JP2009226978A - Vehicular circumference monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular circumference monitoring device that provides a driver with an intuitive depth feel in a blind spot image. <P>SOLUTION: The vehicular circumference monitoring device that monitors a blind spot in an area stretching right and left in front of the driver, comprises: actual image taking means (2, 4, 6) disposed in front of the vehicle to take an actual blind spot image; a grid image generation means (34, 38) generating a virtual grid image to display a road depth feel in the blind spot image taken by the actual image taking means; a virtual grid image defining means (34, 38) defining the size, shape and orientation of the grid of the virtual grid image according to the actual blind spot image taken by the actual image taking means; and a display means (26, 14) displaying an image by superimposing the virtual grid image onto the actual image according to the size, shape and orientation defined by the grid image defining means. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle surrounding monitoring device, and more particularly to a vehicle surrounding monitoring device that monitors a blind spot area of a driver.

  2. Description of the Related Art Conventionally, devices that capture and display a blind spot image in the left-right direction on the front side of a vehicle are known (Patent Documents 1 and 2).

JP 2007-172462 A JP 11-338074 A

  The device as described above, for example, simply displays the blind spot area in the left-right direction on the monitor as it is. For example, the image is distorted or the perspective is difficult to distinguish, making the sense of depth intuitive. It was difficult to grasp. The driver looks at such a display to determine the state of the blind spot area, but because the depth is not known, for example, the sense of distance to the vehicle approaching from the left and right direction is difficult to understand intuitively. .

  The present invention has been made to solve the above-described problems of the prior art, and an object of the present invention is to provide a vehicle surrounding monitoring device that makes it easy to intuitively grasp the sense of depth in an image of a blind spot area. .

  In order to achieve the above object, according to the present invention, there is provided a vehicle surrounding monitoring device for monitoring a blind spot area in an area that spreads left and right in front of a driver so as to capture a real image of the blind spot area. Real image capturing means provided in the front part of the vehicle, grid image generating means for generating a virtual grid-like grid image representing a sense of road depth in the blind spot area imaged by the real image capturing means, and real image capturing means Virtual grid image defining means for defining the size, shape, and orientation of the virtual grid-like grid image in accordance with the real image of the blind spot area imaged by, and the size and shape defined by the grid image defining means And display means for superimposing and displaying a virtual grid-like grid image on the real image in the orientation.

  In the present invention configured as described above, a virtual grid-like grid image representing a sense of depth is displayed, and the size, shape, and orientation of the grid-grid image are adjusted in accordance with the actual image of the blind spot area in which the grid grid image is captured. Since it is defined, the driver can intuitively grasp the distance feeling of the surroundings, for example, the road.

In the present invention, it is preferable that the virtual lattice image defining means has a lattice line extending along a direction in which a road surface extending in a predetermined direction in front of the host vehicle extends.
In the present invention configured as described above, the grid-like grid image has grid lines extending in the direction in which the road surface extending in a predetermined direction in front of the host vehicle extends, so that the driver can intuitively feel the depth feeling of the road surface. Can be grasped.

In the present invention, it is preferable that the display unit displays the virtual grid-like grid image in an empty area above the real image.
In the present invention configured as described above, an ideal grid-like grid image can be displayed according to various road conditions, and the driver can easily see it.

In the present invention, preferably, further, a moving body detecting means for detecting a moving body from within the real image captured by the real image capturing means, and when the moving body is detected by the moving body detecting means, the movement is detected. Moving body state detecting means for detecting the position and / or type of the body, and the display means superimposes on the virtual grid-like grid image so that the position and / or type of the moving body can be identified. Displays the light spot.
In the present invention configured as described above, the light spot for identifying the position and / or type of the moving body is displayed superimposed on the virtual grid-like grid image. It becomes easy to identify the position and / or type of the.

In the present invention, preferably, further, a moving body detecting means for detecting a moving body from within the real image captured by the real image capturing means, and when the moving body is detected by the moving body detecting means, the movement is detected. Moving body state detecting means for detecting the type and / or moving speed and / or moving direction of the body, and the display means superimposes on the virtual grid-like grid image to move the moving speed and / or Displays an arrow to make the direction of movement identifiable.
In the present invention configured as described above, an arrow for displaying the moving speed and / or moving direction of the moving object is displayed superimposed on the virtual grid-like grid image. It becomes easy to identify the moving speed and / or moving direction of the body.

In the present invention, it is preferable that the display unit changes the thickness of the arrow according to the arrival time of the moving body at the intersection.
In the present invention configured as described above, the driver can intuitively grasp the arrival time of the moving body at the intersection.

In the present invention, preferably, the blind spot area of the driver is a blind spot area around the intersection of the intersection on the front side of the vehicle, and the real image capturing means is provided at the front end of the vehicle, and the vehicle is inserted into the intersection. When hanging, an actual image around the intersection of an intersection that can be imaged from the front end of the vehicle is captured.
In the present invention configured as described above, the driver can obtain information on the left and right intersections of intersections where collision accidents frequently occur, and safer driving is possible.

Further, in the present invention, preferably, it further includes a cue position calculating means for calculating a cue position at which the driver's line of sight is improved at the intersection, and the display means is configured to display a virtual position after the host vehicle reaches the cue position. Stop displaying the grid grid image of.
In the present invention configured as described above, the display of the virtual grid-like grid image is stopped, so that the driver grasps that the own vehicle is at the cueing position and grasps the road condition with his own eyes. You can do that.

In the present invention, it is preferable that the virtual lattice image defining means displays the virtual lattice-like grid image at a height that does not overlap with a sign or signal on a moving object or other road.
In the present invention configured as described above, since important moving objects and signs on the road are not hidden in the virtual grid-like grid image, the driver can surely recognize them.

In the present invention, it is preferable that the virtual grid image defining means is a virtual grid grid to be displayed when the virtual grid-like grid image overlaps a sign or signal on a moving object or other road. Eliminate overlapping parts of images.
In the present invention configured as described above, since important moving objects and signs on the road are not hidden in the virtual grid grid, the driver can surely recognize them.

  According to the vehicle surrounding monitoring apparatus of the present invention, it is easy to intuitively grasp the sense of depth in the image of the blind spot area.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.
First, with reference to FIGS. 1 and 2, a basic configuration of a vehicle surrounding monitoring apparatus according to an embodiment of the present invention will be described. FIG. 1 is an overall configuration diagram of a vehicle to which a vehicle surroundings monitoring device according to an embodiment of the present invention is applied. FIG. 2 is an example of an imaging range by a camera of a vehicle surroundings monitoring device according to an embodiment of the present invention ( It is a figure which shows an example (b) of a and the image | video imaged.

  As shown in FIG. 1, the vehicle 1 has a left monitoring camera 2, a front monitoring camera 4, and a right monitoring camera 6, and these cameras are attached to the front end of the vehicle. These cameras are CCD cameras using a wide-angle lens, and for example, can capture a range as shown in FIG. 2A and obtain an image as shown in FIG.

  The vehicle 1 also includes a vehicle speed sensor 10, a gyro 11, a GPS device 12, a navigation device 13, and an image display monitor 14. The monitor 14 is arranged at a position where the driver of the driver's seat 16 can see. Further, the vehicle 1 has an ECU 18, and signals from the cameras 2, 4, 6, the vehicle speed sensor 10, the gyro 11, and the GPS device 12 are input to the ECU 18, and a predetermined image is displayed on the monitor 14. indicate.

  Furthermore, the vehicle 1 has a laser radar 7 for detecting a distance from another vehicle. Instead of the laser radar 7, the distance from the other vehicle may be grasped by inter-vehicle communication, or the distance from the other vehicle may be grasped by the road-to-vehicle history.

Next, with reference to FIG. 3, driving behavior when a driver enters an intersection will be described. FIG. 3 is a diagram for explaining driving behavior when a driver enters an intersection.
First, stop before the intersection. After that, the vehicle proceeds slowly to the nasal position, proceeds to the camera position (see FIG. 2A), and proceeds to the cue position (see FIG. 4). FIG. 4 is an overhead view of the road and the vehicle for explaining the cueing position of the own vehicle.

  First, the nose out position is a position that informs other vehicles and pedestrians of the presence of the host vehicle. As shown in FIG. 2 (a), the camera exit position is a state in which the front end of the vehicle enters the intersection, and the driver cannot see the intersection, but the camera 2 attached to the front end of the vehicle, 4 and 6 are positions where the intersection can be seen. As shown in Fig. 4, the cueing position is the position when the driver's seat where the driver sits enters the intersection, and the driver can directly see inside the intersection with his own eyes. is there.

  In the vehicle surrounding monitoring apparatus according to the embodiment of the present invention, a virtual image to be described later is displayed between the temporary stop and the cueing position. When the cueing position is reached, the virtual image blinks, and after passing through the cueing position, the display of the virtual image is stopped.

Next, the configuration of the vehicle surrounding monitoring apparatus according to the embodiment of the present invention will be described with reference to FIG. FIG. 5 is a block diagram showing a configuration of the vehicle surrounding monitoring apparatus according to the embodiment of the present invention.
In the embodiment of the present invention, the actual distance of a moving body (such as another vehicle heading for an intersection) is present from the own vehicle, what kind of moving body, and what direction The driver recognizes the moving state of the moving object by displaying a virtual image such as a grid, a light spot, and a vector as shown in FIG. is there. Thereby, for example, it is possible to help the driver determine whether or not to start the host vehicle. Further, even if there is no moving body, a virtual image of the grid can be displayed so that the driver can feel the sense of depth of the intersection.

  As shown in FIG. 5, image signals from the cameras 2, 4, 6 configured as the periphery monitoring sensor 20 are input to the image acquisition unit 22 in the ECU 18. Since the input image signal is a wide-angle image and is distorted, the image correction unit 24 corrects the image. The image signal from the image correction unit 24 is input to the composite image creation unit 26 as a real image.

  The moving body detection unit 30 detects the presence of a moving body such as another vehicle, a motorcycle, a bicycle, or a pedestrian in the input image from the image correction unit 24. If there is a moving body, the state of the moving body is detected by the moving body state detection unit 32, and information on the detected moving body is sent to the virtual image creation unit 34, which is created by the composite image creation unit 26. The virtual image and the real image are combined and displayed. The image created by the composite image creation unit 26 is displayed on the monitor 14.

  The moving body state detection unit 32 receives a signal indicating that a moving body is present from the moving body detection unit 30, and the distance, speed, and distance of the moving body approaching the own vehicle from the own vehicle by the laser radar 7. The traveling direction is detected, and the arrival time to the host vehicle is calculated. In addition, instead of the laser radar 7, the moving body detection unit 30 and the moving body state detection unit 32 perform the type of the moving body, the distance from the host vehicle, the speed, and the progress by the inter-vehicle communication or the road-to-vehicle communication. The direction may be detected.

In the own vehicle position / travel direction detection unit 36, the gyro 11 detects a change in the travel direction, and the gyro 11 and the GPS device 12 detect the position and travel direction of the host vehicle.
The grid shape calculation unit 38 displays a grid virtual image as shown in FIG. 9 described later according to the state of the moving body, for example, the distance of the moving body from the host vehicle and the type of the moving body. As the grid image, dimensions (for example, several meters), brightness, color, and the like of the grid can be adjusted, and the grid image is adjusted according to the state of the host vehicle or the state of the host vehicle and the moving body.

  Further, as the grid virtual image, for example, a vector display representing the speed and traveling direction of the moving body as shown in FIG. 9 and symbols (● and ■) representing the type of the moving body are also displayed. In addition, the grid shape calculation unit 38 may change the color of the grid depending on the difference in the nose out position, the camera out position, the cue out position, etc. at the intersection of the host vehicle.

  The light spot / vector creation unit 34a of the virtual image creation unit 34 creates a light spot representing the position of the moving body described above, and the composite image creation unit 26 displays the light spot in a bright and virtual manner with ●, ■, or the like. It is superimposed on the actual image and displayed on the monitor 14 so that the position and type of the moving body can be understood. In addition, the light spot / arrow creating unit 34 a creates a vector indicating the traveling direction and speed of the moving object as indicated by an arrow, superimposes it on the actual image by the composite image creating unit 26, and displays it on the monitor 14.

  In the grid creation unit 34b of the virtual image creation unit 34, as will be described later, the moving state of the moving body, the distance of the moving body to the host vehicle, the direction in which the road extends, the brightness outside the vehicle (daytime, evening, nighttime, etc.) Alternatively, for example, a grid virtual image (lattice image) as shown in FIG. 9 is created according to the driver setting. The created grid virtual image is superimposed on the actual image by the composite image creating unit 26 and displayed on the monitor 14.

  Next, a cue position determination unit 40 exists in the ECU 18. The cueing position determination unit 40 determines that the vehicle has cueed in the intersection (see FIG. 4). If the cue has been performed, the driver can already see the intersection, so the virtual image creation by the virtual image creation unit 34 is stopped and only the actual image is displayed on the monitor 14.

  Further, the ECU 18 includes a virtual image processing execution determination unit 42. The virtual image processing execution determination unit 42 is based on the map data obtained from the navigation device 13, the position data obtained from the GPS device 12, and the vehicle speed data obtained from the vehicle speed sensor 10 to determine whether the vehicle is located near the intersection. And whether or not it is temporarily stopped. As will be described later, when the vehicle is in the vicinity of an intersection and is temporarily stopped, a predetermined signal is sent to the composite image creating unit 26 in order to display a virtual image.

Next, with reference to FIG. 6, the outline of the control of the vehicle surrounding monitoring apparatus according to the embodiment of the present invention will be described. FIG. 6 is a flowchart showing a process for determining whether or not to display a blind spot visual image of the vehicle surrounding monitoring apparatus according to the embodiment of the present invention. In FIG. 6, S indicates each step.
First, as shown in FIG. 6, in S <b> 1, the virtual image processing execution determination unit 42 (see FIG. 5) determines whether the host vehicle is in the vicinity of the intersection based on the signal from the GPS 12 and the signal from the navigation device 13. Determine. Next, in S <b> 2, the virtual image processing execution determination unit 42 (see FIG. 5) determines whether or not the vehicle speed is lower than V <b> 1 based on a signal from the vehicle speed sensor 10. The vehicle speed V1 is a value that allows the driver to determine that the vehicle is safe even when the vehicle approaches the intersection and decelerates and the driver looks at the monitor 14.

If the vehicle speed is less than V1 and the vehicle is decelerated, the process proceeds to S3, and first, an actual image is displayed based on the image signal from the image correction unit 24 (see FIG. 5).
Next, in S4, the virtual image processing execution determination unit 52 (see FIG. 5) determines whether or not the vehicle speed is lower than V2. The vehicle speed V2 is a value at which it can be determined that the host vehicle is almost stopped or stopped. If the vehicle speed is less than V2, the process proceeds to S5 assuming that the host vehicle is temporarily stopped.

  In S5, it is determined whether or not the host vehicle has passed the cueing position (see FIG. 4). If the driver has passed the cueing position, the driver can overlook the surrounding situation, so that the process proceeds to S6, and the actual images acquired in S1 and S2 are displayed on the monitor 14 as they are. If it has not passed through the cueing position, the process proceeds to S7 and a grid virtual image display process is performed.

  Next, the control contents of the vehicle surrounding monitoring apparatus according to the embodiment of the present invention will be described with reference to FIGS. FIG. 7 is a flowchart showing the display processing of the distance grasping virtual image of the vehicle surrounding monitoring apparatus according to the embodiment of the present invention, and FIG. 8 is a diagram showing the virtual image in the vehicle surrounding monitoring apparatus according to the embodiment of the present invention. FIG. 9 is an example of an image superimposed on an image, and FIG. 9 is an image in which an imaging range and an example of a moving object (a) by a camera of a vehicle surrounding monitoring apparatus according to an embodiment of the present invention and a virtual image are superimposed on an actual image FIG. 10 is a diagram showing an example (b), and FIG. 10 is a diagram in which the imaging range by the camera of the vehicle surroundings monitoring device according to the embodiment of the present invention and another example (a) of a moving body and a virtual image are superimposed on a real image. It is a figure which shows the other example (b) of the image which was recorded. In FIG. 7, S indicates each step.

  As shown in FIG. 7, first, in S11, the image acquisition unit 22 (see FIG. 5) acquires the images of the left monitoring camera 2, the front monitoring camera 4, and the right monitoring camera 6 at an intersection, for example. In S12, the image correction unit 24 corrects the distortion of the acquired wide-angle image.

  Next, in S13, the captured image is saved. Next, in S14, the host vehicle position / traveling direction detection unit 36 (see FIG. 5) detects the host vehicle position and travel direction, and in S15, the intersection information ahead of the host vehicle is acquired.

  Next, in S16, the height at which the grid (see G1 etc. in FIG. 8) is displayed is determined. In the present embodiment, the display height of the grid is set by the driver, and if the grid overlaps the moving body or the like, the moving body or the like can be seen from the driver in S22 or S29 described later. Erase part of the grid. Note that the display height of the grid may be set in advance such that the display height is 3 m or the like and an important object on the road such as a moving object or a sign does not overlap the grid.

  Next, in S17, the width of the grid is determined. The width of the grid is the width of each grid of the grid displayed in a grid pattern. In this embodiment, when a moving object exists, the grid width is reduced when the distance of the moving object from the own vehicle is short, and the grid width is increased when the distance of the moving object from the own vehicle is far. I am doing so. The grid width may be set to a predetermined value in advance, and when there is no moving body, the grid is displayed with such a predetermined grid width. The grid width may be changed according to the road width.

  Next, in S18, the color of the grid is determined. For example, when the outside of the vehicle is dark in the evening or at night, the grid color is set to a bright color such as white to reduce the brightness to the extent that the surroundings can be clearly seen. Set to a dark color. It should be noted that the color may change so as to indicate that the vehicle has been cued when the vehicle has cued. In addition, when the other vehicle is present at a position (for example, 30 to 50 m from the own vehicle) where it is difficult to determine whether or not the own vehicle starts or stops within the intersection, the color of the entire grid is more You may make it a conspicuous color, or make the grid of the area | region where the other vehicle exists more prominent color. Moreover, you may make it change a color according to the distance from the own vehicle of another vehicle. Further, the color of the grid may be made light so that the actual image is easy to see. Depending on the distance from the intersection, a nearby grid may be changed to a conspicuous color (for example, red), and a distant grid may be changed to an inconspicuous color (for example, blue).

  Next, in S19, the grid direction is determined. The grid direction is a direction in which each of the grid-like grids extends, and in the present embodiment, on the monitor 14, a road (another vehicle) intersecting with a grid extending in the vertical direction exists ahead of the host vehicle. And the grid extending in the lateral direction extends in a direction perpendicular to the direction in which the road extends. Even if the vehicle changes its direction of travel, the grid direction once set is not changed, and the grid is fixed according to the road ahead. In such a case, when the traveling direction of the host vehicle is changed, it feels like passing under the grid.

  Next, in S20, the moving body detection unit 30 detects the moving body from the actual images acquired in S11 and S12. The detection of the moving body in S20 is performed by an optical flow process. In addition to the optical flow, the moving object may be detected by background difference, inter-frame difference processing, laser, millimeter wave, or the like.

When the moving object is not detected, the process proceeds to S21, and the virtual image creation unit 34 (see FIG. 5) creates a grid image having the grid height, width, color, and direction determined in S16 to S19. Next, in S22, the composite image creation unit 26 (see FIG. 5) superimposes the grid virtual image on a sign or the like so that the grid virtual image is not superimposed on an important road structure such as a sign in the real image. Erase. Or it can also set so that a grid may be displayed in the height which does not overlap with a label | marker etc. by S16 mentioned above.
In S23, for example, as shown in FIG. 8, the grid virtual image G1 created in S21 and adjusted in S22 is superimposed on the real image and displayed on the monitor 14. In the virtual image G1, a part G2 of the grid virtual image is deleted so that an important traffic rule on the road, for example, the sign S can be seen from the driver without being hidden by the virtual image.

  On the other hand, when a moving body is detected in S20, the process proceeds to S24, where the moving body detection unit 30 (see FIG. 5) and the moving body state detection unit 32 (see FIG. 5) perform the type of the moving body and the mobile body itself. Detect distance, speed and direction of travel from the vehicle. When there are a plurality of moving objects, basically, the distance from the own vehicle to the moving object that has the shortest distance from the own vehicle, or the moving object that has the shortest arrival time to the own vehicle. And the direction of travel is detected.

  Next, in S25, as a light spot (displayed as a mark indicating the position of the moving body and the type of the moving body) according to the type of the moving body, for example, “●” for other vehicles, a pedestrian If so, “■” or the like is displayed. The display example will be described with reference to FIGS. 9 and 10 in step S30 as described later.

  Next, in S26, a vector display corresponding to the moving state of the moving body is determined. The direction indicated by the vector is the direction in which the moving body is traveling. The length of the vector is basically the moving speed of the moving body. Note that the length of the vector may indicate not the moving speed but the time until the moving body reaches the intersection. Also, the starting point of the vector is basically the position where the moving object currently exists, but it may be the position after a predetermined time. Further, the length of the vector may indicate the moving speed of the moving body, and the width of the vector may indicate the time until the moving body reaches the intersection.

  Next, in S27, a virtual image of the light spot and vector determined in S25 and S26 is created by the virtual image creation unit 34 (see FIG. 5), and a grid virtual image is created in S28. In S29, similar to S22 described above, the composite image creation unit 26, this time, part of the grid, the light spot, and the vector so that important objects such as signs and moving objects are not hidden in the virtual image. Erase. If the sign or moving object is not hidden in the virtual image, it will not be erased.

In S <b> 30, the composite image creation unit 26 displays the grid, light spot, and vector on the monitor 14.
A display example is shown in FIG. In FIG. 9, as shown in FIG. 9A, the host vehicle approaches the intersection and is at the camera exit position, and there is another vehicle V and a pedestrian H.

  As shown in FIG. 9B, the grid information G1 is displayed as a virtual image superimposed on the image information, and the “●” mark (G3 indicating the type and position of the vehicle is displayed above the vehicle V. Is displayed in a virtual manner corresponding to the grid G1, so that the position of the vehicle can be understood. Furthermore, an arrow G4 indicating the moving direction and moving speed of the vehicle is displayed as a virtual image corresponding to the grid G1. The moving speed can be determined by the length of the arrow G4. Further, above the directional person H, a “■” mark (indicated as G5) indicating the pedestrian and its position, and an arrow G6 indicating the moving direction and moving speed are also displayed.

  Another display example is shown in FIG. In FIG. 10, the host vehicle is still in front of the intersection, and the cameras 2, 4, and 6 are in a state where the left and right situations of the intersection cannot be reflected by the shielding object A. In the example shown in FIG. 10, information such as the position and moving speed of the other vehicle V is obtained by inter-vehicle communication, and a grid virtual image G1 is displayed above the shield A as shown in FIG. In addition, a “●” mark (indicated as G7) indicating the vehicle and an arrow G8 indicating the moving direction and moving speed are displayed.

  In the embodiment of the present invention, the grid is displayed so as to appear in the upper space. However, for example, the grid may be displayed on the road, or may be displayed on the wall if there is an appropriate wall.

Next, functions and effects according to the embodiment of the present invention will be described.
The vehicle surroundings monitoring device according to the embodiment of the present invention monitors a blind spot area in an area extending left and right in front of the driver and captures a real image of the blind spot area with cameras 2 and 4 at the front part of the vehicle. , 6 is generated, and the virtual image creation unit 34 generates a virtual grid-like grid image representing a sense of road depth in the blind spot imaged by the cameras 2, 4, 6. The size, shape and orientation of the virtual grid-like grid image are defined in accordance with the real image of the blind spot area imaged by the cameras 2, 4 and 6, and the composite image creating unit 26 uses this grid image defining means. A virtual grid-like grid image having a prescribed size, shape and orientation is superimposed on the real image and displayed on the monitor 14.

  According to such an embodiment of the present invention, a virtual grid-like grid image representing a sense of depth is displayed, and the size, shape, and orientation of the grid-grid image are adjusted in accordance with the actual image of the blind spot area in which the grid grid image is captured. Therefore, the driver can intuitively grasp the distance feeling of the surroundings, for example, the road.

  Here, the blind spot area of the driver is a blind spot area around the intersection of the intersection on the front side of the vehicle. When the vehicle approaches the intersection, the cameras 2, 4 and 6 provided at the front end of the vehicle are Since a real image around the intersection of the intersection that can be imaged from the front end of the vehicle is captured, the driver can obtain information on the left and right intersections of the intersection where collision accidents frequently occur, thereby enabling safer driving.

  Further, according to the present embodiment, the virtual image creation unit 34 has grid lines extending along the direction in which the road surface extending in a predetermined direction in front of the host vehicle extends, so that the driver can intuitively feel the depth feeling of the road surface. Can be grasped.

  The display means displays a virtual grid-like grid image in an empty area above the real image, so that an ideal grid-like grid image can be displayed according to various road conditions, and the driver can easily see it. Become.

  Further, according to the present embodiment, the moving body detection unit 30 detects a moving body from the real images captured by the cameras 2, 4, and 6, and the moving body detection unit 30 and the moving body state detection unit 32 are The position and / or type of the moving body is detected, and the composite image creation unit 26 superimposes it on the virtual grid-like grid image to monitor the light spot for making it possible to identify the position and / or type of the moving body. 14 is displayed. Therefore, since the light spot for enabling the position and / or type of the moving body to be identified is superimposed on the virtual grid image, the driver identifies the position and / or type of the moving body. It becomes easy.

  Further, according to the present embodiment, the moving body detection unit 30 detects a moving body from the real images captured by the cameras 2, 4, and 6, and the moving body detection unit 30 and the moving body state detection unit 32 are The type and / or moving speed and / or moving direction of the moving object is detected, and the composite image creation unit 26 can identify the moving speed and / or moving direction of the moving object by superimposing it on the virtual grid-like grid image. Display an arrow to turn on. Therefore, since the arrow for making it possible to identify the moving speed and / or moving direction of the moving object is displayed superimposed on the virtual grid image, the driver can move the moving speed and / or moving direction of the moving object. Can be easily identified.

  Further, according to the present embodiment, the display means changes the thickness of the arrow according to the arrival time of the moving body at the intersection, so that the driver intuitively grasps the arrival time of the moving body at the intersection. I can do it.

Further, according to the present embodiment, the blind spot area of the driver is a blind spot area around the intersection of the intersection on the front side of the vehicle, and the real image capturing means is provided at the front end of the vehicle, and the vehicle is inserted into the intersection. When hanging, an actual image around the intersection of an intersection that can be imaged from the front end of the vehicle is captured.
In the present invention configured as described above, the driver can obtain information on the left and right intersections of intersections where collision accidents frequently occur, and safer driving is possible.

  Further, according to the present embodiment, the cue position calculation unit 40 calculates a cue position where the driver's line of sight is improved at the intersection, and the composite image creation unit 26, after the host vehicle reaches the cue position, Stop displaying the virtual grid image. By stopping the display of the virtual grid-like grid image in this way, the driver can grasp that the host vehicle is at the cueing position and grasp the road condition with his own eyes.

  Further, according to the present embodiment, the virtual image creation unit 34 defines the position so that the virtual grid-like grid image is displayed at a height that does not overlap with a sign or signal on a moving object or other road. Therefore, important moving objects and signs on the road are not hidden in the virtual grid-like grid image, and the driver can surely recognize them.

  Further, according to the present embodiment, the virtual image creation unit 34 displays the virtual grid grid that is displayed when the virtual grid grid image overlaps a sign or signal on a moving object or other road. Overlapping parts of the image are erased and a virtual grid grid image is displayed, so important moving objects and signs on the road are not hidden in the virtual grid grid and the driver ensures that Can be recognized.

  In the above-described embodiment, the description has been given mainly assuming a vehicle as the moving body, but the moving body may include a four-wheeled vehicle, a two-wheeled vehicle, a bicycle, and a pedestrian. In addition, examples of the stationary object include a stopped four-wheeled vehicle, a stopped two-wheeled vehicle, a stationary pedestrian and bicycle, a roadside object, and a building.

1 is an overall configuration diagram of a vehicle to which a vehicle surrounding monitoring device according to an embodiment of the present invention is applied. It is a figure which shows an example (a) of the imaging range by the camera of the surroundings monitoring apparatus for vehicles by embodiment of this invention, and an example (b) of the imaged image. It is a figure for demonstrating the driving action at the time of the crossing approach by a driver. It is a bird's-eye view of the road and vehicles for explaining the cueing position of the own vehicle. It is a block diagram which shows the structure of the surroundings monitoring apparatus for vehicles by embodiment of this invention. It is a flowchart which shows the process of whether the virtual image for blind spot visual recognition of the surroundings monitoring apparatus for vehicles by embodiment of this invention is displayed. It is a flowchart which shows the display process of the virtual image for distance grasping | ascertainment of the vehicle periphery monitoring apparatus by embodiment of this invention. It is an example of the image | video on which the virtual image in the surroundings monitoring apparatus for vehicles by embodiment of this invention was superimposed on the real image. It is a figure which shows the imaging range by the camera of the surroundings monitoring apparatus for vehicles by embodiment of this invention, an example (a) of a moving body, and an example (b) of the image | video on which the virtual image was superimposed on the real image. It is a figure which shows the imaging range by the camera of the surroundings monitoring apparatus for vehicles by embodiment of this invention, the other example (a) of a moving body, and the other example (b) of the image | video on which the virtual image was superimposed on the real image.

Explanation of symbols

1 Vehicle 2, 4, 6 Monitoring camera 7 Laser radar 10 Vehicle speed sensor 11 Gyro 12 GPS device 13 Navigation device 14 Image display monitor 18 ECU

Claims (10)

A vehicle surrounding monitoring device that monitors a blind spot area in an area that extends from side to side in front of a driver,
Real image capturing means provided at the front of the vehicle so as to capture a real image of the blind spot area;
Grid image generating means for generating a virtual grid-like grid image representing a sense of road depth in the blind spot area imaged by the real image capturing means;
Virtual lattice image defining means for defining the size, shape and orientation of the virtual lattice-like grid image in accordance with the real image of the blind spot area imaged by the real image capturing means;
Display means for superimposing and displaying the virtual grid-like grid image on the real image in the size, shape and orientation prescribed by the grid image-defining means;
A vehicle surrounding monitoring device characterized by comprising:   The vehicle surrounding monitoring apparatus according to claim 1, wherein the virtual lattice image defining means includes lattice lines extending along a direction in which a road surface extending in a predetermined direction in front of the host vehicle extends.   The vehicle surrounding monitoring apparatus according to claim 1, wherein the display unit displays the virtual grid-like grid image in an empty area above the real image. Furthermore, a moving body detecting means for detecting a moving body from within the real image captured by the real image capturing means,
A moving body state detecting means for detecting the position and / or type of the moving body when the moving body is detected by the moving body detecting means;
The said display means displays the light spot for making it possible to identify the position and / or kind of the said mobile body superimposed on the said virtual grid | lattice-like grid image. Vehicle surrounding monitoring device. Furthermore, a moving body detecting means for detecting a moving body from within the real image captured by the real image capturing means,
A moving body state detecting means for detecting the type and / or moving speed and / or moving direction of the moving body when the moving body is detected by the moving body detecting means;
4. The display device according to claim 1, wherein the display unit displays an arrow that is superimposed on the virtual grid-like grid image so that the moving speed and / or moving direction of the moving body can be identified. 5. The vehicle surrounding monitoring device as described.   The vehicle surrounding monitoring apparatus according to claim 5, wherein the display means changes the thickness of the arrow according to the arrival time of the moving body at the intersection. The driver's blind spot area is a blind spot area around the intersection of the intersection on the front side of the vehicle,
The real image capturing means is provided at the front end of the vehicle, and captures a real image around the intersection of the intersection that can be imaged from the front end of the vehicle when the vehicle approaches the intersection. The vehicle surrounding monitoring apparatus according to claim 1. Furthermore, it has a cue position calculation means for calculating a cue position where the driver's line of sight is improved at the intersection,
The vehicle surrounding monitoring device according to any one of claims 1 to 7, wherein the display unit stops displaying the virtual grid-like grid image after the host vehicle reaches the cueing position.   9. The virtual grid image defining means according to claim 1, wherein the virtual grid-like grid image is displayed at a height that does not overlap with a sign or signal on a moving object or other road. Vehicle monitoring device.   The virtual grid image defining means includes the overlapping of the virtual grid grid images displayed when the virtual grid grid image has a portion that overlaps a sign or signal on a moving object or other road. The vehicle monitoring device according to claim 1, wherein the portion is erased.

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