JP2010076660A - Vehicular mirror angle adjusting equipment - Google Patents

Vehicular mirror angle adjusting equipment Download PDF

Info

Publication number
JP2010076660A
JP2010076660A JP2008248717A JP2008248717A JP2010076660A JP 2010076660 A JP2010076660 A JP 2010076660A JP 2008248717 A JP2008248717 A JP 2008248717A JP 2008248717 A JP2008248717 A JP 2008248717A JP 2010076660 A JP2010076660 A JP 2010076660A
Authority
JP
Japan
Prior art keywords
mirror
mirror angle
vehicle
object
angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2008248717A
Other languages
Japanese (ja)
Inventor
Toshihiro Ishikawa
Koji Iwase
Teru Iyoda
Haruhisa Kore
Takanori Kume
Satoru Matsuoka
Tadayuki Niibe
Hideki Takahashi
Shoji Uchiumi
Naoki Yamada
Yasunori Yamamoto
Yasunobu Yonezawa
孝則 久米
輝 伊与田
将司 内海
康典 山本
直樹 山田
耕二 岩瀬
忠幸 新部
治久 是
悟 松岡
敏弘 石川
泰延 米澤
英輝 高橋
Original Assignee
Mazda Motor Corp
マツダ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mazda Motor Corp, マツダ株式会社 filed Critical Mazda Motor Corp
Priority to JP2008248717A priority Critical patent/JP2010076660A/en
Publication of JP2010076660A publication Critical patent/JP2010076660A/en
Application status is Pending legal-status Critical

Links

Images

Abstract

<P>PROBLEM TO BE SOLVED: To enable the sure recognition of objects through mirrors, irrespective of any variation in the relative positions of the objects toward one's own vehicle, through the use of vehicular mirror angle adjusting equipment 1 on board for adjusting mirror angles of recognition mirrors so as for a driver to recognize, by sight, objects existing within a predetermined region in the vicinity of the vehicle. <P>SOLUTION: The vehicular mirror angle adjusting equipment 1 includes: an eyes position calculating part 20 that detects the three-dimensional position of the eyes of the driver, based on a pictorial image picked up by a vehicular interior camera 6; objects positions calculating parts 21, 22 that calculate the three-dimensional positions of objects in the vicinity of the vehicle based on pictorial images picked up by side way monitoring cameras 7, 8 and rear side monitoring camera 9; and target mirror angle calculating parts 23, 24 that calculate the target mirror angles of a door mirror and room mirror, based on the position information of the objects calculated by the objects positions calculating parts 21, 22 and the position information of the eyes of the driver calculated by the eyes position calculating part 20. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention belongs to a technical field relating to a mirror angle adjusting device for a vehicle for adjusting a mirror angle of a viewing mirror mounted on the vehicle so that a driver can visually recognize an object existing in a predetermined area around the vehicle.

  Conventionally, a vehicle in which the position (mirror angle) of a visual mirror such as a door mirror installed in the vehicle is automatically adjusted to a suitable position without making the driver aware of it (regardless of the operation of the driver). Mirror angle adjusting devices for use are known.

For example, in the vehicle mirror angle adjusting device shown in Patent Document 1, an imaging camera is provided in front of the driver's seat of the vehicle and images the driver's face, and the driver's calculated from the captured image of the imaging camera is provided. Based on the eye position, the mirror angle of the door mirror is adjusted to the target angle. Here, the target angle is set to a mirror angle that is estimated that the driver can most easily see the mirror (reflection surface).
JP 2008-81071 A

  By the way, it is desirable that the mirror angle of the viewing mirror is an angle at which the driver can easily view an object (such as a side vehicle) easily (with a reasonable posture). It does not necessarily coincide with the above target angle that is easy to see for the driver.

  That is, as shown in Patent Document 1 above, if the mirror angle of the viewing mirror is adjusted regardless of the position of the object, for example, the object is a side vehicle or the like, and the relative position with respect to the host vehicle is sometimes When it changes every moment, there is a problem that the visibility cannot be sufficiently secured.

  The present invention has been made in view of such a point, and an object of the present invention is to provide a visual mirror mounted on the vehicle so that a driver can visually recognize an object existing in a predetermined area around the vehicle. The vehicle mirror angle adjustment device for adjusting the mirror angle is devised in its configuration to always ensure the visibility regardless of the relative position change of the object with respect to the host vehicle. is there.

  In order to achieve the above object, according to the present invention, an eye position detecting means for detecting a three-dimensional position of a driver of a vehicle, an object position detecting means for detecting a three-dimensional position of the object, and an object Mirror angle automatic adjusting means for adjusting the mirror angle of the viewing mirror based on the position information of the object detected by the object position detecting means and the eye position information of the driver detected by the eye position detecting means. I made it.

  Specifically, in the first aspect of the invention, the mirror angle, which is the angle of the reflecting surface of the viewing mirror mounted on the vehicle, is adjusted so that the driver can visually recognize an object existing in a predetermined area around the vehicle. The object is a vehicle mirror angle adjusting device.

  The eye position detecting means for detecting the three-dimensional position of the eye of the driver of the vehicle, the object position detecting means for detecting the three-dimensional position of the object, and the object position detecting means detected by the object position detecting means. Mirror angle automatic adjusting means for adjusting the mirror angle of the viewing mirror based on the position information of the object and the driver's eye position information detected by the eye position detecting means, and the mirror angle automatic adjusting means Is configured such that the driver calculates a target mirror angle at which the object can be visually recognized by the viewing mirror, and adjusts the mirror angle of the viewing mirror to the target mirror angle.

  According to this configuration, the mirror angle automatic adjusting means is based on the three-dimensional position of the driver's eyes detected by the eye position detecting means and the three-dimensional position of the object detected by the object position detecting means. The target mirror angle at which the driver can visually recognize the object existing in the predetermined area around the vehicle is calculated by the visual mirror, and the mirror angle of the visual mirror is adjusted to the target mirror angle. Therefore, even if the relative position of the object with respect to the host vehicle changes, the mirror angle of the visual mirror changes following this, and the driver's eye position changes even when the driver's posture changes. Accordingly, by changing the mirror angle of the viewing mirror, the driver can surely view the object with the viewing mirror.

  In the invention of claim 2, in the invention of claim 1, the mirror angle automatic adjustment means sets the mirror angle of the viewing mirror to a preset angle when the object does not exist in the predetermined area. It shall be configured to adjust.

  According to this configuration, when the object does not exist within the predetermined area, the mirror angle of the viewing mirror is adjusted to the set angle by the mirror angle automatic adjustment unit. Therefore, for example, by setting the set angle to an angle at which the driver can visually recognize the peripheral end portion of the predetermined area in a predetermined sitting posture, the driver can quickly recognize an object that has entered the predetermined area. can do.

  In the invention of claim 3, in the invention of claim 1 or 2, the object includes at least one of a surrounding vehicle and a pedestrian existing in the predetermined area.

  According to this configuration, the driver can always visually recognize the surrounding vehicle or the pedestrian existing in the predetermined area around the vehicle (the host vehicle) with the visual mirror, and is safe driving in consideration of the surrounding vehicle and the pedestrian. Is possible.

  According to a fourth aspect of the present invention, in any one of the first to third aspects of the invention, the mirror angle manual adjusting means for manually adjusting the mirror angle of the viewing mirror by the driver and the mirror angle automatic adjusting means are the first by the mirror angle automatic adjusting means. When the mirror angle is manually adjusted by the mirror angle manual adjustment means after the mirror angle is adjusted, the change amount of the mirror angle caused by the manual adjustment is stored as the manual adjustment angle every time the manual adjustment is executed. Manual adjustment amount storage means, and the mirror angle automatic adjustment means includes a three-dimensional position of the object detected by the object position detection means and a driver's eye detected by the eye position detection means. And calculating the theoretical mirror angle at which the object is projected onto the center of the reflecting surface of the visual mirror, and calculating the calculated theoretical mirror angle and the manual adjustment amount. It added together and all manual adjustment angle stored in the unit is assumed to be configured to calculate the target mirror angle.

  Thus, the mirror angle automatic adjustment means calculates the target mirror angle by calculating the target mirror angle by adding the manual adjustment angle generated by the driver's manual operation to the calculated theoretical mirror angle. The mirror angle can be adjusted with respect to the angle, and the visibility of the object by the viewing mirror can be improved.

  According to a fifth aspect of the present invention, in any one of the first to fourth aspects of the present invention, the object position detecting means detects a three-dimensional position of the object assuming that the vertical position of the object is at a predetermined position. It shall be configured.

  According to this configuration, when calculating the three-dimensional position of the object by the object position detecting means, the amount of calculation can be reduced, and the processing speed of the entire apparatus can be increased.

  As described above, according to the vehicle mirror angle adjusting device of the present invention, the eye position detecting means for detecting the three-dimensional position of the eye of the driver of the vehicle and the object position for detecting the three-dimensional position of the object. Mirror angle automatic adjustment for adjusting the mirror angle of the viewing mirror based on the detection means, the position information of the object detected by the object position detection means and the driver's eye position information detected by the eye position detection means By providing the means, the visibility can be sufficiently ensured regardless of the relative position change of the object with respect to the vehicle.

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

  1 and 2 show a vehicle A equipped with a vehicle mirror angle adjustment device 1 according to an embodiment of the present invention. The vehicle mirror angle adjustment device 1 includes an eye position of a driver M of the vehicle A, Based on the position of the object P (in this embodiment, a vehicle, a two-wheeled vehicle, and a pedestrian) existing around the vehicle A, the mirror angle (angle of the reflecting surface) of the room mirror 3 and the left and right door mirrors 4 and 5 And an automatic adjustment function for automatically adjusting the mirror angles of the mirrors 3 to 5 when the driver M operates the manual adjustment button 13 (see FIG. 3). ing.

  The rearview mirror 3 is disposed at the center in the vehicle width direction on the ceiling surface of the front part of the passenger compartment, and is used by the driver M to visually recognize the rear predetermined area B extending rearward of the vehicle and rearward and laterally. . The rearview mirror 3 is driven by a rearview mirror adjustment mechanism 12 described later, and is configured to be tiltable in the vertical direction and the horizontal direction.

  The left and right door mirrors 4 and 5 are attached to the front end portions of the left and right doors, respectively, and are used by the driver M to visually recognize the side predetermined areas L and R extending from the side of the vehicle and to the rear and side of the vehicle. The Each of the door mirrors 4 and 5 is driven by a door mirror adjusting mechanism 11 to be described later, and is configured to be tiltable in the vertical direction and the horizontal direction, similarly to the room mirror 3.

  As shown in FIG. 3, the vehicle mirror angle adjustment device 1 includes an indoor camera 6, side monitoring cameras 7 and 8, a rear monitoring camera 9, a door mirror adjustment mechanism 11, a room mirror adjustment mechanism 12, and a manual operation. An adjustment button 13 and a controller 15 are provided.

  Each of the cameras 6 to 9 is composed of a stereo camera composed of a pair of left and right cameras (for example, a CCD camera and a COMS camera). The side monitoring cameras 7 and 8 are respectively arranged on the left and right side surfaces of the vehicle A so as to face the rear of the vehicle, and the rear monitoring camera 9 is arranged on the rear side of the passenger compartment. It is arranged facing the rear side of the vehicle at the center in the vehicle width direction. Each of the cameras 6 to 9 outputs the captured image to the controller 15 as digital image data.

  The door mirror adjusting mechanism 11 drives the adjuster mechanism for adjusting the vertical tilt angle that tilts the door mirrors 4 and 5 in the vertical direction, the adjuster mechanism for adjusting the horizontal tilt angle that tilts in the horizontal direction, and the adjuster mechanisms. A drive motor (not shown). Similarly, the room mirror adjusting mechanism 12 includes an adjuster mechanism that tilts the room mirror 3 in the vertical direction, an adjuster mechanism that tilts the left and right direction, and a drive motor (not shown) that drives each adjuster mechanism.

  The manual adjustment button 13 is used for manually adjusting the mirror angle of each of the mirrors 3 to 5. When the manual adjustment button 13 is operated, a mirror (each of which is selected in advance by the driver M by a select button not shown). The mirror angle of any one of the mirrors 3 to 5 can be adjusted. More specifically, the manual adjustment button 13 is disposed near the right door of an unillustrated instrument panel, and presses one of the marks arranged in four directions, up, down, left, and right, Can be tilted in the direction of the pressed mark. The mirrors 3 to 5 are driven and adjusted by the mirror adjustment mechanisms 11 and 12 based on the operation signal of the manual adjustment button 13 as will be described later.

  The controller 15 comprises a well-known microcomputer including a CPU, ROM, RAM, and the like. The controller 15 calculates a target mirror angle of each mirror based on image data from each camera 6 to 8, and a door mirror adjustment mechanism. 11 and the room mirror adjustment mechanism 12 (for the drive motors of the mechanisms 11 and 12), necessary drive signals are output.

  Specifically, the controller 15 includes an eye position calculation unit 20, a side object position calculation unit 21, a rear object position calculation unit 22, a target door mirror angle calculation unit 23, and a target room mirror angle calculation unit 24. And a manual adjustment amount storage unit 25.

  The eye position calculation unit 20 determines the position of the midpoint I (see FIG. 4) of the line segment connecting both eyes of the driver M based on the face image of the driver M captured by the indoor camera 6. The position of the eye of M is its three-dimensional position (the reference point provided in the indoor camera 6 is the origin O, the axis extending in the vehicle longitudinal direction is the X axis, the axis extending in the vehicle width direction is the Y axis, and extends vertically) The coordinate position (x1, y1, z1)) when the axis is the Z axis is calculated. Here, the eye position can be specified by a known face image recognition technique, and the specified three-dimensional coordinate position of the eye is calculated based on the parallax amount of the pair of cameras constituting the indoor camera 6. It can be calculated based on the distance from the reference point (origin O) to the eyes.

  The side object position calculation unit 21 calculates the three-dimensional position when the object P in the side predetermined regions R and L is detected based on the images captured by the left and right side monitoring cameras 7 and 8. Then, while the position information is output to the target door mirror angle calculation unit 23, when the object P is not detected, a non-detection signal indicating that is output to the mirror angle calculation unit 23. These side predetermined regions R and L (see FIG. 1) are adjacent to the vehicle A on the left and right sides in the vehicle width direction and extend from the vicinity of the door mirrors 4 and 5 toward the rear side in the vehicle traveling direction. It has a rectangular shape, its width is substantially equal to the lane width of a general road, and its length in the vehicle traveling direction is, for example, about 5 to 10 passenger cars.

  Similarly, the rear object position calculation unit 22 calculates the three-dimensional position when detecting the object P in the predetermined area B behind the vehicle based on the image captured by the rear monitoring camera 9, While the position information is output to the target room mirror angle calculation unit 24, when the object P is not detected, a non-detection signal indicating that is output to the mirror angle calculation unit 24. The predetermined region B (see FIG. 1) is a rectangular shape extending from the rear end of the vehicle A toward the rear side in the vehicle traveling direction, and the width thereof is approximately twice the lane width of the general road. The length in the direction is, for example, about 5 to 10 passenger cars.

Here, the object detection (recognition) in both the object position calculation units 21 and 22 is stored in advance for the image areas corresponding to the predetermined areas B, L, and R in the captured images of the cameras 6 to 8. This is performed by executing a pattern matching process based on the template image of the target object P (vehicle, two-wheeled vehicle, and pedestrian). Then, when the object position calculation units 21 and 22 detect the object P in the predetermined areas B, L, and R by executing the matching process, the three-dimensional position of the center of gravity is set as the position of the object P. calculate. The three-dimensional position of the center of gravity can be calculated based on the amount of parallax between the pair of cameras that constitute each of the cameras 6 to 8, as in the calculation of the eye position in the eye position calculation unit.

  The manual adjustment amount storage unit 25 stores the mirror angle θdi of the door mirrors 4 and 5 and the mirror angle θri of the room mirror 3 before the vehicle A starts (before the vehicle speed becomes 0 after the ignition switch is switched from OFF to ON). When the driver M adjusts with the manual adjustment button 13, the adjusted mirror angle) is stored as the initial setting angles θdi and θri, and when the driver M operates the manual adjustment button 13 after starting the vehicle. The manual adjustment angle θdo of the door mirror and the manual adjustment angle θro, which is the amount of change in the mirror angle of the rearview mirror 3, generated by the operation are stored each time the operation is executed. Therefore, for example, when manual adjustment of the mirror angle of the rearview mirror 3 by the driver M is executed N times, the N manual adjustment angle θr data is stored in the manual adjustment amount storage unit 25. It becomes.

  The target door mirror angle calculation unit 23 calculates the coordinate position of the eye of the driver M calculated by the eye position calculation unit 20 and the objects in the side predetermined regions R and L calculated by the side object position calculation unit 21. Based on the coordinate position of the object P, the theoretical target mirror angle θd1 of the left and right door mirrors 4 and 5 (the tilt angle (left and right tilt angle) θdz1 around the Z axis of the reflecting surface of the door mirrors 4 and 5) and the Y axis of the reflecting surface The mirror angle determined by the tilt angle (vertical tilt angle) θdy1 is calculated. Further, the target door mirror angle calculation unit 23 sets the angle obtained by offsetting the manual adjustment angle θdo from the calculated theoretical target mirror angle θd1 as the target mirror angle θd (= θd1 + θdo), and outputs a control signal corresponding to the target mirror angle θd. Output to the adjustment mechanism 11. When manual adjustment of the mirror angle is not performed by the driver M, since the manual adjustment angle θdo = 0, the theoretical target mirror angle θd1 is calculated as the target mirror angle θd.

Here, the theoretical target mirror angle θd1 is calculated as an angle at which the driver M of the vehicle A can surely see the object P by the door mirrors 4 and 5, and in this embodiment, as shown in FIGS. A line segment r1 connecting the eyes of the driver M and the center U of the reflecting surface of the door mirrors 4, 5 (only the right side door mirror 5 is shown), the object P (the center of gravity G of the object P), and the door mirror 4 bisector r3 of the angle theta M-G and a line segment r2 connecting the center U of the reflective surface 5 is the axis C (the door mirror 4 of the door mirror 4, 5 plan view of the vehicle and the vehicle side view, 5 is an axis that is perpendicular to the reflecting surface 5 and passes through its center U). A specific calculation method is as follows.

  That is, the following relations (1) and (2) are established from the geometrical relation in the vehicle plan view in a state where the bisector r3 and the axis C are coincident as shown in FIG.

tan (θ1-θdz1) = | y2-yd | / | x2-xd | (1)
tan (θ1 + θdz1) = | y1-yd | / | x1-xd | (2)
From equations (1) and (2)
θ1-θdz1 = arctan (| y2-yd | / | x2-xd |) (3)
θ1 + θdz1 = arctan (| y1-yd | / | x1-xd |) (4)
From the equations (3) and (4),
θdz1 = 1/2 × (arctan (| y1-yd | / | x1-xd |) -arctan (| y2-yd | / | x2-xd |)) (5)
Can be calculated as

  Moreover, the relationship of following Formula (6) and (7) is materialized from the geometrical relationship in the vehicle side view in the state which the said bisector r3 and the axis C show in FIG.

tan (θ2-θdy1) = | z2-zd | / | x1-xd | (6)
tan (θ2 + θdy1) = | z2-zd | / | x2-xd | (7)
From equations (6) and (7)
θ2-θdy1 = arctan | z2-zd | / | x1-xd | (8)
θ2 + θdy1 = arctan | z2-zd | / | x2-xd | (9)
From equations (8) and (9),
θdy1 = 1/2 × (arctan | z2-zd | / | x2-xd | -arctan | z2-zd | / | x1-xd |) (10)
Can be calculated as

  Similarly, the target room mirror angle calculation unit 24 coordinates the coordinates of the eye of the driver M from the eye position calculation unit 20 and the coordinates of the object P in the predetermined area B calculated by the rear object position calculation unit 22. The theoretical target mirror angle θr1 of the rearview mirror 3 is calculated based on the position, and an angle (offset angle) obtained by subtracting the manual adjustment angle θro of the mirror angle by the driver M from the theoretical target mirror angle θr1 Assume that the angle θr. The calculation method of the theoretical target mirror angle θr1 in the target room mirror angle calculation unit 24 is the same as the calculation method of the theoretical target mirror angle θd1 in the target door mirror angle calculation unit 23, and thus the description thereof is omitted here.

  Next, the mirror angle automatic adjustment control processing of each mirror 3 to 5 in the controller 15 will be described with reference to the flowchart shown in FIG.

  In the first step S1, the eye position calculation unit 20 calculates the three-dimensional position of the eyes of the driver M.

  In step S2, each object position calculation unit 21, 22 determines whether or not the object P in the predetermined areas B, L, R has been detected. If this determination is NO, the process proceeds to step S13. If YES, the process proceeds to step S3. Here, in the present embodiment, the object P in the predetermined areas B, L, and R refers to the entire object included in the predetermined areas B, L, and R. A part (for example, half) of the object P in the predetermined areas B, L, R may be included in the predetermined areas B, L, R.

In step S3, it is determined whether or not there is a region where a plurality of objects P exist among B, L, and R in each predetermined region. If this determination is NO, the process proceeds to step S12. Proceed to S4
In step S4, the distance from each object P is calculated in the predetermined areas B, L, and R where a plurality of objects P exist.

  In step S5, in the predetermined areas B, L, and R where a plurality of objects P exist, the three-dimensional position of the object P that is closest to the vehicle A is calculated, and the predetermined area where only one object P exists. In B, L, and R, the three-dimensional position of the object P is calculated.

  In step S6, the theoretical target mirror angle θd1 of the door mirrors 4 and 5 and the three-dimensional position of the eye of the driver M calculated in step S1 and the three-dimensional position of the object P calculated in step S3 and The theoretical target mirror angle θr1 of the room mirror 3 is calculated.

  In step S7, the target mirror angle calculation units 23 and 24 read all the manual adjustment angles θdo and θro stored in the manual adjustment amount storage unit 25.

  In step S8, the target door mirror angle calculation unit 23 calculates the target mirror angle θd (= θd1 + Σθdo) of the door mirrors 4 and 5, and the target room mirror angle calculation unit 24 calculates the target mirror angle θr (= θr1 + Σθro) of the room mirror 3. Is calculated.

  In step S9, the target door mirror angle calculation unit 23 and the target room mirror angle calculation unit 24 output necessary control signals to the door mirror adjustment mechanism 11 and the room mirror adjustment mechanism 12, respectively. The mirror angle is adjusted to the target mirror angle θd, the mirror angle of the room mirror 3 is adjusted to the target mirror angle θr, and then the process returns.

  In step S10, it is determined whether or not the driver M has performed the mirror angle adjustment by operating the manual adjustment button 13, and if this determination is NO, the process returns. If YES, the process proceeds to step S11.

  In step S11, the change amount of the mirror angle generated when the driver M operates the manual adjustment button 13 in step S10 is stored in the manual adjustment amount storage unit 25 as the manual adjustment angles θdo and θro.

  In step S12 that proceeds when the determination in step S3 is NO, the three-dimensional position of the object P in each of the predetermined areas B, L, and R is calculated, and then the process proceeds to step S6.

  In step S13 that proceeds when the determination in step S2 is NO, the target door mirror angle calculation unit 23 and the target room mirror angle calculation unit 24 respectively provide necessary control signals to the door mirror adjustment mechanism 11 and the room mirror adjustment mechanism 12. , The mirror angles of the door mirrors 4 and 5 and the room mirror 3 are adjusted to the initial setting angles θdi and θri, respectively, and then the process returns.

  As described above, in the above embodiment, the target door mirror angle calculation unit 23 is calculated by the coordinate position of the eye of the driver M calculated by the eye position calculation unit 20 and the side object position calculation unit 21. The target mirror angle θd of the door mirrors 4 and 5 is calculated based on the coordinate position of the object P, and the door mirror adjustment mechanism 11 adjusts the mirror angle of the door mirrors 4 and 5 to the target mirror angle θd. . Similarly, the target room mirror angle calculation unit 24 calculates the coordinate position of the eye of the driver M calculated by the eye position calculation unit 20 and the coordinate position of the object P calculated by the rear object position calculation unit 22. Based on the above, the target mirror angle θr of the room mirror 3 is calculated, and the mirror angle of the room mirror 3 is adjusted to the target mirror angle θr by the room mirror adjusting mechanism 12.

  Therefore, even if the relative position of the object P with respect to the vehicle A is changed, the mirror angle of each of the mirrors 3 to 6 is changed following this, so that the driver M can change the object ( Vehicle, two-wheeled vehicle, and pedestrian) can be confirmed with certainty, and the vehicle can travel safely. Therefore, the driver M can perform safe driving in consideration of surrounding vehicles or pedestrians existing in predetermined areas B, L, and R around the vehicle A (own vehicle).

  In the above embodiment, the manual adjustment is performed each time the driver M operates the manual adjustment button 13 after the first automatic adjustment of the mirror angle after the start of the vehicle A (after the execution of the process of step S9). The angles θdo and θro are stored in the manual adjustment amount storage unit 25 (the process of step S11 is executed). The target door mirror angle calculation unit 23 stores the theoretical target mirror angle θd1 and the manual adjustment amount storage unit 25. The target mirror angle θd is calculated by adding all of the manual adjustment angles θdo stored in (the process of step S8 is executed), and the target room mirror angle calculation unit 24 calculates the theoretical target mirror angle θr1 and the manual adjustment. The target mirror angle θr is calculated by adding all the manual adjustment angles θr stored in the quantity storage unit 25 (the process of step S8 is executed).

  By doing so, mirror angle adjustment that respects the sense of the driver M is possible, and the visibility of the object P by the respective visual mirrors 3 to 6 can be further improved.

Here, in the above embodiment, the target door mirror angle calculation unit 23 and the target room mirror angle calculation unit 24 respectively reflect the reflection of the driver M's eyes and the door mirrors 4 and 5 when calculating the theoretical target mirror angles θd1 and θr1. a line segment r1 connecting the center U of the surface of the object P (target P of the center of gravity G) mainly U connecting the line r2 and the angle theta M-G of the reflecting surface of the door mirror 4,5 two The calculation process is performed assuming that the equipartition line r3 coincides with the axis C of the door mirrors 4 and 5 in the vehicle plan view and the vehicle side view (see FIGS. 4 and 5).

  By doing so, each target mirror angle calculation unit 23, 24 can project the object P at the center of each mirror 3 to 6, and the driver M can visually recognize the object P by each mirror 3 to 6. The property can be further improved.

  Moreover, in the said embodiment, the target object position calculation parts 21 and 22 calculate not only the vehicle plane position (xy coordinate) of the target object P but the up-down position (z coordinate).

  Accordingly, the target mirror angles θd and θr are calculated in the target mirror angle calculation units 23 and 24 in consideration of the vertical position (height position) of the object P. Therefore, for example, when the vehicle (host vehicle) A is traveling on a flat road and the vehicle behind the vehicle (target object P in the predetermined area B) is traveling uphill, the height of the host vehicle A and the target P is high. Even when the position is different, the driver M can surely see the object P with the room mirror 3.

  Moreover, in the said embodiment, when the said target object P does not exist in predetermined area | region B, L, R (when determination of step S2 is NO), the mirror angle of the door mirrors 4 and 5 and the room mirror 3 is set. The initial setting angles θdi and θri are set respectively.

  Therefore, for example, it is assumed that the driver M sets the initial setting angles θdi and θri so that the rear end portions of the predetermined areas B, L, and R can be visually recognized when the seat is adjusted and seated before starting the vehicle. For example, the driver M can visually recognize the object P that has subsequently entered the predetermined areas B, L, and R from the rear of the vehicle through the mirrors 3 to 5.

(Other embodiments)
The configuration of the present invention is not limited to the above embodiment, but includes various other configurations. That is, in the above embodiment, when there are a plurality of objects P in at least one of the predetermined areas B, L, and R (when the determination in step S3 is YES), the vehicle A is the closest distance. The mirror angle of each of the mirrors 3 to 5 is adjusted based on a certain target P (calculating the three-dimensional position of the closest target P in the process of step S5). For example, the reference object P may be sequentially switched at predetermined time intervals. That is, for example, when three objects P are detected in the predetermined region R that is the visual recognition target area of the right door mirror 5, first, the mirror angle of the right door mirror 5 with reference to the object P at the shortest distance. After adjustment, the mirror angle is adjusted with reference to the second closest object P after a predetermined time (for example, 3 seconds), and then the mirror angle is adjusted with reference to the third closest object P after the predetermined time has passed. What is necessary is just to repeat the process which performs. By doing so, the driver M can surely visually recognize the three objects P sequentially, and can safely travel while being aware of surrounding vehicles and pedestrians.

  Moreover, in the said embodiment, although the example of the mirror angle adjustment apparatus 1 for vehicles which adjusts the mirror angle of the room mirror 3 and the door mirrors 4 and 5 as a visual recognition mirror was shown, the mirror angle of a fender mirror or a rear under mirror is adjusted. You may do.

  In the above embodiment, the object position calculation units 21 and 22 are configured to obtain all the x coordinate, y coordinate, and z coordinate of the object P by calculation. However, the present invention is not limited to this. Assuming that the vertical position (z coordinate) of the object P is at the same vertical position (predetermined position) as the vehicle A, the x coordinate and y coordinate (two-dimensional position in the vehicle plan view) of the target object P You may make it obtain | require by calculation. By doing so, it is possible to reduce the amount of calculation in the object position calculation units 21 and 22 and increase the processing speed.

  Moreover, in the said embodiment, although the target object P is made into a vehicle, a two-wheeled vehicle, and a pedestrian, it is not restricted to this, For example, it is good also considering the white line on a running road as the target object P. By doing so, the driver M can always visually recognize the white line by the mirrors 3 to 5, and can safely travel along the white line.

  In the above embodiment, the eye position calculation unit 20 calculates the midpoint of both eyes of the driver M as the eye position. For example, when adjusting the mirror angle of the right door mirror 5, the position of the right eye May be calculated as the eye position, and when the mirror angle of the left door mirror 4 is adjusted, the position of the left eye may be calculated as the eye position.

  In the above-described embodiment, the position of the center of gravity is calculated as the position of the object P in the object position calculation units 21 and 22, but the present invention is not limited to this. For example, the front side surface of the object P May be calculated as the position of the object P.

  In the above-described embodiment, each camera 6 to 8 is configured as a stereo camera. However, the camera is not necessarily a stereo camera, and may be a combination of a distance sensor and a camera, for example. .

  The present invention is useful for a vehicle mirror angle adjusting device for adjusting the mirror angle of a visual mirror mounted on a vehicle so that a driver can visually recognize an object existing in a predetermined area around the vehicle, The present invention is useful for a vehicle mirror angle adjustment device including a mirror angle adjustment mechanism that adjusts the mirror angle of a door mirror and a room mirror (viewing mirror).

It is the schematic seen from the vehicle upper side which shows the vehicle carrying the mirror angle adjustment apparatus for vehicles which concerns on embodiment of this invention. It is the schematic seen from the vehicle left side which shows the driver's seat vicinity of the vehicle carrying the mirror angle adjustment apparatus for vehicles. It is a block diagram which shows the control structure of the mirror angle adjustment apparatus for vehicles. It is explanatory drawing for demonstrating the calculation method of the target mirror angle | corner which shows the geometric relationship seen from the vehicle upper side with the vehicle interior camera, the door mirror, and the target object. It is explanatory drawing for demonstrating the calculation method of the target mirror angle | corner which shows the geometric relationship seen from the vehicle left side with a vehicle interior camera, a door mirror, and a target object. It is a flowchart which shows the mirror angle automatic adjustment control processing performed with a controller.

Explanation of symbols

A Vehicle P Object R Predetermined region L Predetermined region B Predetermined region 1 Vehicle mirror angle adjusting device 3 Room mirror 4 Left door mirror (viewing mirror)
5 Right side door mirror (viewing mirror)
6 Indoor camera (eye position detection means)
7 Right-side surveillance camera (object position detection means)
8 Left side monitoring camera (object position detection means)
11 Door mirror adjustment mechanism (automatic mirror angle adjustment means)
12 Room mirror adjustment mechanism (mirror angle automatic adjustment means)
13 Manual adjustment button (Mirror angle manual adjustment means)
20 Eye position calculation unit (eye position detection means)
21 Side object position calculation unit (object position detection means)
22 Rear object position calculation unit (object position detection means)
23 Target door mirror angle calculation unit (mirror angle automatic adjustment means)
24 Target room mirror angle calculation part (mirror angle automatic adjustment means)
25 Manual adjustment amount storage unit (manual adjustment amount storage means)

Claims (5)

  1. A vehicle mirror angle adjusting device for adjusting a mirror angle that is an angle of a reflecting surface of a visual mirror mounted on a vehicle so that a driver can visually recognize an object existing in a predetermined area around the vehicle,
    Eye position detecting means for detecting the three-dimensional position of the eyes of the driver of the vehicle;
    Object position detecting means for detecting a three-dimensional position of the object;
    Automatic mirror angle adjustment for adjusting the mirror angle of the viewing mirror based on the position information of the object detected by the object position detection means and the eye position information of the driver detected by the eye position detection means Means and
    The automatic mirror angle adjusting means is configured to calculate a target mirror angle at which the driver can visually recognize the object with the visual mirror, and to adjust the mirror angle of the visual mirror to the target mirror angle. A mirror angle adjusting device for a vehicle characterized by comprising:
  2. The vehicle mirror angle adjusting device according to claim 1,
    The automatic mirror angle adjusting means is configured to adjust the mirror angle of the visual mirror to a preset angle when the object does not exist in the predetermined area. Mirror angle adjustment device.
  3. The vehicle mirror angle adjusting device according to claim 1 or 2,
    The vehicle mirror angle adjusting device, wherein the object includes at least one of a surrounding vehicle and a pedestrian existing in the predetermined area.
  4. In the mirror angle adjusting device for vehicles according to any one of claims 1 to 3,
    Mirror angle manual adjustment means for the driver to manually adjust the mirror angle of the viewing mirror;
    When manual adjustment of the mirror angle by the mirror angle manual adjustment means is executed after the initial mirror angle adjustment by the mirror angle automatic adjustment means, the amount of change in the mirror angle caused by the manual adjustment is used as the manual adjustment angle. Manual adjustment amount storage means for storing each time adjustment is performed,
    The mirror angle automatic adjusting means is based on the three-dimensional position of the object detected by the object position detecting means and the three-dimensional position of the driver's eyes detected by the eye position detecting means. Is calculated by adding the calculated theoretical mirror angle and all of the manual adjustment angles stored in the manual adjustment amount storage means to the target. A mirror angle adjusting device for a vehicle, which is configured to calculate a mirror angle.
  5. In the mirror angle adjusting device for vehicles according to any one of claims 1 to 4,
    The apparatus for detecting a mirror angle of a vehicle, wherein the object position detecting means is configured to detect the three-dimensional position of the object as if the vertical position of the object is at a predetermined position.
JP2008248717A 2008-09-26 2008-09-26 Vehicular mirror angle adjusting equipment Pending JP2010076660A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2008248717A JP2010076660A (en) 2008-09-26 2008-09-26 Vehicular mirror angle adjusting equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2008248717A JP2010076660A (en) 2008-09-26 2008-09-26 Vehicular mirror angle adjusting equipment

Publications (1)

Publication Number Publication Date
JP2010076660A true JP2010076660A (en) 2010-04-08

Family

ID=42207594

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2008248717A Pending JP2010076660A (en) 2008-09-26 2008-09-26 Vehicular mirror angle adjusting equipment

Country Status (1)

Country Link
JP (1) JP2010076660A (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102285340A (en) * 2011-09-09 2011-12-21 徐宗保 One kind of adjusting mirror position control method and system
JP2012116358A (en) * 2010-12-01 2012-06-21 Anden Door mirror control device
CN103158621A (en) * 2011-12-16 2013-06-19 通用汽车环球科技运作有限责任公司 System and method for enabling a driver of a vehicle to visibly observe objects located in a blind spot
JP2014184929A (en) * 2013-03-25 2014-10-02 Tokai Rika Co Ltd Mirror surface control device
JP2016041576A (en) * 2014-08-13 2016-03-31 センソリー・インコーポレイテッド Techniques for automated blind spot viewing
JP2017502876A (en) * 2014-02-24 2017-01-26 インテル コーポレイション Vehicle mirror adjustment
WO2017197818A1 (en) * 2016-05-16 2017-11-23 乐视控股(北京)有限公司 Method and apparatus for adjusting rearview mirrors of vehicle, electronic device, and vehicle
CN109774728A (en) * 2018-12-26 2019-05-21 东风汽车集团有限公司 Outside rear-view mirror adaptive location adjusting method based on different driver's heights

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012116358A (en) * 2010-12-01 2012-06-21 Anden Door mirror control device
CN102285340A (en) * 2011-09-09 2011-12-21 徐宗保 One kind of adjusting mirror position control method and system
CN103158621A (en) * 2011-12-16 2013-06-19 通用汽车环球科技运作有限责任公司 System and method for enabling a driver of a vehicle to visibly observe objects located in a blind spot
CN103158621B (en) * 2011-12-16 2016-03-09 通用汽车环球科技运作有限责任公司 Vehicle driver's appreciiable is made to observe the system and method being positioned at blind spot object
US9409518B2 (en) 2011-12-16 2016-08-09 GM Global Technology Operations LLC System and method for enabling a driver of a vehicle to visibly observe objects located in a blind spot
JP2014184929A (en) * 2013-03-25 2014-10-02 Tokai Rika Co Ltd Mirror surface control device
JP2017502876A (en) * 2014-02-24 2017-01-26 インテル コーポレイション Vehicle mirror adjustment
KR101854253B1 (en) * 2014-02-24 2018-05-03 인텔 코포레이션 Vehicle mirror adjustment
JP2016041576A (en) * 2014-08-13 2016-03-31 センソリー・インコーポレイテッド Techniques for automated blind spot viewing
WO2017197818A1 (en) * 2016-05-16 2017-11-23 乐视控股(北京)有限公司 Method and apparatus for adjusting rearview mirrors of vehicle, electronic device, and vehicle
CN109774728A (en) * 2018-12-26 2019-05-21 东风汽车集团有限公司 Outside rear-view mirror adaptive location adjusting method based on different driver's heights

Similar Documents

Publication Publication Date Title
US8350686B2 (en) Vehicle information display system
US7640107B2 (en) Vehicle drive assist system
JP4604703B2 (en) Parking assistance device
EP1696669B1 (en) Vehicle surrounding monitoring device
DE112010003874B4 (en) vehicle control
KR100936558B1 (en) Perimeter monitoring apparatus and image display method for vehicle
JP4432930B2 (en) Parking assistance device and parking assistance method
JP4791262B2 (en) Driving assistance device
US7042389B2 (en) Device for detecting object in front of vehicle
JP2005309812A (en) Vehicle periphery display controller
DE102006010735B4 (en) Vehicle environment monitoring device
WO2010032523A1 (en) Device for detecting/judging road boundary
US20130088578A1 (en) Image processing apparatus and vehicle
JP2008195357A (en) Parking supporting device and parking supporting method
EP2819858B1 (en) Hitch alignment assistance
EP1974998B1 (en) Driving support method and driving support apparatus
US8576285B2 (en) In-vehicle image processing method and image processing apparatus
DE102011053002A1 (en) Lane line judging device
US8199975B2 (en) System and method for side vision detection of obstacles for vehicles
JP5389002B2 (en) Driving environment recognition device
US8553087B2 (en) Vehicular image display system and image display control method
JP4702437B2 (en) Vehicle display device
US20080033603A1 (en) Device for bringing a motor vehicle to a target position
JP2008022267A (en) Drive assisting method and drive assisting device
US20030060972A1 (en) Drive assist device