JP2010095202A - Room mirror position rear-view camera image display - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide "a room mirror position rear-view camera image display" in which a rear-view display is provided instead of a room mirror, an image of a camera for photographing a rear side of the vehicle is displayed, and an image of a range that an obstacle can be displayed is cut out and can be displayed when the dangerous obstacle is discovered in a photographed image. <P>SOLUTION: The image of the rear-view camera for photographing the rear side of the vehicle is taken-in, the obstacle is detected in an obstacle display predetermined range previously set in the image, and when the obstacle is detected, the image of the smallest range that the obstacle is displayed is displayed on the rear-view display provided instead of the room mirror.When the obstacle is not detected, an image range of the range of the same degree as the room mirror previously set is displayed. Further, when an obstacle warning specifying range is set in the obstacle display predetermined range and it is detected that the obstacle is present in the obstacle warning specifying range, warning is output. A mirror becoming a mirror when the image is not displayed may be formed on the rear-view display surface. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a rearview mirror position rearview camera image display device that displays a captured image of a rearview camera that captures the rear of a vehicle in place of a rearview mirror provided for a driver to confirm the rear.

  In order to allow the driver to drive safely on the vehicle, for example, it is provided on the front side of the vehicle, especially the left and right fender mirrors that mirror the rear side of the vehicle, and the rear glass rear part of the vehicle provided near the center of the driver's front upper part A rear-view mirror that mainly captures the rear view of the vehicle, and a rear mirror that reflects the rear lower part of the vehicle are used.

  In recent years, with the spread of CCD cameras, an outside camera image display system for photographing outside the vehicle and displaying it on a monitor inside the vehicle is often mounted. In this outside-camera-camera image display system, for example, by displaying a captured image of a camera that captures the rear of the vehicle, it is possible to detect an obstacle that becomes an obstacle particularly when the vehicle is moving backward, and to easily and accurately put the vehicle in the parking range. it can. In addition, by displaying images of the camera that captures both sides in front of the vehicle, it is possible to see a vehicle, a pedestrian, and the like moving on the road when the vehicle goes out of a road with poor visibility to an intersection.

  Furthermore, in recent years, a single camera outside the vehicle or a plurality of cameras outside the vehicle is used, and by processing the captured image, an image with a viewpoint above the vehicle is displayed, and the situation around the vehicle is easily displayed. In addition, by processing such an image taken outside the vehicle, for example, using two images at different times, it is detected that a part of the image is moving even when the car is stopped, In addition, a technique has been developed for detecting an image portion that has undergone a change other than a change in a captured image due to the movement of the vehicle even when the vehicle is moving, and detecting an object that is likely to be an obstacle to the forward and backward movement of the vehicle.

In addition, the technique of displaying the image of the camera which image | photographs the front and back of a vehicle on a monitor is disclosed by Unexamined-Japanese-Patent No. 2008-193181 (patent document 1).
JP 2008-193181 A

  Conventionally, various mirrors are provided on the vehicle so that the vehicle can be operated safely, and the vehicle can be operated more safely by displaying an image of a camera outside the vehicle on a monitor. However, among the various mirrors described above, the rearview mirror can see the rear of the vehicle through the rear glass, but the field of view must be limited in a normal rearview mirror.

  In other words, the range that can be seen by the driver's normal line of sight is limited to the room mirror, such as the range A1 of the room mirror viewing range shown in FIG. 5, and other dangerous obstacles can be seen by the room mirror. I can't. Therefore, a wide mirror, which is a wide-angle mirror that is fixed to the room mirror, is attached instead of the normal room mirror. When such a wide mirror is used, for example, as shown in FIG. 5, a wider range of A2 can be captured.

  However, since this wide mirror is a wide-angle mirror, the visible image must be distorted, and the object outside the vehicle shown here must be small. Even if such a wide mirror is used, the outside part of the vehicle behind the rear pillar (CD pillar) which is within the range of A2 in FIG. This is a blind spot that can't be seen, so it's extremely dangerous because you can't see children outside the car behind the pillars.

  Further, in a normal room mirror, for example, as shown in FIG. 6 (a), the viewable range of the room mirror during steady road driving is sufficiently confirmed by, for example, the vehicle on the road behind the vehicle, as shown in FIG. 6 (b). Although there are things that require extreme caution such as pedestrians and bicycles by crossing the sidewalk, such as when the vehicle goes back from the garage to the road, The visible range by the mirror becomes a narrow range regardless of the surrounding moving objects as shown in FIG. 4D, and the state as shown in FIG. Therefore, as shown in FIG. 5E, a child approaching a tricycle on a sidewalk, that is, a dangerous object as an obstacle cannot be seen, and it is extremely dangerous to retreat as it is.

  On the other hand, a system for displaying an image of an outside-camera camera on a monitor to eliminate the drawbacks of the mirror as described above can display an image having no blind spot in a range and size that can be displayed on the monitor. However, in a system that simply displays an image of the rear of the vehicle with a camera outside the vehicle, in many cases, only the vicinity immediately under the vehicle is displayed, which is effective for safely and reliably parking in the parking space. It is difficult to detect a person or a vehicle approaching the rear of the vehicle. In addition, many in-vehicle monitors are placed below the driver's normal line of sight, and are not necessarily displayed in an easy-to-view position for unfamiliar drivers. Since the line of sight moves naturally in a reflective manner, it is easy to see.

  Therefore, according to the present invention, an image of a camera that captures the rear of the vehicle can be displayed at a position where the rearview mirror is installed. For example, when an obstacle is detected by processing the captured image, the obstacle is displayed. The main object is to provide a rearview mirror position rear-view camera image display device that can arbitrarily change the image display range according to various situations, such as displaying an image of the range to be operated, and is easy to view and can perform safe driving. To do.

  In order to solve the above-described problem, the rear-view mirror position rear-view camera image display device according to the present invention captures an image of a rear-view camera that captures the rear of the vehicle, and the image captured in advance in the captured image. Obstacle detection unit that detects an obstacle within a predetermined range of the set obstacle display, and when the obstacle detection unit detects an obstacle, displays an image of the range in which the obstacle is displayed and detects the obstacle When not, a rear-view camera-captured image display processing section that displays an image range that is similar to a preset room mirror and an image from the rear-view camera-captured image display processing section are provided at the position of the vehicle rearview mirror. And a rear photographed image output unit for displaying and outputting on a rear-view display.

  Further, in another rearview mirror position rearview camera image display device according to the present invention, in the rearview mirror position rearview camera image display device, an obstacle warning specific range is set within the obstacle display predetermined range, and the obstacle When an obstacle is detected, the obstacle warning specific range obstacle detection unit detects whether the obstacle exists in the obstacle warning specific range, and the obstacle warning specific range obstacle detection unit includes the obstacle detection unit. A warning is output when the signal is detected.

  Further, the other rearview mirror position rear-view camera image display device according to the present invention is the rearview mirror position rear-view camera image display device, wherein the image of the range in which the obstacle is displayed is a position where the obstacle is detected. It is the image of the minimum range in which the obstacle corresponding to is displayed.

  Further, the other rearview mirror position rearview camera image display device according to the present invention is the rearview mirror position rearview camera image display device, wherein the rearview display surface does not hinder the image display of the display, and the image A feature is that a mirror is formed to be a mirror when not displayed.

  Since the present invention is configured as described above, an image of a camera that captures the rear of the vehicle can be displayed at a position where the rearview mirror is installed. For example, when an obstacle is detected by processing the captured image It is possible to change the image display range according to various situations such as displaying an image of the range in which the obstacle is displayed, and it becomes an easy-to-see and safe driving rear-view camera image display device .

  The present invention provides a rear-view display in place of the rearview mirror, displays an image of a camera that captures the rear of the vehicle, and cuts out an image within a range in which the obstacle can be displayed when a dangerous obstacle is found in the captured image. The camera-captured image capturing unit that captures the image of the rear-view camera that captures the rear of the vehicle, and the obstacle detected in the predetermined obstacle display predetermined range in the captured image When an obstacle is detected by the obstacle detection unit, an image of the range in which the obstacle is displayed is displayed, and when no obstacle is detected, the same level as a preset room mirror is displayed. A rear-view camera-captured image display processing unit that displays an image range of the range and an image from the rear-view camera-captured image display processing unit are displayed and output on a rear-view display provided at a vehicle rearview mirror position. Were achieved by different that a that the rear captured image output unit.

  Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an example of a functional block diagram for implementing the present invention. In the illustrated example, a rear-view camera 1 that is provided at the rear of the vehicle and captures the rear of the vehicle is provided. Further, the rear-view display 4 in the present invention is provided at the position of a conventional rearview mirror, for example, as shown in FIG.

  In recent years, there is also a technology that allows the front of the LCD monitor to be a mirror surface, and when an image is displayed on the back of the LCD screen, the image on the LCD screen can be viewed from the front side by the same mechanism as the magic mirror. Since it is also sold as a protective seal, it is possible to use such a mirror to function as a room mirror even when the liquid crystal screen fails, but here it is a camera image display device as a normal liquid crystal screen An example will be described.

  In order to display an image on the rear-view display 4, the rear-view display display processing unit 2 is provided, and the camera-captured image capture unit 6 therein captures the rear-view camera 1 that captures a range of about 180 ° behind the vehicle. The image is imported. The obstacle detection unit 7 in the rear-view display display processing unit 2 performs processing for detecting an obstacle that is an obstacle to the vehicle in the image based on the image captured by the camera-captured image capturing unit 6. When detecting this obstacle, for example, as shown as a predetermined obstacle display range in FIG. 1 (b), a range that is likely to be an obstacle for a car is set in a wide area photographed by a rear-view camera. Then, the obstacle detection predetermined range obstacle detection unit 8 in FIG. 1A detects an object that is currently an obstacle to the running of the vehicle or an object approaching the vehicle in the range.

  The obstacle detection specific range obstacle detection unit 9 is a range narrower than the obstacle display predetermined range of FIG. 1B detected by the obstacle display predetermined range obstacle detection unit 8 in FIG. The obstacle warning specific range as shown is set, and it is detected whether or not there is an obstacle in this range. When there is an obstacle warning, the obstacle warning output unit 3 displays that fact on the backsight display 4, A warning sound is emitted from the speaker 5.

  The rear-view camera captured image display processing unit 10 forms an image for displaying on the rear-view display 4 images corresponding to various conditions of the vehicle from the images captured by the camera captured image capturing unit 6. The rear-view camera image display processing unit 10 includes a display range setting unit 11, and the display range setting unit 11 includes a normal display range setting unit 12 and an obstacle display specific range setting unit. In the normal display range setting section 12, as shown as the normal photographing display range in FIG. 1B, and as shown in more detail in FIG. 3, a range comparable to the range projected by a conventional regular room mirror is set. . Therefore, a normal image as shown in FIG. 6B is displayed in the normal running state.

  In the obstacle display specific range setting unit 13, the obstacle detection predetermined range shown in FIG. 3A is set in the obstacle display predetermined range obstacle detection unit 8 in the obstacle detection unit 7. When the child A approaching and the approaching pedestrian B is detected, the obstacle detection specific range setting unit 13 sets an obstacle detection cutout range that is a minimum range in which the pedestrian B can also display. . As a result, the rear-view camera-captured image display processing unit 10 displays a minimum image for displaying a pedestrian as shown in FIG. 3B, so that the driver can visually recognize the dangerous state at the rear of the vehicle. can do.

  The rear shot image output unit 14 outputs and displays the image processed by the rear view camera shot image display processing unit 10 on the rear view display 4 provided at the conventional rearview mirror position as described above. In the obstacle warning output unit 3, the obstacle detection unit 7 within the obstacle display predetermined range within the obstacle display predetermined range as shown in FIG. When the child A riding a tricycle as shown in the figure is detected within the obstacle warning specific range, the rear-view display 4 is displayed as being dangerous as described above, or is replaced with the display, or the speaker is displayed together with the display. 5 outputs a warning sound.

  In the present invention composed of the functional blocks as described above, for example, it can be implemented by an operation flow as shown in FIG. In the example of the rear-view camera captured image room mirror position display process shown in FIG. 2, the rear of the vehicle is first photographed by the camera, and the normal display range is displayed on the rear-view display at the room mirror position (step S1). In this process, the captured image of the rear-view camera 2 is captured by the camera-captured image capture unit 6 in the in-vehicle display display processing unit 2 of FIG. 1, and the rear-view camera captured image display processing unit 10 displays based on the captured image. An image of a range during normal driving set by the normal display range setting unit 12 in the range setting unit 11 is displayed.

  Next, a specific obstacle recognition process is performed within a predetermined obstacle display range based on the photographed image (step S2). This processing is performed in the obstacle detection predetermined range within the obstacle display in the obstacle detection unit 7 of FIG. 1 within the predetermined obstacle display predetermined range as shown in FIG. A process of detecting an object that is likely to become an obstacle such as pedestrian B approaching in the traveling direction is performed. Various techniques have been proposed for such obstacle detection processing, and the presence of an object moving in the direction of the host vehicle in two images at different times even though the vehicle is stopped. Can be detected. In addition, when an object is originally stopped even when the host vehicle is moving, the change in the two images at different times has undergone a predetermined movement, whereas the moving object is There are various techniques such as detecting an obstacle by detecting that a different image is formed. Further, there is a method for detecting the shape of an obstacle and detecting whether the obstacle is compared with data stored in advance. Various techniques for detecting obstacles in more detail have been proposed and implemented, such as detecting whether an object that may be an obstacle is a three-dimensional object with a height higher than a predetermined level.

  In step S2, after detecting whether an obstacle exists within the predetermined obstacle display predetermined range set in advance by various methods as described above, in step S3, the specific obstacle is displayed in the obstacle display predetermined range of the photographed image. It is determined whether or not an object has been recognized. As a result of the determination, when the obstacle is not recognized, the process returns to step S1 and the operation is repeated. When it is determined in step S3 that a specific obstacle has been recognized, it is determined whether or not the obstacle exists in a specific range where a warning needs to be output (step S4). This processing is performed in the obstacle detection specific range obstacle detection unit 9 in FIG.

  When it is determined in step S4 that the warning needs to be output, that is, when it is detected that the child A riding the tricycle is within the obstacle warning specific range as shown in FIG. A warning is output that there is a dangerous obstacle behind (step S5). In this operation, when the obstacle detection unit 9 within the obstacle warning specific range in FIG. 1 detects an obstacle, the obstacle warning output unit 3 displays the fact on the rear-view display 4 by the signal, or a speaker. A warning is issued from 5 to the driver by voice or beep.

  Thereafter, when it is determined in step S4 that it is not necessary to output a warning, the process proceeds to step S6, where an image of a range where an obstacle enters is cut out and displayed on the backsight display. In this operation, in the obstacle display specific range setting unit 13 of the display range setting unit 11 in FIG. 1, for example, a predetermined range which is the minimum range in which the pedestrian B as an obstacle in FIG. This is done by setting as a range and cutting out this part of the image.

  Next, it is determined whether or not a warning is being given to an obstacle (step S7). If it is determined that a warning is being given, it is determined whether or not the obstacle is outside a specific range for warning (step S8). Here, when it is detected that the obstacle has moved out of the specific range by moving in the direction outside the specific range, the warning output is stopped (step S9), and the process returns to step S3 to enter the specific obstacle display within the predetermined range. It is discriminated whether or not it is recognized, and the above operation is repeated thereafter.

  When it is determined in step S7 that the obstacle is not being warned, that is, when it is determined in step S4 that there is no obstacle in the specific range where the warning needs to be output, the obstacle is displayed in the obstacle display predetermined range. It is determined whether or not it is outside (step S10). Here, when it is determined that the obstacle has not yet fallen outside the obstacle display predetermined range, the process returns to step S4 to determine whether or not the obstacle is in a specific range where a warning needs to be output. Repeat the above operation. When it is determined in step S10 that the obstacle is outside the predetermined obstacle display range, the process returns to step S1 to return to the process of photographing the rear of the vehicle with the camera and displaying the normal display range at the room mirror position. Repeat the above operation.

It is a functional block diagram of the Example of this invention. It is an operation | movement flowchart of the Example. (A) is a figure which shows the various ranges of the picked-up image set in this invention, (b) shows the example of the normal display image in an image display apparatus, (c) shows the example of the display image at the time of an obstacle detection. FIG. It is a figure which shows the example which attached the backsight camera image display apparatus to the room mirror position. It is a figure which shows the visual recognition range of the conventional room mirror. It is explanatory drawing of the various display examples of the conventional room mirror.

Explanation of symbols

1 Rear-view camera
2 Rear-view display processing unit 3 Obstacle warning output unit 4 Rear-view display 5 Speaker 6 Camera captured image capture unit 7 Obstacle detection unit 8 Obstacle display within predetermined range Obstacle detection unit 9 Obstacle warning within specific range Object detection unit 10 Rear-view camera captured image display processing unit 11 Display range setting unit 12 Normal display range setting unit 13 Obstacle display specific range setting unit 14 Rear captured image output unit

Claims (4)

A camera-captured image capturing unit that captures an image of a rear-view camera that captures the rear of the vehicle;
An obstacle detection unit for detecting an obstacle within a predetermined obstacle display predetermined range in the captured image;
When an obstacle is detected by the obstacle detection unit, an image in a range in which the obstacle is displayed is displayed, and when no obstacle is detected, an image range in the same range as a preset room mirror is displayed. A rear-view camera shot image display processing unit;
A rear-viewer image output unit that includes a rear-shot image output unit that displays and outputs an image from the rear-view camera-captured image display processing unit on a rear-view display provided at a rearview mirror position of the vehicle. Display device. When an obstacle warning specific range is set within the obstacle display predetermined range and the obstacle is detected, it is detected whether the obstacle exists in the obstacle warning specific range. With a detector
2. The rearview mirror position rear-view camera image display device according to claim 1, wherein a warning is output when an obstacle is detected by the obstacle detector within the obstacle warning specific range.   2. The rearview mirror position rear-view camera according to claim 1, wherein the image in the range in which the obstacle is displayed is an image in the minimum range in which the obstacle corresponding to the position where the obstacle is detected is displayed. Image display device.   2. The rear-view mirror-position rear-view camera image display device according to claim 1, wherein a mirror that forms a mirror when an image is not displayed is formed on the rear-view display surface.

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