invention, (a) is a figure which shows a side mirror open position, (b) is a figure which shows the middle state of side mirror opening / closing (C) is a diagram showing the side mirror closed position The block block diagram of the driving assistance device which concerns on the 1st Embodiment of this invention The figure which shows the image | video which the camera of the driving assistance device which concerns on the 1st Embodiment of this invention image | photographed when the side mirror was open. The figure which shows the image | video which the camera of the driving assistance device which concerns on the 1st Embodiment of this invention image | photographed in the side mirror closed state The figure which shows the image | video which the affine conversion means of the driving assistance device which concerns on the 1st Embodiment of this invention affine-transformed the image | video shown in FIG. The figure which shows the image | video which the affine conversion means of the driving assistance device which concerns on the 1st Embodiment of this invention adjusted the image | video shown in FIG. The block block diagram of the driving assistance device which concerns on the 2nd Embodiment of this invention. The figure which shows the image | video which the camera of the driving assistance device which concerns on the 2nd Embodiment of this invention image | photographed when the side mirror was open. The figure which shows the image | video which zoomed the range cut out from the image | video shown in FIG. 10 by the affine conversion means of the driving assistance device which concerns on the 2nd Embodiment of this invention. The block block diagram of the driving assistance device which concerns on the 3rd Embodiment of this invention. Explanatory drawing of the viewpoint conversion which the viewpoint conversion means of the driving assistance device which concerns on the 3rd Embodiment of this invention performs The detailed block diagram of the viewpoint conversion means of the driving assistance device which concerns on the 3rd Embodiment of this invention. The figure which shows the image | video which the camera of the driving assistance device which concerns on the 3rd Embodiment of this invention image | photographed in the side mirror open state The figure which shows the image | video which the driving assistance apparatus which concerns on the 3rd Embodiment of this invention expanded in the rectangular frame in FIG. The figure which shows the image | video which the driving assistance apparatus which concerns on the 3rd Embodiment of this invention converted the viewpoint of the image | video of FIG. The figure which shows the example of a display of the monitor screen of the driving assistance device which concerns on the 3rd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Side mirror 3 Camera 4 Image conversion means 5 Display means 6 Axis 7 Push rod 8 State sensor 9 Vehicle speed sensor 11 Virtual camera 21 Frame memory 22 Memory for storing mapping table 23 Pixel readout means 24 Video signal generation means 41 Position adjustment Means 42 Affine transformation means 43 Viewpoint adjustment means 44 Viewpoint transformation means

Claims (5)

An imaging means attached to a casing constituting an openable side mirror mounted on a vehicle and imaging a side of the vehicle;
A vehicle speed sensor for detecting the speed of the vehicle;
Image conversion means for selecting a parameter for processing image data of a captured video captured from the imaging means based on a detection signal of the vehicle speed sensor, and processing the image data based on the selected parameter; A driving assistance image generation apparatus comprising the driving assistance image generation apparatus.   The image conversion means displays the image of the side surface of the vehicle shown in the captured video by the imaging means in a vertical direction on a monitor screen installed in the vehicle regardless of the open / closed state of the side mirror. The driving support image generating apparatus according to claim 1, wherein the processing is performed in a similar manner.   The image converting means performs the processing so that a specific position image in a video image taken by the imaging means is displayed at a predetermined position on a monitor screen installed in the vehicle regardless of the open / closed state of the side mirror. The driving support image generation apparatus according to claim 1, wherein the driving support image generation apparatus is performed.   4. The image conversion unit according to claim 1, wherein the image conversion unit converts an image captured by the imaging unit into image data viewed from a virtual viewpoint and displays the image data on a monitor screen installed in the vehicle. The driving assistance image generating device according to item. Imaging means mounted on a vehicle for imaging the periphery of the vehicle;
A vehicle speed sensor for detecting the speed of the vehicle;
Image conversion means for selecting a parameter for processing image data of a captured video captured from the imaging means based on a detection signal of the vehicle speed sensor, and processing the image data based on the selected parameter; A driving assistance image generation apparatus comprising the driving assistance image generation apparatus.

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