JP2010023680A - Rear side visual recognition supporting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a rear side visual recognition supporting device capable of favorably securing a rear side visual field of a driver even if there is an obstacle on a rear seat. <P>SOLUTION: In the rear side visual recognition supporting device 1, when a driver reverse a vehicle, the head position 21 of the driver and the position of an object 23 on the rear seat are detected based on a cabin inside video image, and the position of a rear mirror 14 is automatically adjusted based on the detection so as to secure a rear side visual area 24 in which the rear side visual field of the driver is not interfered by the object 23. Therefore, in the rear side visual recognition supporting device 1, the rear side visual field of the driver can be properly secured even when a person sits or some object is placed on the rear seat. When the rear side visual area 24 cannot be detected, an image of a rear imaging camera 13 is displayed on a back monitor 15 to support the operation of the driver. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a rear view assisting device mounted on a vehicle.

As a conventional rear view assisting device, for example, there is a mirror adjusting device described in Patent Document 1. This conventional mirror adjusting device includes a camera that captures an image of a driver in the driver's seat, and detects the position of the face when the driver faces the front based on the imaging result. Based on the detected position of the face, the mirror position is automatically adjusted so as to have an optimum angle.
JP 2002-274265 A

  By the way, in a general vehicle, a person may sit down or place an object on the rear seat. Such a person or object may be an obstacle that hinders the driver's rearward visual recognition depending on the position. Therefore, there is a possibility that the visual field of the driver who wants to visually recognize the rear side is not actually ensured only by adjusting the mirror angle based on the position of the driver's face as in the conventional mirror adjusting device described above.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a rear view assisting apparatus that can ensure a driver's rear view even when there is an obstacle in the rear seat.

  In order to solve the above-described problem, the backward visual assistance device according to the present invention is based on object position detection means for detecting the position of an object in the rear seat of the vehicle, and based on the position of the object detected by the position detection means. A rear visual field area judging means for judging whether or not the rear visual field is obstructed, and a drive control means for controlling the driving of the rear visual recognition device for confirming the rear of the vehicle based on the judgment result of the rear visual field area judging means. It is characterized by having.

  In this rear view assisting device, for example, the position of an object such as a person or an object in the rear seat of the vehicle is detected. Then, it is determined whether or not the driver's rear visual field is obstructed by the object based on the positional relationship of the object, and the driving of the rear visual recognition device is controlled based on the determination result. Therefore, in this rear view assisting device, the driver's rear view can be suitably secured even when a person sits on the rear seat or an object is placed.

  Further, the head position detecting means for detecting the head position of the driver is further provided, and the rear visual field area judging means judges whether or not the rear visual field is obstructed based on the position of the object and the head position. It is preferable. By further considering the driver's head position, the driver's rear visual field can be detected with higher accuracy.

  The head position detecting means for detecting the head position of the driver and the state detecting means for detecting the position and angle of the vehicle rearview mirror are further provided. Based on the position and the position and angle of the rearview mirror, it is preferable to detect whether or not the rear visual field of the driver through the rearview mirror is obstructed. With such a configuration, it is possible to accurately detect the rear visual field of the driver via the rearview mirror.

  Moreover, it is preferable that a drive control means controls the position and direction of a back visual recognition apparatus based on the determination result of a back visual field area | region determination means. In this way, when the driver's rear visual field is obstructed by the object in the rear seat, the rear visual field is secured by adjusting the position and orientation of the rear visual recognition device.

  The rear visual recognition device includes a display unit that displays a rear image acquired by an imaging unit that captures the rear of the vehicle, and the drive control unit displays the rear image on the display unit based on the determination result of the rear visual field region determination unit. It is preferable to provide display control means. According to this configuration, when the driver's rear view is obstructed, the driver's driving can be supported by displaying the rear image of the vehicle on the display means.

  According to the present invention, the driver's rear view can be satisfactorily secured even if there is an obstacle in the rear seat.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a preferred embodiment of a backward visual assistance device according to the present invention will be described in detail with reference to the drawings.

[First Embodiment]
FIG. 1 is a block diagram showing a backward visual assistance device according to the first embodiment of the present invention. As shown in the figure, the rear view assisting apparatus 1 is mounted on a vehicle such as an automobile, and is configured as a device that supports the rear view of the driver when the vehicle is backed, for example. The rear visual assistance device 1 includes a rear visual assistance ECU 10. A shift position detection sensor 11, a vehicle interior imaging camera 12, a rear imaging camera 13, a rear mirror 14, and a back monitor 15 are connected to the rear viewing assistance ECU 10.

  The shift position detection sensor 11 is a sensor that detects the shift position of the vehicle on which the rearward visual assistance device 1 is mounted. When the shift position detection sensor 11 detects that the vehicle shift position is rear, the shift position detection sensor 11 outputs a start instruction signal that instructs the vehicle interior imaging camera 12 to start imaging.

  The vehicle interior imaging camera 12 is provided, for example, on the passenger seat side. When the vehicle interior imaging camera 12 receives the start instruction signal from the shift position detection sensor 11, the vehicle interior imaging camera 12 acquires an image of the entire vehicle interior including the driver and the rear seat, and outputs it to the rearward vision assisting ECU 10. The rear imaging camera 13 is installed, for example, near the rear bumper unit. The rear imaging camera 13 acquires a rear image of the vehicle and outputs it to the rear visual assistance ECU 10. Note that a three-dimensional image sensor may be used instead of the vehicle interior imaging camera 12.

  The rear mirror 14 is installed, for example, on the upper part of the rear glass, and is used particularly for visual recognition of the lower rear part of the vehicle. The rear mirror 14 is movable in the width direction of the vehicle along the rear glass, and the position is automatically adjusted based on the control of the rear visual assistance ECU 10. The back monitor 15 is installed, for example, on the dashboard of the front seat. The back monitor 15 displays an image acquired by the rear imaging camera 13 based on the control of the rear viewing assistance ECU 10.

  The rear vision assisting ECU 10 includes, as functional components, a head position detection unit 101, a rear seat object position detection unit 102, a rear visual field region determination unit 103, a rear mirror drive control unit 104, and a display control unit 105. have.

  The head position detection unit 101 is a part that receives an image of the vehicle interior output from the vehicle interior imaging camera 12 and detects the head position of the driver by analyzing the image. The head position detection unit 101 outputs head position information indicating the detection result to the rear visual field region determination unit 103.

  The rear seat object position detection unit 102 is a part that receives an image of the vehicle interior output from the vehicle interior imaging camera 12 and detects the position of the object in the rear seat of the vehicle by analyzing the image. The objects here include obstacles that obstruct the rear view when the driver looks at the rear mirror 14, such as a person sitting in the rear seat or a luggage placed in the rear seat. The rear seat object position detection unit 102 outputs object position information indicating the detection result to the rear visual field region determination unit 103.

  Based on the driver's head position detected by the head position detection unit 101 and the rear seat object position detected by the rear seat object position detection unit 102, the rear view area determination unit 103 determines the rear view area of the driver. It is a part that determines whether or not it is obstructed by an object.

  More specifically, the rear visual field area determination unit 103 firstly forms a band-like area having a hem that connects the head position of the driver and the current position of the rear mirror 14 based on the received head position information and object position information. (Hereinafter referred to as the initial rear visual field region). When there is no object in the detected initial rear visual field region, the rear visual field region determination unit 103 determines that the driver's rear visual field is not hindered, and determines the current position of the rear mirror 14 with respect to the rear mirror drive control unit 104. A maintenance signal to maintain is output.

  Further, the rear visual field determination unit 103 determines that the driver's rear visual field is obstructed when an object is present in the initial rear visual field, and determines a fixed point on the movable range of the rear mirror 14 from the driver's head position. A region that does not overlap with the object is newly detected as a rear visual field region. Then, the rear visual field determination unit 103 outputs a movement signal indicating that the position of the rear mirror 14 is moved to the fixed point to the rear mirror drive control unit 104 so that the detected rear visual field region is secured. Further, when the rear visual field determination unit 103 cannot detect the rear visual field region and determines that the driver's rear visual field cannot be ensured even if the position of the rear mirror 14 is controlled, the rear imaging region determination unit 103 performs rear imaging on the display control unit 105. An instruction signal for displaying the image of the camera 13 on the back monitor 15 is output.

  Note that a plurality of fixed points on the movable range of the rear mirror 14 are preferably set in advance. When a plurality of rear visual field areas are detected, it is preferable to select a fixed point that ensures the rear visual field area closest to the initial rear visual field area. In addition, when the rear visual field region where the object is completely removed cannot be detected, the rear mirror 14 may be moved so that the object is not positioned at the center of the visual field. In this case, for example, it is preferable to detect the position of the obstacle outside the vehicle with a camera outside the vehicle compartment and move the rear mirror 14 so that the object inside the vehicle and the obstacle outside the vehicle do not overlap within the field of view.

  The rear mirror drive control unit 104 is a part that controls the drive of the rear mirror 14. The rear mirror drive control unit 104 maintains the position of the rear mirror 14 at the current position when receiving a maintenance signal from the rear visual field determination unit 103, and moves the rear mirror 14 to a predetermined fixed point when receiving a movement signal. Let The display control unit 105 is a part that controls the display of the back monitor 15. When the display control unit 105 receives the instruction signal from the rear visual field region determination unit 103, the display control unit 105 displays the video of the rear imaging camera 13 on the back monitor 15.

  Then, operation | movement of the back vision assistance apparatus 1 which has the structure mentioned above is demonstrated. FIG. 2 is a flowchart showing the operation of the rear view assisting apparatus 1.

  As shown in the figure, in the rear view assisting apparatus 1, first, a shift position is detected (step S01). Next, it is determined whether or not the detected shift position is rear (step S02). When the shift position is not rear, the rear visual assistance device 1 ends the process as it is without performing any special operation.

  If the shift position is rear, the vehicle interior image acquisition by the vehicle interior imaging camera 12 is started (step S03). The vehicle interior image acquired by the vehicle interior imaging camera 12 is output to the rear visual recognition assist ECU 10, and the detection of the head position of the driver and the detection of the object position in the rear seat are performed (step S04).

  Next, an initial rear visual field region is detected (step S05). As shown in FIG. 3A, the initial rear visual field region 22 is detected as a band-like region having a hem extending from the head position 21 of the driver to the rear mirror 14. Subsequently, based on the detected presence / absence of an object in the initial rear visual field region 22, it is determined whether or not the driver's rearward visual recognition is hindered (step S06). In step S06, when it is determined that the driver's rearward visual recognition is not hindered, the rearward visual assistance device 1 ends the process without performing any special operation.

  On the other hand, when it is determined that the driver's rearward visual recognition is hindered, a new rear visual field region is detected (step S07), and it is determined whether there is a rear visual field region (step S08). As shown in FIG. 3B, the rear visual field region 24 is one region that does not overlap the object 23 in a band-like region extending from the driver's head position 21 to a fixed point on the movable range of the rear mirror 14. Is selected.

  When a new rear visual field 24 is detected in step S08, drive control of the rear mirror 14 is performed (step S09), and the position of the rear mirror 14 slides along the movable range so that the rear visual field 24 is secured. (See FIG. 3B). Further, when the rear visual field 24 is not detected, for example, when there are many objects 23, the video of the rear imaging camera 13 is displayed on the back monitor 15 (step S10).

  As described above, in the rear view assisting device 1, when the driver backs the vehicle, the driver detects the positions of the head position 21 and the rear seat object 23 based on the vehicle interior image, and based on this. The position of the rear mirror 14 is automatically adjusted so that a rear visual field region 24 in which the driver's rear visual field is not obstructed by the object 23 is secured. Therefore, the rear view assisting apparatus 1 can suitably ensure the driver's rear view even when a person sits on the rear seat or an object is placed.

  In addition, the rear view assisting apparatus 1 displays the video of the rear imaging camera 13 on the back monitor 15 when the rear visual field region 24 cannot be detected. For this reason, when the rear visual field 24 cannot be detected due to the arrangement of the object 23 in the rear seat or the like, the driving of the driver can be supported by the video displayed on the back monitor 15.

  Various modifications can be applied to the rear view assisting apparatus 1. For example, in the above-described embodiment, the driver's head position 21 and the position of the object 23 are detected by the vehicle interior imaging camera 12, but as shown in FIG. It is also possible to detect the head position 26 when turning back when the vehicle is turned back, and to detect the position of the object 23 by mounting a sensor 27 directed to the head position 26 on the rear mirror 14.

  Further, as shown in FIG. 4B, the assumed head position 26 is set in advance in consideration of the turning direction of the face when the driver backs the vehicle without using the vehicle interior imaging camera 12, and this assumed head A sensor 27 directed to the position 26 may be mounted on the rear mirror 14 to detect the position of the object 23.

[Second Embodiment]
Subsequently, a second embodiment of the present invention will be described. The rear view assisting apparatus according to the second embodiment is different from the first embodiment that secures a rear view area between the rear mirror and the rear view area, for example, by securing a rear view area via the rear view mirror while the vehicle is traveling forward. ing. As shown in FIG. 5, the rear visual assistance device 2 according to the second embodiment includes a rear visual assistance ECU 20.

  Similar to the first embodiment, a vehicle interior imaging camera 12, a rear imaging camera 13, and a back monitor 15 are connected to the rear viewing assistance ECU 20. Further, a rearview mirror 31 is connected to the rear view assisting ECU 20 in place of the rear mirror 14. The room mirror 31 is installed, for example, at the upper center of the windshield, and is used for rearward visual recognition of the vehicle. The position and angle of the rearview mirror 31 can be adjusted based on the control of the rear visual assistance ECU 20. Note that a three-dimensional image sensor may be used instead of the vehicle interior imaging camera 12.

  The rear vision assisting ECU 20 includes, as functional components, a head position detection unit 201, a rear seat object position detection unit 202, a rear visual field region determination unit 203, a room mirror drive control unit 204, and a display control unit 205. And have. Since the functions of the head position detection unit 201, the rear seat object position detection unit 202, and the display control unit 205 are the same as those in the first embodiment, detailed description thereof is omitted.

  Upon receiving the head position information output from the head position detection unit 201 and the object position information output from the rear seat object position detection unit 202, the rear visual field area determination unit 203 receives the head position information from the head position detection unit 201 and sends it to the room mirror drive control unit 204. An instruction signal for instructing output of state information indicating the current position and angle of the room mirror 31 is output.

  When receiving the state information output from the room mirror drive control unit 204 in response to the output of the instruction signal, the rear visual field region determination unit 203 receives the initial state of the rear visual field region via the rearview mirror 31 based on this state information ( Hereinafter, the initial rear visual field region) is detected. When there is no object in the initial rear visual field region, the rear visual field region determination unit 203 determines that the driver's rear visual field is not obstructed, and the current position of the room mirror 31 with respect to the rear-view mirror drive control unit 204 And a maintenance signal for maintaining the angle is output.

  Further, the rear visual field area determination unit 203 determines that the driver's rear visual field is hindered when an object is present in the initial rear visual field area. An instruction signal for displaying the video on the back monitor 15 is output.

  Next, the rear viewing area determination unit 203 newly detects an area that does not overlap with the object, as a rear viewing area, out of the band-shaped area extending from the rearview mirror 31 to the rear glass. Then, the rear visual field determination unit 203 outputs a change signal indicating that the position and the angle of the rearview mirror 31 are changed to the rearview mirror drive control unit 204 so that the detected rear visual field region is secured.

  When a plurality of rear visual field areas are detected, one rear visual field area that can maintain a visual field substantially equivalent to the initial rear visual field area is preferentially selected. If a rear visual field that can maintain a rear visual field substantially equivalent to the initial rear visual field cannot be detected, one rear visual field having the widest viewing angle is selected. In addition, when the rear visual field region in which the object is completely removed cannot be detected, the position and angle of the room mirror 31 may be adjusted so that the object is not positioned at the center of the rear visual field through the rear mirror 31. In this case, for example, the position of the obstacle outside the vehicle is detected by a camera outside the vehicle interior, and the position and angle of the room mirror 31 are adjusted so that the object inside the vehicle and the obstacle outside the vehicle do not overlap with each other in the rear view through the room mirror 31. It is preferable.

  The room mirror drive control unit 204 is a part that controls the drive of the room mirror 31. The room mirror drive control unit 204 maintains the position and angle of the room mirror 31 as they are when receiving a maintenance signal from the rear visual field determination unit 203, and when receiving a change signal, the room mirror drive control unit 204 The position and angle of the mirror 31 are changed. When the position of the room mirror 31 is moved, the adjustment of the angle is controlled so that a rear visual field area equivalent to the initial rear visual field area is maintained during the movement.

  Then, operation | movement of the back vision assistance apparatus 2 which has the structure mentioned above is demonstrated. FIG. 6 is a flowchart showing the operation of the rear view assisting apparatus 2.

  As shown in the figure, in the rearward vision assisting device 2, for example, during the forward traveling of the vehicle, acquisition of the vehicle interior image by the vehicle interior imaging camera 12 is started (step S21). The vehicle interior image acquired by the vehicle interior imaging camera 12 is output to the rear view assisting ECU 20 to detect the head position of the driver and the object position in the rear seat (step S22). Note that the head position of the driver sitting in the driver's seat is assumed without detecting the head position, and the assumed head position may be set as the head position of the driver.

  Next, the position and angle of the rearview mirror 31 are detected (step S23), and the initial rear visual field region 42 is detected based on the position and angle of the rearview mirror 31 and the head position 41 of the driver. (Step S24). As shown in FIG. 7A, the initial rear visual field region 42 is detected as a band-like region having a hem extending from the rearview mirror 31 to the rear glass. Subsequently, based on the presence or absence of the detected object in the initial rear visual field area 42, it is determined whether or not the driver's rearward visual recognition is hindered (step S25). In step S25, when it is determined that the driver's rearward visual recognition is not hindered, the rearward visual assistance device 2 ends the process without performing any special operation.

  On the other hand, when it is determined that the driver's rearward visual recognition is hindered, the video of the rear imaging camera 13 is displayed on the back monitor 15 at this time (step S26). Next, a new rear visual field region is detected (step S27). As the rear visual field region 44, as shown in FIG. 7B, one region that does not overlap the object 43 is selected from the band-shaped region extending from the rearview mirror 31 to the rear glass. Then, the drive control of the rearview mirror 31 is performed (step S28), and the position and the angle of the rearview mirror 31 are adjusted so that the rear visual field region 44 is secured (see FIG. 7B).

  Also in such a rear view assisting device 2, the position of the driver's head position 41 and the rear seat object 43 is detected based on the vehicle interior image, and based on this, the driver's rear view is not obstructed by the object 43. The position and angle of the rearview mirror 31 are automatically adjusted so that the rear viewing area 44 is secured. Therefore, the rear view assisting apparatus 2 can suitably ensure the driver's rear view even when a person sits on the rear seat or an object is placed.

  Further, in the rear view assisting apparatus 2, when the driver's rear view is obstructed, the rear image of the rear imaging camera 13 is displayed on the back monitor 15 prior to the control of the rearview mirror 31, and the driving of the driver is supported. The Such a quick display of the rear image on the back monitor 15 is particularly effective in terms of safety and the like when the vehicle is traveling forward as in this embodiment.

It is a block block diagram which shows the back visual recognition assistance apparatus which concerns on 1st Embodiment of this invention. It is a flowchart which shows operation | movement of the back visual recognition assistance apparatus shown in FIG. It is a schematic diagram which shows the state of the vehicle interior corresponding to operation | movement of the back vision assistance apparatus shown in FIG. It is a schematic diagram which shows the state of the vehicle interior corresponding to operation | movement of the back vision assistance apparatus which concerns on a modification. It is a block block diagram which shows the back visual recognition assistance apparatus which concerns on 2nd Embodiment of this invention. It is a flowchart which shows operation | movement of the back visual recognition assistance apparatus shown in FIG. It is a schematic diagram which shows the state in a vehicle interior corresponding to operation | movement of the back vision assistance apparatus shown in FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1, 2 ... Back view assistance apparatus, 13 ... Back imaging camera (imaging means), 15 ... Back monitor (display means) 21, 41 ... Head position, 22, 42 ... Initial back visual field area, 23, 43 ... Object 24, 44 ... rear view area, 14 ... rear mirror (rear viewing device), 31 ... rearview mirror (rear viewing device), 101, 201 ... head position detection unit (head position detection means), 102, 202 ... rear Seat object position detection unit (object position detection unit), 103 ... rear view area determination unit (rear view area determination unit), 104 ... rear mirror drive control unit (drive control unit), 105, 205 ... display control unit (display control unit) ), 203... Rear view area determination unit (rear view area determination means), 204. Room mirror drive control section (drive control means).

Claims (5)

Object position detecting means for detecting the position of the object in the rear seat of the vehicle;
A rear visual field area judging means for judging whether or not the driver's rear visual field is obstructed based on the position of the object detected by the position detecting means;
A rear view assisting device, comprising: drive control means for controlling the driving of a rear view device for confirming the rear of the vehicle based on the determination result of the rear view area determining means. A head position detecting means for detecting a head position of the driver;
2. The rear vision support device according to claim 1, wherein the rear visual field area determination unit determines whether or not the rear visual field is obstructed based on the position of the object and the head position. Head position detecting means for detecting the head position of the driver;
A state detecting means for detecting a position and an angle of a room mirror of the vehicle,
The rear visual field determination means detects whether or not the driver's rear visual field through the room mirror is obstructed based on the position of the object, the head position, and the position and angle of the room mirror. The backward visual assistance device according to claim 1, wherein:   The back-viewing support according to any one of claims 1 to 3, wherein the drive control unit controls the position and orientation of the back-viewing device based on a determination result of the back visual field region determination unit. apparatus. The rear viewing device includes a display unit that displays a rear image acquired by an imaging unit that captures the rear of the vehicle,
The said drive control means was provided with the display control means to display the said back image | video on the said display means based on the determination result of the said back visual field area | region determination means, The any one of Claims 1-4 characterized by the above-mentioned. The rear view assisting device described.

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