JP2009055098A - Backward photographing and displaying device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a backward photographing and displaying device for a vehicle capable of effectively supporting fine adjustments in the direction of rearward driving or parking location, corresponding to the position of an object or obstacle. <P>SOLUTION: A mark image 201 to be the car width mark of the vehicle is composited on a backward image photographed by a backward photographing camera so as to satisfy a fixed positional relation with the photographing field of view of the rearward photographing camera and is output to a display 100 as a composite image 203 for rearward confirmation during rearward driving of the vehicle. The relative composition position of the mark image 201, with respect to the backward image, set so as to be variable. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a rear photographing display device for a vehicle.

JP-A-8-207661 Japanese Patent Laid-Open No. 10-166943

  In conventional vehicles, for example, it is common to use a rearview mirror or side mirror to check the rear view when reversing, or to look directly back and check, but in recent years instead of the rearview mirror There has been proposed a rear view display device (so-called back monitor) that uses a display and displays a rear view image captured by a CCD camera provided at the rear of the vehicle on the display (Patent Documents 1 and 2). As a result, the driver can confirm the rear of the host vehicle by visually recognizing the video displayed on the display.

  However, in the conventional rear-view display device described above, it is difficult to grasp the distance between the obstacle and the target object displayed on the display when the vehicle moves backward and the host vehicle, and there is a problem that it is difficult to carry out garage, column or side-by-side parking, for example. It was. In many cases, guidelines indicating the backward direction of the vehicle are displayed as an auxiliary image, but these guidelines are used for, for example, a target for smoothly guiding the vehicle to the parking position (for example, a parking frame line or a curbstone) or an obstacle. It is displayed regardless of the position of the object on the display. Therefore, even when the driver moves backward with this as a mark, the position of each target or obstacle must be grasped separately on the image and the backward direction or the parking position must be finely adjusted. The degree of dependence was also high, and there was a problem that the utility value as a back monitor was not necessarily high. Furthermore, when performing backward confirmation and lane change while driving forward using the display, there is a difficulty in that it is difficult to grasp the distance between the obstacle or the target object and the host vehicle as in the case of reverse.

  The problem of the present invention is that it is possible to more intuitively grasp the positional relationship between the target object or obstacle displayed on the display and the host vehicle, and the reversing direction or the parking position according to the position of the target object or the obstacle is small. An object of the present invention is to provide a vehicle rear photographing display device capable of effectively assisting adjustment or rearward confirmation and lane change during forward traveling.

Means for Solving the Problems and Effects of the Invention

In order to solve the above-described problems, the vehicle rear view display device of the present invention provides
A display provided at a position visible from the driver's seat of the vehicle;
A rear-facing camera that captures a rear view outside the vehicle from the rear end position of the vehicle;
A mark image, which is a vehicle width mark of the vehicle, is synthesized on the rear image captured by the rear camera so as to satisfy a certain positional relationship with the photographing field of view of the rear camera, and displayed as a composite image for confirming the rear of the vehicle Image composition output means for outputting to
And a mark image composition position change setting means for setting the relative composition position of the mark image relative to the field of view of the rear photographing camera to be changeable.

  According to the above configuration, the mark image that is the vehicle width mark of the vehicle is synthesized on the rear image captured by the rear shooting camera so as to satisfy a certain positional relationship with the shooting field of view of the rear shooting camera. Is output to the display as a composite image for rearward confirmation, and the relative composite position of the mark image with respect to the field of view of the rear camera can be changed. In other words, by changing and setting the relative composite position of the landmark image according to the position of the target or obstacle on the display, it becomes easier to grasp the positional relationship between the target or obstacle and the host vehicle more intuitively. And, by referring to the mark image adjusted according to the position of the target or obstacle, the driver effectively supports the backward adjustment or the fine adjustment of the parking position, or the backward confirmation and lane change while driving forward. can do.

  For example, when driving the vehicle backward, the driver uses a part of the vehicle body appearing in the rear rear view as a mark for grasping the positional relationship between the obstacle behind and the host vehicle. In particular, the pillars on both edges of the rear window are structures corresponding to the vehicle body limit position in the vehicle width direction, so how much clearance remains between the left and right obstacles visible from the window and the side of the vehicle body It is useful for grasping etc. For example, when parking in the back, the distance from the adjacent vehicle can be determined from the pillar position, and when parking in parallel, the width depends on the poles and signs standing on the roadside or the positional relationship between the front and rear vehicles and the pillar. Adjust the timing of turning and returning the steering wheel while grasping the shift interval and the angle of the vehicle body. Therefore, also in the present invention, it is effective to provide the mark image as image information indicating the positions of the pillars forming both edges of the rear window in the vehicle width direction in order to more intuitively support the reverse operation.

  In this case, if the mark image includes the outline image of the rear window, the displayed backward confirmation composite image can be brought closer to the visual image when the vehicle is actually turned back from the driver's seat. A sense of distance between the target object or obstacle in the rear image and the host vehicle can be grasped more easily. In addition, although the rear window is displayed as the mark image, it is superimposed and displayed in such a manner that its outline is extracted, so that the visibility of the rear shot video can be kept good. In particular, if the landmark image includes the outline image of the side window adjacent to the rear window in the vehicle width direction via pillars, it will be closer to the actual vehicle image when looking back from the driver's seat. This makes it possible to more clearly recognize the sense of perspective in the passenger compartment and to make it easier to grasp the sense of distance between the target object and the obstacle and the host vehicle. The mark image is created based on an actual rear vehicle interior image obtained by photographing the rear of the vehicle interior of the vehicle with a vehicle interior camera disposed on the side of the vehicle interior driver's seat. Then, a subtle difference for each vehicle type of the rear rear design in the vehicle interior can be reflected in the composite image for rearward confirmation, and the effect of recalling an actual vehicle visual image is maximized. Therefore, it is possible to effectively support not only the backward direction and the parking position but also the rearward confirmation and lane change during forward traveling.

  In addition, the mark image can include a vehicle width line image indicating the vehicle width end positions. By reflecting the vehicle width line image in the composite image for rearward confirmation, it is possible to directly display the current vehicle width limit position on the image, and more intuitively the clearance with the obstacle or target in the vehicle width direction. It becomes possible to drive backward while grasping.

  Next, in the vehicle rear photographing display device of the present invention, there is provided a target position specifying means for specifying a predetermined target image in the backward direction on the rear image when the vehicle is moved backward. Can do. In this case, the mark image composition position change setting unit can change and set the mark image composition position on the basis of the image position of the target on the rear image. For example, when parking, the driver will know the current position of the vehicle by relying on the landmark image on the display, and the appropriate clearance that he knows empirically from the target will be formed. The reverse operation is performed.

  For example, if the composite position of the landmark image is changed to be closer to the target on the rear image, the driver will not turn the steering wheel so that the position of the vehicle is farther away from the target by the amount the landmark image approaches. It feels like a proper clearance is formed between the two. In other words, by bringing the landmark image composition position closer to the target, even if the driver intends to drive to ensure the usual clearance by relying on the landmark image, the landmark image composition position is actually Can approach the target so that an excess clearance corresponding to the amount of change is formed between the target and the target. On the other hand, if the position of the landmark image is changed so as to be away from the target, the driver does not move the landmark image closer to the target by the distance the landmark image has moved away from the target. I do not feel that proper clearance is formed. That is, by moving the mark image synthesis position away from the target object, the clearance with the target object is reduced by the amount corresponding to the change amount of the mark image synthesis position (that is, the mark image is widened). Driving can be guided.

  When the target is a parking frame line for partitioning individual parking spaces in the vehicle width direction in the parking lot, the mark image composition position change setting means is configured such that the vehicle is located at the center between the parking frame lines on both sides in the vehicle width direction. The mark image composition position may be set so that the backward guiding is possible. Thereby, when parking in a parking frame by reverse driving | running | working, a vehicle can be smoothly guide | induced to the center of a parking frame line.

  In the vehicle rear-view display device of the present invention, an obstacle position specifying means for specifying the position of an obstacle existing on the side of the vehicle in the vehicle width direction can be provided when the vehicle is moved backward. The position of the obstacle can be specified on the rear image, or the distance from the vehicle body to the obstacle may be specified by a sensor (for example, a clearance sensor) provided separately in the vehicle. Of course, it is also possible to specify the position of an obstacle by using both. The mark image composition position change setting means can change and set the mark image composition position with reference to the obstacle position. In this way, the same effect can be achieved by replacing “target” with “obstacle” in the description of the case where the target position specifying means is provided.

  If the obstacle can be identified on the rear image, the obstacle can be regarded as a target obstacle that is also used as the target. In this case, the mark image composition position change setting means has a width-shifting distance input means for inputting a width-shifting distance of the vehicle with respect to the target obstacle at the time of reversing, The mark image composition position can be changed and set so that the backward guiding can be performed while the width is adjusted. Accordingly, the backward operation can be guided so that the combination position of the mark image is changed according to the input width-shifting distance, and the width-shifting distance to the target obstacle is adjusted accordingly.

  Specifically, the landmark image composition position change setting unit is configured to compose the landmark image so that the landmark image is separated from the target obstacle on the rear image as the distance from the vehicle to the target obstacle after the width adjustment becomes smaller. Can be configured to change / set position. In other words, by changing the composite position of the landmark image so that it is away from the target obstacle, the driver intends to cut the handle so that an appropriate clearance (same as before the change) is formed with the target obstacle. Even so, in practice, the combined position of the mark images is farther from the formed mark image than before, so that the vehicle can be guided to approach the target obstacle.

  On the other hand, in the parking lot, it is normal to park in the designated parking space with the parking frame line (so-called parking white line) as a landmark, but parking next to the parking frame line of the parking space you are trying to stop Vehicles (adjacent other vehicles) may be too close or step on the parking frame line. In this case, if the parking frame line is parked in the center as a mark, the own vehicle is too close to other adjacent vehicles, which may cause troubles such as preventing getting on and off each other and hitting the door. Accordingly, there is a need for a reverse driving technique that performs more advanced clearance adjustment while referring to the parking frame line as the target position while avoiding excessive approach to the adjacent vehicle. In the present invention, in order to support this, the parking frame line for partitioning each parking space in the vehicle width direction in the parking lot is set as the above-mentioned target, and adjacent to the parking space where the own vehicle is to park. Then, with the adjacent other vehicle being parked as an obstacle, the mark image composition position change setting means sets the landmark image on the rear image as the distance from the adjacent other vehicle to the corresponding parking frame line decreases. The mark image composition position can be changed and set so as to approach. Since the mark image has been changed so as to approach the adjacent other vehicle on the rear image, the own vehicle is naturally guided backward so as to be parked at a position away from the adjacent other vehicle by the change amount. As a result, the driver simply retreats toward the center of the space according to the pattern using the parking mark line as a mark, relying on the changed mark image, and avoids excessive access to the adjacent vehicle, and the appropriateness in the parking space You can easily park in position.

  Next, in the present invention, an obstacle detection means for detecting whether or not an obstacle exists within a predetermined threshold distance range in the vehicle width direction with respect to the vehicle when the vehicle moves backward, and a threshold distance range There may be provided obstacle presence notifying means for notifying an obstacle in the presence of the obstacle. When the vehicle is too close to the obstacle during reverse driving, it is possible to prevent interference between the obstacle and the vehicle by notifying this.

  In the present invention, as described above, by intentionally changing the synthesis position of the mark image that has been fixed in the past, the driver's behavior that relies on the mark image can be used to unconsciously operate the reverse driving operation. The driver can adjust the clearance with obstacles and targets simply by operating as usual. However, in this case, since the target clearance is changed, in the case of a possible vehicle having an obstacle detection and notification function such as a clearance sonar, the detection threshold for notification is set uniformly. For example, when the vehicle is narrower than normal with respect to an obstacle, the notification operation occurs even though the distance from the obstacle is not sufficiently narrow, and the pressure is given to the notification sound. It leads to troubles such as being unable to make the width. On the other hand, when the user wants to park the vehicle intentionally away from the obstacle, there is a problem that the obstacle notification does not function as intended, for example, the notification operation does not occur even if the distance to the obstacle becomes narrower than the intended distance. Therefore, if a threshold distance changing means for changing the threshold distance for obstacle detection by the obstacle detection means is provided according to the change contents of the mark image synthesis position by the mark image synthesis position change setting means, such a problem is effective. Therefore, it is possible to always notify the obstacle at an appropriate threshold distance according to the change in the composite position of the mark image.

  Specifically, the threshold distance changing means sets the threshold distance to be smaller as the change distance of the mark image combining position becomes larger when the mark image combining position is changed in a direction away from the obstacle existing in the vehicle width direction. Can be configured to If the mark image composition position is changed in a direction away from the obstacle, the driver is guided to drive the distance between the obstacle and the vehicle in the vehicle width direction more closely by the mark image. Therefore, by setting the threshold distance for notifying the obstacle to be small, it is possible to effectively avoid the troublesomeness that causes the notification operation when the distance to the obstacle is not sufficiently narrowed.

  Hereinafter, an embodiment of a rear photographing display device for a vehicle according to the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing an electrical configuration of a vehicle rear photographing display device 1 according to an embodiment of the present invention. The vehicular rear photographing display device 1 includes an ECU 10 that is a control subject. The ECU 10 is obtained by connecting a CPU 11, a RAM 12, a ROM 13, an input / output unit 15, and a nonvolatile memory 16 (for example, a flash memory or an EEPROM) to each other via a bus line 14. The input / output unit 15 is connected to the rear camera 31, the vehicle interior camera 32, the drawing LSI 40 display 100, and the touch panel 101.

  Further, the input / output unit 15 detects a shift position sensor 34 that detects the position of the shift lever, a clearance sonar 36 that serves as an obstacle presence notification unit, and a distance to an obstacle that is present on the left in the vehicle width direction at the rear of the vehicle body. A left clearance sensor 37, a right clearance sensor 38 that detects a distance to an obstacle that is also located on the right side in the vehicle width direction, and a central clearance sensor 39 that detects a distance to an obstacle located in the center rear in the vehicle width direction are connected. ing. As shown in FIG. 3, the three clearance sensors 37, 38, 39 are all attached to the rear bumper of the vehicle body. The input / output unit 15 can be connected to a driver seat position detection unit that detects a displacement from a driver seat reference position defined in the front-rear direction of the driver seat that can be moved back and forth as necessary.

The ROM 13 is loaded with an image control program 13a. The image control program 13a is executed by the CPU 11 using the RAM 12 as a work memory, and realizes the following functions (see FIGS. 13A to 13C, 14A, and 14B).
Image composition output means: a mark image 201 as a vehicle width mark of the vehicle is synthesized on the rear image 202 photographed by the rear photographing camera 31 so as to satisfy a certain positional relationship with the photographing field of view of the rear photographing camera 31. When the shift lever is in the back (“R”), this is output to the display 100 as the backward confirmation composite image 203.
Mark image composition position change setting means: Sets the relative composition position of the mark image 201 with respect to the field of view of the rear photographing camera 31 so as to be changeable.
Target position specifying means: On the rear image 202, images of predetermined targets PL and TL in the reverse direction when the vehicle is moved backward are specified.
-Obstacle position specifying means: The position of the obstacles TC, TH existing on the side in the vehicle width direction of the vehicle is specified at the vehicle retreat destination.

  The ROM 13 is loaded with a sonar control program 131a. This sonar control program 131a is also executed by the CPU 11 using the RAM 12 as a work memory, and each clearance sensor 37 to 39 is used as an obstacle detection means (the obstacle position specification by the image processing using the rear image can also be used in this case: The image control program 13a is also involved in realizing the function of the obstacle position specifying means), and the detection distance to the obstacle by the obstacle detecting means is less than a predetermined threshold using the clearance sonar 36 as the obstacle presence notifying means. In this case, it controls the operation of the obstacle presence notification means. Furthermore, a function of threshold distance changing means for changing the threshold distance for obstacle detection by the obstacle detection means according to the change contents of the mark image synthesis position by the mark image synthesis position change setting means is also realized.

  As shown in FIG. 2, the display 100 is attached to a dashboard 8 at the center of the instrument panel 7 of the vehicle in a position visible from the driver's seat 4 in this embodiment. The display 100 is composed of a known color liquid crystal display, and performs display output based on the drawing processing by the drawing LSI 40 and the graphic memory 40a in FIG. In addition, a known touch panel 101 that forms an input unit is arranged on the display 40 of the present embodiment.

  As shown in FIGS. 2 and 3, the rear photographing camera 31 is a well-known CCD camera and can be attached to the upper edge side of the rear window 5b with respect to the rear portion of the vehicle. Specifically, it can be attached to an upper position of the rear window 5b behind the vehicle body roof or an upper end portion of the rear window 5b (in this case, either the vehicle outer side or the vehicle inner side). In the present embodiment, as shown in FIG. 4A, a rear photographing camera 31 is mounted on the rear side of the vehicle roof and outside the rear window 5b, and the rear view of the vehicle is defined as a view range A ′ in the vehicle width direction (see FIG. 3). Then, an image in the visual field range B ′ (see FIG. 4B) in the vehicle vertical direction is taken. In addition, as shown in FIG. 2, the vehicle interior camera 32 is also a CCD camera, which captures the rear view of the vehicle interior so as to include the face image of the driver sitting in the driver's seat. Installed on the inside of the upper end car. Further, when the driver is absent, as shown in FIG. 5A, an image behind the vehicle interior is taken as an actual rear vehicle interior image 200 (in FIG. 5A, the image of the driver's seat is omitted).

  The image control program 13a described above creates a landmark image from the actual rear vehicle interior image 200 in the following manner according to the flowchart of FIG. First, an actual rear passenger compartment image 200 is photographed as shown in FIG. 5A (S1), and then the rear window SW and side window SW images in the actual rear passenger compartment image 200 are specified. As shown in FIG. SG and side window outline SG are extracted (S2). Then, the vehicle width line image WL indicating the vehicle width end position is synthesized with reference to the vehicle width center position O of the vehicle body on the actual rear vehicle interior image 200 (S3: W is the vehicle width as W, W / 2), the mark image 201 is stored in the nonvolatile memory 16 (S4). By displaying the rear window outline SG and the side window outline SG, the image area located between the two outlines RG and SG can be easily identified as the pillar area forming both edges of the rear window. it can.

  As shown in FIG. 5C, the display states can be made different between the inner region and the outer region of the window outlines RG and SG. For example, the brightness of the outer area of the window outlines RG and SG can be set smaller than the brightness of the inner area, or the color tone can be made different between the inner area and the outer area of the window outlines RG and SG. . According to this, the contrast between the area representing the passenger compartment and the area representing the outside of the passenger compartment becomes clear in the composite image for rearward confirmation described later, so that a sense of perspective can be more easily grasped, and the target object and the obstacle are automatically detected. A sense of distance to the vehicle is easier to grasp.

  The drawing LSI 40 superimposes and composites the display display rear image 202 and the landmark image 201 output from the image display ECU 10, and outputs them to the display 100. As shown in FIG. 4C, the composite image 203 for rearward confirmation is displayed on the portion within the vertical and horizontal field-of-view ranges A ′ and B ′ in the original image captured by the rear camera 31, and the driver 2 is rear from the driver seat side. The mark images 201 whose dimensions are adjusted so as to belong to the vertical and horizontal visual field ranges A and B when the interior is viewed in the direction visual field are superimposed and synthesized. The window outlines RG and SG of the mark image 201 are combined with the rear image 202 in a form in which the viewpoint is individually converted in accordance with the position of the driver's eyes seated in the driver's seat.

  FIG. 7 is a flowchart showing the processing flow. In S11, the driver's face image is photographed, and in S12, the driver's eye position is estimated from the acquired face image (height direction eye position information is obtained). Subsequently, in S13, the conversion relationship between the estimated eye position coordinate system of the eye position in the height direction of the driver (driver eye position visual field coordinate system) and the camera coordinate system of the rear photographing camera 31 (rear photographing visual field coordinate system) is calculated. To do. A method of converting the camera coordinate system to the eye position coordinate system is well known by three-dimensional affine transformation or the like. When the camera position (x1, y1, z1) of the rear photographing camera 31 and the camera coordinate system are known, the driver eye When the position is generalized to (x2, y2, z2), the eye position coordinate system and the camera are converted as a relational expression using the camera position (x1, y1, z1) and the driver eye position (x2, y2, z2). A conversion relationship with the coordinate system can be easily obtained. By substituting the actual position coordinates (xm, ym, zm) of the eye position detected in S12 into this conversion relational expression, the conversion relation can be obtained. However, (xm, ym) for displaying the plane position of the driver on the coordinates is almost unchanged and may be handled as a constant. The vehicle front-rear direction position is determined by the front and rear sliding positions of the driver seat, and therefore, as shown in FIG. 1, a driver seat position sensor (driver seat position sensor) 35 is provided in the driver seat, and the detected value is used. You may decide.

  Returning to FIG. 7, in S14, the standard outline image created by setting the standard driver eye position (x0, y0, z0) stored in the nonvolatile memory 16 is read. In S15, the standard eye position coordinate system (standard driver eye position visual field coordinate system) of the window outline image based on the standard driver eye position and the eye position coordinate system of the eye height position of the driver estimated in S13. The conversion relation with (driver's eye position visual field coordinate system) is obtained. In S16, using the conversion relationship (S13 and S15) obtained above, the standard outline image is subjected to viewpoint conversion to the outline image viewed from the driver eye position, and the mark image to be finally combined with the rear image is obtained. obtain.

  Next, FIG. 8 is a flowchart showing a flow of processing for adjusting the combination position of the mark image to the rear image. First, in S101, it is indicated whether or not the shift lever is “R”, and if it is not “R”, nothing is done and the process is terminated. On the other hand, if “R”, the rear image is acquired in S102, and the landmark image is acquired in S103. Subsequently, in S104, the image of the predetermined target PL in the backward direction when the vehicle is moved backward is specified on the rear image 202 (target position specifying means).

  First, as shown in FIG. 9A, a case where the target is a parking frame line PL for partitioning individual parking spaces in the vehicle width direction in the parking lot will be described. In S104, it is specified by well-known image processing whether or not the parking frame line PL exists on the rear image 202. In the parking lot, it is normal to park in the designated parking space with the parking frame line PL as a mark, but the parking vehicle next to the parking frame line PL of the parking space to be stopped (adjacent other vehicle TC) ) May be too close, or may be stopped by stepping on the parking frame line PL. In this case, if the parking frame line PL is parked in the center as a mark, the own vehicle is too close to the adjacent other vehicle TC, which causes troubles such as preventing getting on and off each other and hitting the door. . Therefore, it is necessary to adjust the clearance between the parking line PL and the vehicle body so that excessive approach to the adjacent vehicle can be avoided while referring to the parking frame line PL as the target position. Therefore, in order to support this, when the parking frame line PL exists in S104, the process proceeds to S105, and the adjacent other vehicle TC parked adjacent to the parking space where the own vehicle is to be parked is determined as an obstacle. To do.

First, in S106, the distance to the left and right obstacles with respect to the current vehicle at the current position is specified, and it is determined whether or not a minimum clearance Cmin (for example, 30 cm) for enabling getting on and off is secured. At this time, if the total of the left and right clearances is less than 2 Cmin, it is determined that parking in the parking space is impossible, and the process proceeds to S116 to issue a parking failure notification (voice or display: “cannot park”). On the other hand, if the total of the left and right clearances exceeds 2 Cmin, the process proceeds to S107, and the left and right inner edge positions of the parking frame lines PL and PL are specified by image processing. Then, d _L and d _R from the inner edge position to the left and right obstacles (adjacent other vehicles TC) (hereinafter referred to as “outside space margin distance”) are specified.

In S109, when the outside-space margin distances d _L and d _R are sufficiently large (including the standard outside-space margin distance d ₀ or more (for example, 30 cm): including the case where the adjacent other vehicle TC does not exist), the adjacent other vehicle TC is selected. It is determined that the conscious parking position needs to be corrected, and as shown in FIG. A composition position for the rear image is set (hereinafter referred to as a reference composition position), and the composition result is displayed in S111. The rear window outline RG, the left and right side window outlines SG, SG and the left and right vehicle width lines WL, WL appear symmetrically with respect to the vehicle width center position of the actual vehicle body. By relying on the mark image 201, the host vehicle MC is parked as shown in FIG. 9B by driving backward so that the distances between the parking frame lines PL and PL and the corresponding vehicle width lines WL and WL are equal to each other. It can be smoothly led to the approximate center of the space. At this time, the clearance with the adjacent other vehicle formed on the left and right of the host vehicle MC can be sufficiently secured.

Next, in S109, as shown in FIG. 10A, when at least one of the left and right outside-space margin distances d _L and d _R is less than the standard outside-space margin distance d ₀ , the process proceeds to S112. FIG. 10A shows an example in which the other vehicle TC on the left side steps irregularly on the parking frame line PL, and the margin distance d _L outside the space on the left side is the width of the parking frame line PL (for example, 10 cm). (For example, 5 cm: when the parking space line PL line extends beyond the parking space side of the host vehicle, the margin distance d _L outside the space is a negative value).

Here, the landmark image 201 is synthesized at the reference synthesis position as shown in FIG. 9A, and a case where the host vehicle MC is parked backward in the center of the parking space with reference to this is considered. If the distance from the vehicle width end of the host vehicle to the inner edge of the corresponding parking frame line PL is the in-space margin distance C, the left and right standard in-space margin distance C0 when the host vehicle MC is parked in the center of the parking space is If the vehicle width is W and the distance between the inner edges of the parking frame line PL (that is, the parking space width) is L, it can be calculated as C0 = (L−W) / 2 on the rear image (S107). When 20cm the standard space within the margin distance C0, because the adjacent other vehicle TC half of the corresponding line width (about 5 cm) only leaving no space outside margin distance d _L, is intact, the left clearance d _{L +} C0 = Obviously, there is a shortage of 25cm, which will interfere with the opening and closing of the doors and getting on and off. Let Ce (for example, 40 cm) be an ideal clearance for preventing this problem.

First, in S112, the left and right spaces outside margin distance _d L, of _{d R,} smaller and a _{d S,} larger and the _{d B.} In S113, it determines whether or not adjacent another vehicle is present in the d _B side. In the case of No as shown in FIG. 10A, the mark image 201 (window outline image RG, SG + vehicle width line image WL) is only ΔC = Ce− (C0 + ds) (ie, 40− (20 + 5) = 15 cm) as shown in FIG. 10B. d Shift to the _S side and display (S114 → S115 → S111). Also, if there is adjacent another vehicle _{d B} side in S113, the display shifts to the side of the mark image _{201 (d B -d S) /} 2 only _{d S (S117 → S115 → S111} ).

As shown in FIG. 10B, mark images 201, in this state, only ΔC in the rearward image on the side of d _S than the reference position Q shown a vehicle width center position, and shifting the center line O to artificially form Is displayed. The driver considers the shifted center line O as an actual vehicle width center position, and performs a reverse operation with the pillar position and the vehicle width line image WL as a mark. If the vehicle MC is positioned near the entrance of the parking space so that the reference position Q faces the center of the parking space, as long as the driver looks at the landmark image 201 (actually, the driver is positioned at the center of the parking space. also regardless of which) it determines that the adjacent other vehicle TC of d _S side vehicle MC is closer. Then, as shown in FIG. 10C, mark images 201 thereof shifted is to be positioned in the center of the parking space in the image, retracted operating a vehicle while attracted width on the side of d _B. As a result, _{d S} side clearance vehicle MC is based expands that was _d L + C0 (25cm) by [Delta] C, so that the ideal clearance Ce close value is ensured.

However, the results obtained by shifting the mark image 201, if the vehicle width end position on the opposite side (the side of the d _B) it takes the parking frame line PL corresponding opposite side, the process proceeds parking impossible displayed S116. If this causes annoyance to the other side of the parked vehicle (or the vehicle to be parked) as a result of parking away from the adjacent other vehicle TC where the parking position is irregular, it is impossible to park. Do not do it. However, the mark image 201 may be synthesized by reducing the shift amount ΔC so as not to reach the opposite parking frame line PL.

  Next, when the parking frame line does not exist on the rear image in S104, the process proceeds to S118, and as shown in FIG. 11A, the mark image 200 is such that the center line O overlaps the reference position Q on the rear image. (I.e., at the center position) are combined with the rear image and displayed. FIG. 11A shows a case where the own vehicle is parked side by side on the roadside, and a fence of a private house (may be a curbstone, a side groove, a fence, a guardrail, etc.) is displayed on the image as an obstacle TH adjacent to the roadside. Appears. The driver uses the obstacle TH as a parking target, that is, a target obstacle, and parks the vehicle while moving backward with respect to the interference limit position SL so that an appropriate clearance is generated.

  Here, the pillar position and the vehicle width line WL of the mark image 200 are used as the marks for confirming the width adjustment amount. For example, the distance between the vehicle width line WL and the interference limit position SL corresponds to the appropriate clearance amount. Drive backwards while turning the steering wheel to reach the value. There are many people who are not good at reverse driving with large width adjustment amount such as parallel parking, and there are cases where the amount of clearance that can be operated successfully is very limited (this is because the brake operation or steering timing of the width adjustment is limited) This is often caused by trauma caused by driving lessons, such as checking at the pole position visible from the rear window). As a result, even when a large width adjustment such as on-street parking on a narrow road is required, the appropriate clearance amount C imprinted sensibly is reproduced unconsciously, and the width adjustment amount tends to be insufficient. . Therefore, if you try to increase the amount of shifting forcibly, the distance will become too tight, and you may end up in a vicious circle that repeats redoing, or you may unfortunately hit the target obstacle.

  Therefore, in order to support this, in S119 and the subsequent steps, manually input the width-shifting distance of the vehicle with respect to the target obstacle TH at the time of reversing, and the mark image 201 becomes the width-shifting as the input width-shifting distance increases. A process of shifting from the reference composite position is performed on the side opposite to the direction (that is, away from the target obstacle TH). That is, as shown in FIG. 11A, the width-shifting input is displayed on the screen (S119). Specifically, a width-alignment display unit 210 indicating the amount of increase in width-alignment and the current input value in the direction, and a change input unit 211 for changing the input value are displayed (using the touch panel 101). This is a well-known soft button input unit). By operating the corresponding button (left side in the figure) of the change input unit 211 in the direction in which the target obstacle TH exists, the width-shifting distance increases in that direction. For example, if the input content is “30 cm to the left”, as shown in FIG. 11B, the landmark image 201 is shifted and displayed in the opposite direction, that is, in the right direction by a distance corresponding to the increment (30 cm). (S120, S121).

  In this state, the mark image 201 is displayed in a form in which the center line O is intentionally shifted by ΔC to the right of the reference position Q indicating the vehicle width center position on the rear image. The driver considers the shifted center line O as the actual vehicle width center position, and aims at an appropriate clearance amount C (for example, 40 cm) that can be achieved easily and with good reproducibility using the pillar position and the vehicle width line image WL as a landmark. You can concentrate on getting closer. Thus, even if the driver intends to drive so as to form a clearance amount of 40 cm, the vehicle body naturally moves to the target obstacle TH by referring to the mark image 201 shifted 30 cm to the right. It will be packed up by 30cm. In other words, it is possible to unconsciously perform a driving operation of parking at a distance of 10 cm with respect to the target obstacle TH.

  At this time, the threshold distance to which the clearance sonar 36 (FIG. 1) reacts is a distance corresponding to the appropriate clearance amount C (this is known as follows, when the composite position of the mark image 201 is the reference composite position). It can be changed by manual input). When the width-shifting distance is input, the threshold distance of the clearance sensor (for example, the left clearance sensor 37 in the case of FIG. 11A) positioned in the width-shifting direction is decreased by a value corresponding to the width-shifting distance. Change to As a result, the clearance sonar 36 that reacts when a fixed threshold distance is interrupted normally starts to sound when it is digested according to the input amount of increase in width. As a result, the approach to the obstacle corresponding to the changed width adjustment amount can be appropriately notified, and the clearance sonar that has entered the threshold distance even though it is known to increase the width more than usual. It also frees you from the hassle of having to squeeze 36 while continuing to ring.

  In this embodiment, a navigation display installed in the center of the instrument panel of the vehicle driver's seat is applied as the display. However, for example, a room mirror itself installed near the driver's seat for checking the rear is used as the display. Of course, a backward confirmation composite image may be displayed on the display. Further, in the present embodiment, the description has been given as the fine adjustment of the backward direction or the parking position, but it goes without saying that the present invention can also be applied to the backward confirmation during forward traveling and the lane change.

The block diagram which shows an example of the electrical constitution which concerns on the back imaging | photography display apparatus for vehicles of this invention. The perspective view which shows an example of the arrangement layout of a camera and a display. FIG. The figure explaining the attachment position of a back photography camera. Explanatory drawing which shows the relationship between the visual field of a back photography camera, and a visual field when a driver looks back. Explanatory drawing which shows the positional relationship of a back image and a mark image. Explanatory drawing of a real back vehicle interior image. The figure which shows the 1st example of the mark image using the rear window outline and side window outline extracted from the actual back vehicle interior image. The figure which shows a 2nd example similarly. The flowchart which shows the flow of a mark image creation process. The flowchart which shows the flow of an outline line image viewpoint conversion process. The flowchart which shows the flow of a mark image display adjustment process. Explanatory drawing which shows the example of a display when a mark image is made into a standard synthetic | combination position with a vehicle position. FIG. 9B is an explanatory diagram following FIG. 9A. Explanatory drawing which shows the example of a display in the case of changing automatically the synthetic | combination position of a mark image according to an adjacent other vehicle position with a vehicle position. Explanatory drawing following FIG. 10A. Explanatory drawing following FIG. 10B. Explanatory drawing which shows the example of a display in the case of changing manually the synthetic | combination position of a mark image according to the input value of width adjustment amount with a vehicle position. Explanatory drawing following FIG. 11A.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Rear imaging | photography display apparatus for vehicles 4 Driver's seat 10 Control ECU (Mark image synthetic | combination position change setting means, target object position specification means, obstacle position specification means, threshold distance change means)
31 Rear view camera 32 Car interior camera 36 Clearance sonar (obstacle presence notification means)
37-39 Clearance sensor (obstacle location specifying means, obstacle detection means)
40 Drawing LSI (Image synthesis output means)
100 display (image composition output means)
101 Touch panel (width alignment distance input means)
201 Mark image 202 Rear image 203 Composite image for rear confirmation RG Rear window outline image SG Side window outline image WL Car width line image PL Parking frame line

Claims (14)

A display provided at a position visible from the driver's seat of the vehicle;
A rear-facing camera that captures a rear view outside the vehicle from the rear end position of the vehicle;
Compositing a mark image, which is a vehicle width mark of the vehicle, on a rear image captured by the rear photographing camera so as to satisfy a certain positional relationship with the photographing field of view of the rear photographing camera, Image composition output means for outputting to the display as an image;
Mark image composition position change setting means for setting the relative composition position of the mark image relative to the field of view of the rear photographing camera to be changeable;
A rear photographing display device for a vehicle characterized by comprising:   2. The rear photographing display device for a vehicle according to claim 1, wherein the mark image is image information indicating a pillar position forming both edges of the rear window in the vehicle width direction.   The vehicle rear photographing display device according to claim 2, wherein the mark image includes an outline image of the rear window.   4. The rear photographing display device for a vehicle according to claim 3, wherein the mark image includes an outline image of a side window adjacent to both edges of the rear window in the vehicle width direction via the pillar. 5.   The mark image is created based on an actual rear vehicle interior image obtained by photographing the rear of the vehicle interior of the vehicle with a vehicle interior camera disposed on the driver's side of the vehicle interior. The vehicle rear image display device according to any one of claims 2 to 4.   The vehicle rear-view display device according to any one of claims 1 to 5, wherein the mark image includes a vehicle width line image indicating positions at both ends of the vehicle width. A target position specifying means for specifying an image of a predetermined target in the reverse direction on the rear image when the vehicle is moved backward;
7. The mark image composition position change setting unit changes or sets the mark image composition position with reference to the image position of the target on the rear image. The rear photographing display device for a vehicle according to the above. The target is a parking frame line for partitioning individual parking spaces in the vehicle width direction in the parking lot,
8. The vehicle rear photographing according to claim 7, wherein the mark image composition position change setting means sets the mark image composition position so that the vehicle can be guided backward in the middle between the parking frame lines on both sides in the vehicle width direction. Display device. An obstacle position specifying means for specifying the position of an obstacle existing on the side of the vehicle in the vehicle width direction at the retreat destination of the vehicle;
9. The vehicle rear photographing display device according to claim 7 or 8, wherein the mark image composition position change setting unit changes and sets the mark image composition position with reference to the obstacle position. The obstacle is a target obstacle combined with the target,
The mark image composition position change setting unit includes a width-shifting distance input unit that inputs a width-shifting distance of the vehicle with respect to the target obstacle when the vehicle is moving backward, and the vehicle is moved to the target obstacle at the input distance The rear photographing display device for a vehicle according to claim 9, wherein the mark image composition position is changed and set so as to be able to be guided backward while being narrowed.   The landmark image composition position change setting means is configured to cause the landmark image to move away from the target obstacle on the rear image as the distance from the vehicle to the target obstacle after width adjustment becomes smaller. The vehicle rear photographing display device according to claim 10, wherein the composite position is changed / set. The target is a parking frame line for partitioning individual parking spaces in the vehicle width direction in the parking lot,
The obstacle is an adjacent other vehicle that is parked adjacent to the parking space where the vehicle is to park,
The mark image composition position change setting means is configured to cause the mark image composition position to approach the adjacent other vehicle on the rear image as the distance from the adjacent other vehicle to the corresponding parking frame line decreases. The rear photographing display device for vehicles according to claim 9 which changes and sets up. Obstacle detection means for detecting whether an obstacle exists within a predetermined threshold distance range in the vehicle width direction with respect to the vehicle when the vehicle is moving backward;
Obstacle presence notifying means for notifying an obstacle when there is an obstacle within the threshold distance range;
The threshold distance changing means for changing the threshold distance for detecting the obstacle by the obstacle detecting means according to the change contents of the mark image combining position by the mark image combining position change setting means. The vehicle rear photographing display device according to any one of claims 1 to 12.   The threshold distance changing means sets the threshold distance to be smaller as the change distance of the mark image combining position becomes larger when the mark image combining position is changed in a direction away from the obstacle existing in the vehicle width direction. The vehicle rear photographing display device according to claim 13.

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