JP2010234857A - Display device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a display device for a vehicle which gives such display so that a driver can easily recognize objects surrounding a vehicle to which attention should be paid and whose cost can be reduced. <P>SOLUTION: The display device for the vehicle includes: a camera 12 which photographs an original image (actual image) around the a vehicle; a sonar sensor 11 which detects an object around the vehicle; an arithmetic unit 10 which calculates positional information including a distance and an angle of the object to the vehicle from the information of the image photographed by the camera 12 or information concerning the object detected by the sonar sensor 11; a display 20 on which the actual image (original image) around the vehicle is not displayed but the positional information calculated by the arithmetic unit 10 is displayed to enable the driver to recognize it; and a control device 1 which displays a predetermined mark made to correspond to the object at a position on the display screen 21 of the display 20 based on the positional information. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a vehicle display device that displays a situation around a vehicle.

  Conventionally, a vehicle display that supports driving by highlighting an original image displayed on a display by extracting an object such as a pedestrian that affects driving of the vehicle from an image in front of the vehicle captured by a camera As an apparatus, for example, an apparatus described in Patent Document 1 is known.

  In the vehicle display device described in Patent Document 1, two infrared images are acquired from two infrared cameras, and the horizontal position of an object such as a pedestrian on the two images is shifted to the object. The distance is calculated. A reference image is set out of the two images, and the density value of the image signal of the reference image is statistically processed to calculate the contrast of the reference image. When this contrast is equal to or higher than a predetermined value, binarization processing of the reference image is performed, and the binarized image data is converted into run-length data. The target object is extracted by labeling the target object from the image data converted into the run-length data. Next, a time tracking process for calculating the center of gravity, area, and circumscribed rectangle of the extracted object and recognizing the same object for each sampling period is performed. And, through the turning correction process for correcting the positional deviation on the image due to the turning of the host vehicle, the alarm determination process for determining the possibility of collision with the object, the image obtained by the infrared camera, An emphasis frame for emphasizing the object is displayed on the display.

JP 2004-364112 A

  In the above-described prior art, since various image processing is performed on a captured image, the processing amount of the image is increased, and a control device such as a microcomputer needs a certain processing capability. In addition, in order to display an emphasis frame or the like on an actual video, a multi-function, multi-gradation display, a high-performance camera, and the like are required, which increases the cost of the system related to the vehicle display device. . Moreover, although there is reality in an actual image, there is a large amount of information depending on the situation, and the driver may not be able to recognize an object to be noted such as a pedestrian in a short time.

  Accordingly, the present invention has been made in view of the above-described problems, and an object of the present invention is to provide a display that allows the driver to easily recognize an object to be noted around the vehicle and reduce the cost. It is to provide a display device.

The present invention employs the following technical means to achieve the above object. That is, the invention according to claim 1 is an invention relating to a vehicle display device that displays a situation around the vehicle,
The distance and direction of the object with respect to the vehicle are determined from the information about the object around the vehicle acquired by at least one of the image pickup means for picking up an image around the vehicle and the object detection means for detecting an object existing around the vehicle. Computing means for calculating location information including;
A display unit that is displayed so that the driver recognizes the position information calculated by the calculation unit without displaying the original image captured by the imaging unit;
Display control means for displaying a predetermined mark associated with the object on the display unit based on the position information.

  According to this invention, the actual image is not displayed on the display unit, and the position information of the target object calculated by the calculation unit is displayed in a recognizable manner by the driver, whereby the information displayed on the display unit is displayed. Since the amount is small, it is possible to provide a vehicle periphery display that allows the driver to easily recognize the object. In addition, by displaying a predetermined mark associated with the object in a recognizable manner on the display unit according to the position information, what kind of object is present and where the object is present with respect to the vehicle Can be presented with a small amount of information and with a small amount of information. Accordingly, it is possible to provide a display with high discriminability of the object to the driver, reduce the number of parts constituting the device and the cost, and provide an inexpensive safety device. Here, the object should be noted by the driver around the vehicle, such as people, animals, vehicles, luggage, trees, and other obstacles existing around the vehicle.

The invention according to claim 2 is the invention according to claim 1, wherein the display unit is a display, the predetermined mark is a mark associated with an object to be detected,
The display control means displays a predetermined mark at a corresponding position on the display based on the position information.

  According to the present invention, the actual image is not displayed on the display, and the object is displayed at the position on the display corresponding to the position information with the predetermined mark that can recognize what the object is. Thus, the driver can easily determine the type of the object and the position of the object with respect to the vehicle according to the place where the predetermined mark on the display is displayed. Therefore, the object discriminability of the driver can be ensured by simple information presentation by the position on the screen and the mark display.

  According to a third aspect of the present invention, in the second aspect of the present invention, the display control means displays a predetermined mark upward on the display as the distance of the object in the position information increases from the vehicle. It is characterized by.

  According to the present invention, an object having a distance from the vehicle is displayed in the upward direction on the display. As a result, the driver can determine at a glance that the lower the mark on the display is, the closer the object is to the vehicle, without staring at the display, which is reflected quickly in the driving operation. be able to.

In the invention according to claim 4, in the invention according to claim 3, a coordinate plane in which the coordinate interval in the upper part is denser than the lower part is set on the display.
The display control means further displays a predetermined background display according to the coordinates of the coordinate plane on the display as the background of the predetermined mark.

  According to this invention, the predetermined background display displayed as the background of the predetermined mark is displayed on the display so as to express the depth. By this background display, the driver can recognize the object displayed on the display with a sense of perspective, and the driver's object discrimination can be improved.

  According to a fifth aspect of the present invention, in the invention according to any one of the second to fourth aspects of the present invention, the display control means is configured to display the predetermined mark as the distance of the object in the position information increases from the vehicle. Is displayed in a small size on a display.

  According to the present invention, the smaller the mark displayed on the display, the more the object is from the vehicle. Thus, the driver can determine that the larger the mark displayed on the display is, the closer the object is to the vehicle, without reflecting on the display, and can quickly reflect it on the driving operation.

  According to a sixth aspect of the present invention, in the invention according to any one of the second to fifth aspects, the display control means is configured to display a trajectory along which the vehicle travels based on the vehicle width and the steering angle of the steering wheel. The predicted expected route is displayed on a display.

  According to the present invention, since the type of the object and the position of the object with respect to the vehicle are displayed on the display together with the expected course of the vehicle, the relationship between the vehicle and the object that can occur ahead is shown to the driver. Can inform and assist driving operation.

  According to a seventh aspect of the invention, in the invention according to any one of the second to sixth aspects of the invention, when it is determined that the object is moving over time, the display control means is displayed on the display. The moving direction of the object is displayed.

  According to the present invention, the type of the object, the position of the object with respect to the vehicle, and the direction in which the object moves are displayed on the display. You can inform the relationship and support driving operations.

  The invention described in claim 8 is characterized in that, in the invention described in claim 1, the display unit is a digital display part in the vehicle instrument. According to this invention, it is possible to display a predetermined mark such as a predetermined symbol or number in association with the type of object and position information on the digital display portion. As a result, the driver can know the type, position, etc. of the object by looking at predetermined marks (symbols, numbers, etc.) displayed on the digital display portion. Therefore, the driver's object discrimination can be ensured by simple information presentation that does not take place.

  The invention according to claim 9 is the invention according to claim 1, wherein the predetermined mark is configured by a predetermined light emitting diode that emits light in association with position information of the object. .

  According to the present invention, it is possible to notify the driver of the type of the object and the position information of the object by the light emission form of the light emitting diode. As a result, for example, the driver's object discrimination can be easily ensured by the light emission color of the light emitting diode, the timing of light emission, the number of light emitting diodes emitted, and the like.

It is a block diagram which shows schematic structure of the display apparatus for vehicles of one Embodiment which concerns on this invention. It is a flowchart performed in the target object display control of 1st Embodiment. It is a 1st example of a display when target object display control is performed. It is a 2nd example of a display when target object display control is performed. It is a 3rd example of a display when target object display control is performed. It is a 4th example of a display when target object display control is performed. It is a 5th example of a display when target object display control is performed. It is a 6th example of a display when target object display control is performed. It is a 7th example of a display when target object display control is performed. It is an 8th example of a display when target object display control is performed. It is a ninth display example when the object display control is executed. It is a 10th display example when target object display control is performed. It is a flowchart performed in the object display control of 2nd Embodiment. It is a front view which shows the digital display part in which the information regarding a target object is displayed in 2nd Embodiment. It is the example of a display displayed on a digital display part, Comprising: It is the predetermined | prescribed display example showing the direction (position of a vehicle width direction) with respect to the vehicle of a target object. It is the example of a display displayed on a digital display part, Comprising: It is a predetermined display example showing the distance with respect to the vehicle of a target object. It is the example of a display displayed on a digital display part, Comprising: It is the predetermined display example showing the magnitude | size of a target object. It is a flowchart performed in the object display control of 3rd Embodiment.

  A plurality of modes for carrying out the present invention will be described below with reference to the drawings. In each embodiment, parts corresponding to the matters described in the preceding embodiment may be denoted by the same reference numerals, and redundant description may be omitted. When only a part of the configuration is described in each mode, the other modes described above can be applied to the other parts of the configuration. Not only combinations of parts that clearly show that combinations are possible in each embodiment, but also a combination of the embodiments even if they are not clearly shown unless there is a problem with the combination. It is also possible.

(First embodiment)
The display device for a vehicle according to the present invention can display a surrounding situation of the vehicle and can assist a driving operation by visually recognizing the situation around the vehicle where the driver is displayed. 1st Embodiment which is one Embodiment of this vehicle display apparatus is described with reference to FIGS. FIG. 1 is a configuration diagram showing an example of a schematic configuration of a vehicle display device. As shown in FIG. 1, the display device for a vehicle includes a camera 12 that captures an image in front of the vehicle, a sonar sensor 11 that detects an object that is present in the vicinity of the vehicle and that should be careful of traveling of the vehicle, and positional information about the object. , A display 20 on which the object is displayed in a recognizable manner by the driver, and a control device 1 that controls the display form of the object on the display 20. It should be noted that the object should be noted by the driver in driving the vehicle such as people, animals, vehicles, luggage, trees, and other obstacles existing around the vehicle.

  Control for enabling the display of an object on a display unit such as the display screen 21 of the display 20 (hereinafter also referred to as object display control) is performed when the ignition switch is in an ON state or when the operation switch unit 2 is operated. This is when the execution command of the object display control is sent to the control device 1. The operation switch unit 2 sets the display screen 21 of the display 20 to a state in which an object around the vehicle can be displayed (hereinafter also referred to as an execution state of the object display control), or other information to be displayed on the display 20. It is a switch operated by the occupant for setting. The operation switch unit 2 is a switch that is also operated when setting the operating state of the various control devices 7. A setting signal output from the operation switch unit 2 is input to the control device 1.

  The steering sensor 3 includes an optical rotation sensor and a rotation resistance volume attached to the rotating part of the steering wheel, an angle sensor attached to the wheel part, and the like, and detects the steering angle of the steering wheel. A signal detected by the steering sensor 3 is input to the control device 1. The distance sensor 4 includes a sensor that detects and measures the number of rotations of the wheel, a sensor that detects acceleration and integrates twice, and other measuring devices, and detects the travel distance of the vehicle. A signal detected by the distance sensor 4 is input to the control device 1. The gyro sensor 5 includes a gas rate gyro, a vibration gyro, or the like that detects the rotational angular velocity of the vehicle and integrates the angular velocity to obtain the relative orientation of the vehicle. A signal detected by the gyro sensor 5 is input to the control device 1.

  A vehicle-mounted in-vehicle LAN (Local Area Network) 6 functions as a transmission medium that is connected to the control device 1 and transmits information to the display 20. Various control devices 7 such as a skid prevention device, a driving support device, an engine control device, an in-vehicle navigation device, and a power supply control device are electrically connected to the in-vehicle LAN 6. Various control devices 7 can transmit / receive information to / from the in-vehicle LAN 6 and the control device 1. The operation of the various control devices 7 is set by the occupant operating the operation switch unit 2.

  The skid prevention device is a device that controls to keep the traveling direction of the vehicle when the skid of the vehicle is detected. The skid prevention device has a rotation angle sensor that detects the rotation angle of each wheel, calculates the rotation speed of each wheel using the detection results of these rotation angle sensors, and further multiplies the kinematic radius of the wheel. Calculate the running speed of the vehicle. The skid prevention device outputs the calculated vehicle speed value related to the traveling speed of the vehicle to the in-vehicle LAN 6. The driving support device is a device that supports the driving operation of the driver related to traveling of the vehicle. The driving support device has a lane keeping function for making the traveling direction of the vehicle follow the white line or the yellow line drawn on the road or assisting the tracking, and a vehicle speed control function for controlling the traveling speed of the vehicle. When the lane keeping function is activated, the driving support device calculates a target steering force and outputs the calculated steering force to the in-vehicle LAN 6, and when the in-vehicle speed control function is activated, acquires the vehicle speed value output by the skid prevention device from the in-vehicle LAN 6. Then, the target acceleration / deceleration is output to the in-vehicle LAN 6.

  The engine control device is a device that controls an operating state of an engine mounted on the vehicle. The engine control device acquires the target acceleration / deceleration output to the in-vehicle LAN 6 by the vehicle speed control function of the driving support device, and controls the driving force by changing the intake air amount and the fuel amount supplied to the engine. Information for notifying the operation of the vehicle speed control function is output to the in-vehicle LAN 6. The in-vehicle navigation device is a route guidance device that guides a route to a destination set by a vehicle occupant. The in-vehicle navigation device outputs current position information by the position detector, information on intersection guidance display processing, and the like to the in-vehicle LAN 6. The power supply control device will be described. The power supply control device is a device that includes a microcomputer and integrally controls power supplied to each device mounted on the vehicle. The power supply control device is electrically connected to a battery, an ignition switch, an ignition relay, an engine control device, and the like. The power supply control device detects the operation of the ignition switch by the driver, applies a voltage to the ignition relay, and puts the ignition relay into an energized state. The power supply control device outputs information related to the ON / OFF state of the ignition of the vehicle to the in-vehicle LAN 6 based on the detected operation of the ignition switch by the driver.

  The warning indicator lamp 8 is an indicator lamp that is arranged on an instrument panel or the like in the vehicle including the display 20 and lights up or flashes. When the object is approaching within a predetermined distance around the vehicle, the driver is notified. It is a device that visually warns against. The control device 1 outputs a driving signal for lighting to the warning indicator lamp 8. The speaker 9 is a device that issues a warning by voice to the driver when an object is approaching the vicinity of the vehicle within a predetermined distance. The control device 1 outputs a drive signal to the speaker 9.

  The camera 12 is provided on the rear side of the rear-view mirror on the front side of the vehicle, on the lower side of the door mirror on the side of the vehicle, and on the upper side of the bumper on the rear side of the vehicle. This is a wide-angle imaging unit that captures an image around the vehicle over a wide range. The camera 12 of the present embodiment is composed of an infrared camera, and in accordance with a signal supplied from the arithmetic device 10 or the control device 1, infrared light having a wavelength longer than visible light (for example, near infrared light having a wavelength of 780 nm to 1500 nm). The area in front of the vehicle including the irradiation range is taken. The camera 12 captures light from the area in front of the vehicle, cuts light in the visible area from the captured light with a filter, and displays the intensity of light in the infrared area reflected from the area in front of the vehicle as a black and white image. Convert to signal. This video signal is input to the arithmetic unit 10.

  The sonar sensor 11 is a target detection unit that detects a distance from the vehicle and detects a target around the vehicle, and inputs a detection signal to the arithmetic device 10. The sonar sensor 11 is composed of, for example, an ultrasonic sensor that transmits ultrasonic waves, and outputs a signal corresponding to the relative position of the object when the object exists around the vehicle. The output signal is input to the arithmetic unit 10. A predetermined number of sonar sensors 11 are arranged at the same position as the camera 12, and are embedded in, for example, the outer surface of the vehicle so that the detection part is exposed.

  The arithmetic unit 10 can detect position information including the distance of the object from the vehicle and the direction of the object with respect to the vehicle from the information regarding the object detected by the sonar sensor 11. Moreover, the arithmetic unit 10 can detect position information including the direction of the object with respect to the vehicle from information on an image captured by the camera 12. The arithmetic device 10 can detect position information including the direction of the object relative to the vehicle from both the information on the image and the information on the object. The detected position information of the object is important information used when the object is displayed on the display 20.

  The arithmetic device 10 includes a read-only memory (abbreviated as ROM) in which an arithmetic program and the like are stored, a random access memory (abbreviated as RAM) that functions as a calculation work area, It has. A plurality of predetermined marks are stored in the ROM. The predetermined mark stored in advance in the ROM is a predetermined mark associated with an object detected around the vehicle. This predetermined mark is a schematic mark and does not have a complicated shape. For example, when a person is detected as an object, the character “person” or a mark resembling the shape of a person may be used. The idea of displaying an object with a schematic mark is the same when the object is an animal, vehicle, luggage, tree, or the like other than a person. By storing such a predetermined mark in advance according to the type of the object, a mark with a small memory amount is pasted at a position corresponding to the position information on the display unit without displaying an actual image. In addition to suppressing the processing capability, it is possible to provide a display that can easily recognize the object.

  The control device 1 receives signals from the in-vehicle LAN 6 and various control devices 7, executes a predetermined calculation, and outputs an image based on the calculation result to the display screen 21. The control device 1 includes a ROM that stores calculation programs and the like, and a RAM that functions as a calculation work area. The control device 1 executes a program stored in the ROM. The control device 1 reads information that is necessary when executing the program and is temporarily stored in the RAM or the like.

  The control device 1 controls the timing and position at which the generated image should be displayed on the display 20. The control device 1 also functions as a display control unit that controls an image displayed on the display 20. This display control means displays an actual image (original image) or a predetermined mark associated with the object detected by the sonar sensor 11 at a corresponding position on the display 20 according to the position information obtained by the arithmetic device 10. To do. The control device 1 is also a drawing unit that outputs an image drawn on the display 20. The control device 1 receives signals from the steering sensor 3, the distance sensor 4, the gyro sensor 5, and a calculation result related to the object display control from the calculation device 10, draws an image based on the calculation result, and displays it on the display screen 21. Output. The control device 1 generates a predetermined image based on a generation instruction for generating a predetermined image given from the arithmetic device 10. Therefore, the control device 1 and the arithmetic device 10 function as image generation means for generating an image.

  The display 20 is a device that displays the position information of the object calculated by the arithmetic device 10 so that the driver can discriminate it without displaying an actual image (original image) captured by the camera 12. The display 20 includes a backlight 22 on the back side in the display direction, and displays the display screen 21 by emitting light through transmission from the back side. When the display 20 is in an execution state of the object display control, an image for displaying objects around the vehicle is displayed.

  The display 20 is an STN liquid crystal display capable of monochrome monochrome display. The display 20 may be a monochrome display type display such as a VFD or a monochrome organic EL, or a dot matrix type TFT transmissive liquid crystal panel having a plurality of pixels arranged in a matrix. The display 20 is disposed in front of the steering wheel or on a part of a vehicle instrument display panel disposed in the center of the dashboard.

  The display 20 may be a head-up display arranged on the windshield of the dashboard. According to this configuration, the driver can visually recognize the driver in a comfortable state such as looking at the front of the vehicle without turning his / her line of sight toward the front of the steering wheel. Further, the display 20 may be arranged in a posture standing on the dashboard and in the center in the vehicle width direction, or may be arranged on the liquid crystal display of the car navigation device.

  Next, the object display control will be described with reference to FIG. FIG. 2 is a flowchart executed in the object display control.

  The object display control is started when an operation condition is established when an ignition switch is turned on or when an operation command for object display control is sent to the control device 1 by an operation of the operation switch unit 2. When the object display control is started, in step 10, the arithmetic device 10 receives the detection signal of the sonar sensor 11 or the video signal of the camera 12, and thereby information on the object detected by the sonar sensor 11 and the camera. At least one of the information of the image captured by 12 is acquired. The acquisition of each information is executed at a predetermined interval (for example, every 50 msec), or is executed every time the moving distance of the object reaches a predetermined distance. Each process of step 20 to step 40 is performed.

  Next, in step 20, the arithmetic device 10 performs arithmetic processing for calculating position information including the position and direction of the object relative to the object and the vehicle from the video signal of the camera 12 and information related to the object by the sonar sensor 11. . This calculation process detects the presence of an object from the acquired information, identifies what the object is from a predetermined object type, and determines the distance from the vehicle of the object and the direction to the vehicle. calculate.

  As an example of a method for detecting an object from image information, there is a method based on pattern matching using a template by preparing a pedestrian template when the object is a pedestrian, for example. First, pedestrian candidate areas of a predetermined size are sequentially cut out from the image, and a matching degree between the template image and each cut out pedestrian candidate area image is obtained. If the matching degree is equal to or greater than the threshold, the pedestrian candidate is determined to be a pedestrian. At this time, a template for the entire pedestrian may be prepared, and the pedestrian may be detected by one-step pattern matching. Alternatively, a plurality of templates for partial features such as the pedestrian's head, legs, arms, and torso may be prepared, and the pedestrian may be detected by pattern matching in a plurality of stages.

  When detecting by multi-stage matching, pattern matching is performed for each pedestrian candidate at each stage, and only when the matching degree of each pedestrian candidate is equal to or higher than a threshold, the pedestrian candidate is If the matching level becomes equal to or greater than the threshold value at all stages, the pedestrian candidate is determined to be a pedestrian.

  Another method for detecting an object from image information is to detect a moving object that moves over time from the image information acquired by the camera 12 or the information about the object by the sonar sensor 11 as the object. It may be. That is, a plurality of pieces of information such as image information acquired at a predetermined time interval are compared, and an object moving between the plurality of pieces of information is detected. The object detected in this way is determined to be a target object.

  When a pedestrian (object) is detected in this way, the arithmetic unit 10 determines the distance and direction of the object from the vehicle, and the level value at which the vertical position of the object is separated from the reference position. It is calculated and further calculated by using a predetermined program in accordance with the separation level value. Further, the arithmetic unit 10 calculates a level value at which the position in the horizontal direction (vehicle width direction) in the image of the object is separated from the reference position, and the direction of the object with respect to the vehicle is determined according to the level value of the separation. Furthermore, it calculates | requires by calculating using a predetermined program. The calculation result obtained in this way is held as position information of the object, and is used for calculation of the display position on the display screen 21 of the display 20 in the next step 30.

  On the display screen 21, a virtual coordinate axis corresponding to a direction with respect to the vehicle is set in the horizontal direction, and a virtual coordinate axis representing a distance from the vehicle is set in the vertical direction. In other words, on the display screen 21 of the display 20, the distance from the vehicle of the object is set on the virtual vertical axis, and the direction of the object with respect to the vehicle is set on the virtual horizontal axis. In step 30, the arithmetic unit 10 performs a process of replacing the position information of the object calculated in step 20 with the virtual coordinate axis by an operation using a predetermined table. In step 30, the display position on the display screen 21 may be determined by so-called affine transformation. By performing such processing, the amount of data processing and the work area and time of data processing can be reduced.

  Further, in step 40, the arithmetic device 10 calculates a size when displaying a predetermined mark associated with the detected object on the display screen 21. The calculation of the size is performed by calculation using a predetermined program using the distance of the object from the vehicle and the vertical position in the original image. For example, the reference size of the predetermined mark is determined depending on the type of the object, and how far the object is from the reference distance with respect to the reference distance or the vertical position in the original image is The size of the predetermined mark is calculated according to how far away from the reference position in the direction.

  When the determination of the display mark of the target object and the determination of the position on the display screen 21 based on the position information are thus completed, the arithmetic unit 10 obtains the predetermined mark displayed as the target object obtained in step 30 and step 40. Then, image display information such as the display position of the object on the screen and the size of the predetermined mark is output as a display signal to the control device 1 (step 50). In step 60, the control device 1 draws the object on the display screen 21 of the display 20 based on the input information as a drawing unit, and the original image captured by the camera 12 is displayed on the display screen 21. Instead of being displayed, a schematic image in which information about the object stands out is displayed.

  When the process up to step 60 is executed, the process returns to step 10 and the processes up to step 60 are continuously executed, and the situation around the vehicle is continuously displayed on the display screen 21 of the display 20. Then, when the ignition switch is turned off, or when this control is canceled by the operation of the operation switch unit 2, this flowchart is terminated.

  By executing the above processing, as a simple object display for the driver, for example, images as shown in FIGS. 3 to 12 can be provided. Each of the display examples shown in FIGS. 3 to 12 is obtained by calculation processing by the calculation device 10.

  FIG. 3 shows a first display example of the object display. The first display example is a display example when the object is a person, and is an image that displays the object in a bird's-eye view from above the vehicle. Since the person mark 30 is on the left side of the vehicle and close to the vehicle, the person mark 30 is displayed on the left side and the lower side of the display screen 21. Since the person mark 31 is on the left side of the vehicle and is further away from the vehicle than the person mark 30, the person mark 31 is displayed on the right side and on the upper side of the display screen 21 with respect to the person mark 30. The human mark 30 and the human mark 31 are displayed in a dark color such as black, and the background 40 is displayed in a bright color such as white.

  FIG. 4 shows a second display example of the object display. The second display example is an example in which a sense of distance is expressed on the display screen 21 with respect to the first display example. In this second display example, the fact that the person mark 31 is located farther from the vehicle than the person mark 30 is expressed by drawing an auxiliary line 41, giving a sense of depth on the display screen 21. It is. This feeling of depth is achieved by performing so-called affine transformation by the arithmetic device 10.

  The auxiliary line 41 is a predetermined background display that is displayed as the background of the person marks 30 and 31 (predetermined marks). In this case, a coordinate plane is set on the display screen 21 of the display 20 so that the coordinate intervals in the upper part are denser than the lower part. The control device 1 displays the auxiliary line 41 on the display screen 21 of the display 20 according to the coordinates on the coordinate plane. Thus, the auxiliary line 41 is displayed so that the distance between the two lines becomes narrower toward the upper side of the display screen 21, and expresses a sense of distance and perspective given to the driver on the display screen 21.

  FIG. 5 shows a third display example of the object display. In the third display example, the person mark 31A is drawn with a size smaller than the person mark 30 so that the person mark 31A is further away from the vehicle than the person mark 30 with respect to the second display example. It is expressed by doing.

  FIG. 6 shows a fourth display example of the object display. In the fourth display example, the expected course line 42 of the vehicle is drawn with respect to the first display example. The expected course line 42 is an index that predicts the traveling locus of the traveling vehicle based on the vehicle width and the steering angle of the steering wheel, and is displayed on the display screen 21 with a line that is greatly different in brightness from the background 40. The arithmetic unit 10 calculates the traveling direction of the vehicle from the detection signal of the steering sensor 3 or the detection signal of the gyro sensor 5, calculates the traveling speed from the detection signal of the distance sensor 4, and uses these calculation results to calculate a predetermined program. Is calculated to obtain the expected course line 42. Driving the degree of danger by performing lighting or flashing with a warning indicator lamp 8 on the display screen 21 or warning by a speaker 9 when there is an object near the expected route 42 or according to the degree of approach of the object You may make it notify a person.

  FIG. 7 shows a fifth display example of the object display. In the fifth display example, instead of the auxiliary line 41, the predicted course line 42 of the vehicle similar to the fourth display example is drawn with respect to the second display example. FIG. 8 shows a sixth display example of the object display. In the sixth display example, instead of the auxiliary line 41, the expected course line 42 of the vehicle similar to that in the fourth display example is drawn with respect to the third display example.

  FIG. 9 shows a seventh display example of the object display. In the seventh display example, information related to the posture and height of the target person is displayed with respect to the sixth display example. The person mark 32 is a person standing sideways with respect to the vehicle. When the arithmetic device 10 determines that the candidate object is a horizontal person from the degree of matching between the shape of the target object on the image and the predetermined template, the target object is displayed by the corresponding predetermined person mark 32. Draw on the screen 21. The person mark 33 that is further away from the vehicle than the person mark 32 is a person in a posture of squatting toward the road surface. If the arithmetic device 10 determines that the candidate object is a person in a squatting posture from the degree of matching between the shape of the object image on the image and the predetermined template, the predetermined object mark 33 corresponding to the object object is determined. To draw on the display screen 21. The person mark 34 that is further away from the vehicle than the person mark 33 is a person lying on the road surface. When the arithmetic device 10 determines that the candidate object is a person lying on the basis of the degree of matching between the shape of the target object on the image and the predetermined template, the target object is indicated by the corresponding predetermined person mark 34. Commands the control device 1 to draw on the display screen 21. By displaying the object with such a mark, the driver can intuitively recognize the state of the person from the shape of the displayed mark.

  FIG. 10 shows an eighth display example of the object display. The eighth display example displays information on a person moving in a certain direction with respect to the sixth display example. The person mark 31A is moving sideways with respect to the vehicle. When the arithmetic device 10 determines that the object is moving with time, the arithmetic device 10 displays the moving direction of the object on the display screen 21 of the display 20 with an arrow or the like on the control device 1. Command. The control device 1 displays an arrow 43 directed in the direction in which the person mark 31A travels so as to be adjacent to the person mark 31A.

  FIG. 11 shows a ninth display example of the object display. In the ninth display example, information (tree, car) related to an object other than a person is also displayed with respect to the sixth display example. The tree mark 35 is a tree located farther from the vehicle than the person mark 30. If the arithmetic device 10 determines that the object candidate is a tree from the degree of matching between the shape of the object on the image and the predetermined template, the display screen 21 displays the object with the corresponding predetermined tree mark 35. Command control device 1 to draw on top. The car mark 36 is a car located farther from the vehicle than the person mark 30. When the arithmetic device 10 determines that the candidate object is a car from the degree of matching between the shape of the object on the image and the predetermined template, the display screen 21 displays the target object with the corresponding predetermined car mark 36. Command control device 1 to draw on top. By distinguishing and displaying the type of the object by such a mark, the driver can intuitively recognize what the object is from the shape of the displayed mark.

  FIG. 12 shows a tenth display example of the object display. The tenth display example is drawn opposite to the sixth display example on the display screen 21 with a high lightness portion and a low lightness portion, and is a display form used at night when the outside of the vehicle is dark. is there. That is, FIG. 12 is a screen displayed by inverting black and white with respect to FIG. Needless to say, this black-and-white reversal display can be applied to display examples other than FIG.

  The effect which the display apparatus for vehicles of this embodiment brings is described. The vehicle display device includes a camera 12 (imaging unit) that captures an actual image around the vehicle, a sonar sensor 11 (object detection unit) that detects an object existing around the vehicle, and a camera 12. Taken by the camera 12 and the arithmetic device 10 for calculating position information including the distance and direction of the object relative to the vehicle from at least one of the information on the image captured by the sensor and the information on the object detected by the sonar sensor 11. The display 20 (display unit) displayed so that the driver can recognize the position information calculated by the arithmetic device 10 without displaying the actual image, and a predetermined mark associated with the object is positioned. And a control device 1 (display control means) for displaying at a position on the display screen 21 of the display 20 based on the information.

  According to this configuration, the actual image (original image) is not displayed on the display 20, and the position information of the object calculated by the arithmetic device 10 is displayed so that the driver can recognize it. As a result, the amount of information displayed on the display 20 is small, and it is difficult for the object to be seen and difficult to discriminate due to the actual image being displayed, so that the driver can easily recognize the object. Can do. In addition, the predetermined mark associated with the object is displayed on the display 20 based on the position information, so that the driver can reduce the type of the object, the distance and direction of the object with respect to the vehicle with a small amount of information. Can be acquired. Further, according to such simple information display around the vehicle, display capabilities such as color, pixel, resolution, gradation, etc. of the display unit can be suppressed to a low level. Accordingly, it is possible to provide a driver with high discriminability of an object and to reduce the number of parts and the cost, thereby providing an inexpensive safety device and a device having excellent spreadability that can be mounted on a small passenger car or the like. be able to.

  In addition, the calculation device 10 calculates the position information of the object and determines the display form on the display screen 21 based on the type and position information of the object, and outputs the result to the control device 1. Since the arithmetic device 10 is a separate device from the control device 1 that draws on the display 20, it is possible to reduce the arithmetic load and arithmetic work area required for image display of the control device 1. That is, by installing such an arithmetic device 10, it is possible to provide an inexpensive device that can ensure desired traveling safety by simple display.

  Further, the process of calculating the position information including the distance and direction of the object is executed at a predetermined interval (for example, every 50 msec), and the object associated with this process is displayed on the display 20. In this case, it is possible to provide an apparatus that can easily return to a normal state when communication of each device is interrupted, data communication is lost, screen display fails, or the like.

  Further, the process of calculating the position information including the distance and direction of the object is executed every time the moving distance of the object reaches a predetermined distance, and the display 20 displays the object associated with this process. . In this case, the communication load and the calculation load of the calculation device 10 can be reduced.

  The display unit on which the object is displayed is the display 20, the predetermined mark is a mark associated with the object to be detected, and the control device 1 displays on the display screen 21 of the display based on the position information. A predetermined mark is displayed at a corresponding position.

  According to this configuration, the actually captured original image is not displayed on the display 20, and the predetermined mark for recognizing what the object is is on the display screen 21 of the display corresponding to the position information. Displayed in position. Thus, the driver can easily determine the type of the object and the position of the object with respect to the vehicle according to the place where the predetermined mark on the display 20 is displayed. Therefore, it is possible to ensure the driver's object discrimination by simple information presentation.

  Further, the control device 1 displays a predetermined mark on the display screen 21 of the display 20 upward as the distance of the object in the position information increases from the vehicle. According to this configuration, an object farther from the vehicle is displayed on the upper side of the display screen 21. Thus, the driver can determine at a glance that the lower the mark on the display screen 21 is, the closer the object is to the vehicle, without staring at the display screen 21, and a quick driving operation can be performed. .

  In addition, the control device 1 has a higher coordinate interval in the upper part than the lower part set on the display screen 21 as the background of the predetermined mark (object) displayed on the display screen 21 of the display 21. An auxiliary line 41 (predetermined background display) is displayed on the display screen 21 in accordance with the coordinate plane.

  According to this configuration, the auxiliary line 41 displayed as the background of the predetermined mark is displayed on the display screen 21 of the display 21 so as to express the depth. By this background display, the driver can quickly and clearly recognize the position of the object displayed on the display screen 21 with perspective.

  Further, the control device 1 displays a predetermined mark on the display screen 21 of the display 20 smaller as the distance of the object in the position information is farther from the vehicle. According to this configuration, the smaller the mark displayed on the display screen 21 is, the farther the object is from the vehicle. As a result, the driver can quickly determine that the larger the mark displayed on the display screen 21 is, the closer the object is to the vehicle, and the quicker driving operation without staring at the display screen 21.

  Further, the control device 1 displays on the display screen 21 of the display 20 the predicted route line 42 that predicts the trajectory of the vehicle traveling based on the vehicle width of the vehicle and the steering angle of the steering wheel. According to this configuration, since the type of the object and the position of the object with respect to the vehicle are displayed on the display screen 21 together with the expected course line 42 of the vehicle, the driver has a relationship with the vehicle and the object that can occur in the future. Can be sensed sensibly, contributing to quick driving operations.

  When the arithmetic device 10 determines that the object is moving with time, the control device 1 displays the moving direction of the object on the display screen 21 of the display 20. According to this configuration, the display screen 21 displays the type of the object, the position of the object with respect to the vehicle, and the direction in which the object moves. Because you can know the relationship sensuously, you can contribute to quick driving.

  The display 20 is provided on a part of the instrument display board. According to this configuration, the driver can check the display image without moving the line of sight with a sense of looking at the meter by arranging the image behind the vehicle so as to overlap the meter of the vehicle.

  The display 20 is controlled by a control device that controls the operation of the instrument display panel, and the display 20 is provided on a dashboard in the vehicle interior. According to this configuration, by arranging the image behind the vehicle at a position close to the eye level of the driver, the driver can check the display image without moving the line of sight greatly.

(Second Embodiment)
In the second embodiment, another form of object display control according to the first embodiment will be described with reference to FIGS. FIG. 13 is a flowchart executed in the object display control of this embodiment. FIG. 14 is a front view showing a digital display portion 50 (a portion in a frame shown in FIG. 14) on which information on the object is displayed. FIG. 15 is a predetermined display example showing the direction of the object relative to the vehicle (position in the vehicle width direction) displayed on the digital display portion 50. FIG. 16 is a predetermined display example showing the distance of the object to the vehicle. FIG. 17 is a predetermined display example showing the size of the object.

  In this object display control, the arithmetic unit 10 does not assign and display the detected object and the position information of the object to the virtual coordinates on the display screen 21 of the display 20, but information on the detected object. Is displayed on the digital display portion 50 of the vehicle instrument. The digital display portion 50 is a portion that is visually recognized by the driver by forming numerical values, symbols, and the like by illumination. That is, each type of object (person, animal, vehicle, luggage, tree, other obstacle) has a predetermined digital display mark associated therewith, and the position information of the object includes the object from the vehicle. There is a predetermined mark by digital display associated with each predetermined distance. All these predetermined marks are stored in the arithmetic unit 10 or the control unit 1. The control device 1 draws a predetermined mark associated with each of the detected object and the position information of the object on the digital display portion 50 where a numerical value or the like is normally displayed according to the calculation result by the calculation device 10. To do.

  As shown in FIG. 13, when the position information of the object relative to the object and the vehicle is calculated in step 20 in FIG. The display form is determined. This determination of the digital display form determines the form of a predetermined mark to be displayed on the digital display part 50 of the vehicle instrument (for example, a travel distance display part such as an odometer shown in FIG. 14). In this determination, for example, a mark previously associated with each of the calculated object type, the distance to the vehicle, and the direction with respect to the vehicle is searched from a table stored in advance in the arithmetic device 10, and the most applicable predetermined This is done by selecting a mark. Then, the arithmetic device 10 outputs display information of the determined predetermined mark to the control device 1 as a display signal (step 50A). And the control apparatus 1 controls to the display of the digital display part 50 based on the input display information (step 60A).

  When the processing up to step 60A is executed, the processing returns to step 10, and further, the processing up to step 60A is continuously executed, and information on the object around the vehicle is displayed on the digital display portion 50 by numbers, symbols, etc. Continue to be displayed. Then, when the ignition switch is turned off, or when this control is canceled by the operation of the operation switch unit 2, this flowchart is terminated.

  Next, display examples in the digital display portion 50 will be described with reference to FIGS. Each of FIGS. 15A to 15D is a display example showing in which direction (position in the vehicle width direction) the object is located with respect to the vehicle so as to be recognized by a predetermined mark. In FIG. 15A, for example, a predetermined mark “0” representing a person is displayed at the left end of the digital display portion 50, which means that the person who is the object exists on the left side toward the front of the vehicle. To the driver. In FIG. 15B, “0” is displayed to the left of the center of the digital display portion 50, and a person is present to the left of the vehicle front, that is, to the right of FIG. 15A. The driver is informed. In FIG. 15C, “0” is displayed on the right side of the central portion of the digital display portion 50 to inform the driver that the person is present on the right side toward the front of the vehicle. In FIG. 15D, “0” is displayed on the left side and the right side of the center of the digital display portion 50, and it is assumed that the person exists on both the left side and the right side toward the front of the vehicle. The person is informed.

  Next, each figure of (a) and (b) in FIG. 16 is a table that shows how far the object is from the vehicle (distance from the vehicle, distance from the vehicle) by a predetermined mark. It is an example. In FIG. 16A, for example, a predetermined mark representing a person, and “0”, which is half the height in the vertical direction, is the left side of the digital display portion 50 (the same position as FIG. 15B) and is digital. It is displayed in the upper half of the display portion 50. This informs the driver that the person who is the object is present on the far left side of the vehicle. In FIG. 16B, “0” having the same size as in FIG. 16A is displayed on the left side of the lower half of the digital display portion 50. This informs the driver that a person is present on the left side near the vehicle.

  Next, each of FIGS. 17A and 17B is a display example in which the size of the object can be recognized by a predetermined mark. In FIG. 17A, for example, “0”, which is a predetermined mark representing a person, is displayed to the left of the digital display portion 50 (the same position as in FIG. 15B) and displayed in the entire height direction of the digital display portion 50. Has been. This informs the driver that the detected person is large, such as an adult, and is located farther left than the vehicle. In FIG. 17B, “0” having the same size as in FIG. 16B is displayed on the left side of the lower half of the digital display portion 50. This informs the driver that the detected person is small, e.g. a child, and is located near the vehicle to the left.

  Since the display unit in the vehicle display device of the present embodiment is composed of the digital display part 50 in the vehicle instrument, the digital display part 50 has predetermined symbols, numbers, etc. associated with the type and position information of the object. The predetermined mark can be displayed. Thus, the driver sees predetermined marks (symbols, numbers, etc.) displayed on the digital display portion 50 and knows information such as the type and position of the object. Therefore, it is possible to provide simple information presentation that takes advantage of the existing display portion and does not take up space.

(Third embodiment)
In the third embodiment, another form of object display control according to the first embodiment will be described with reference to FIG. FIG. 18 is a flowchart executed in the object display control of this embodiment.

  In this object display control, the arithmetic unit 10 does not assign and display the detected object and the position information of the object to the virtual coordinates on the display screen 21 of the display 20, but information on the detected object. Is displayed in a recognizable manner to the driver by a light emitting form of a predetermined light emitting diode (hereinafter also referred to as LED). The predetermined light-emitting diode presents information related to the object to the driver based on the quantity, location, color, lighting, blinking, and the like of light emission. That is, a predetermined light emitting diode may be associated with each type of object (person, animal, vehicle, luggage, tree, or other obstacle), or may be associated with the number of light emitting diodes that are lit. However, it may be associated with the lighting color of the light emitting diode. Similarly, the position information of the object may be associated with the number of predetermined light emitting diodes, lighting color, lighting location, and the like. All of these association relationships are stored in the arithmetic device 10 or the control device 1. The control device 1 controls the operation of the light emitting diodes having a previously associated relationship with respect to each of the detected object and the position information of the object, according to the calculation result by the calculation device 10.

  As shown in FIG. 18, when the position information of the object with respect to the object and the vehicle is calculated in step 20 in FIG. 2, the arithmetic unit 10 determines the predetermined LED based on the position information in the next step 30B. The light emission form is determined. The determination of the light emission form of the predetermined LED is, for example, stored in the arithmetic device 10 in advance, the light emission form of the LED associated in advance for each of the calculated object type, the distance to the vehicle, and the direction to the vehicle. This is done by searching from the table and selecting the light emission form of the most relevant LED. Then, the arithmetic device 10 outputs the determined light emission form of the predetermined LED to the control device 1 as a display signal (step 50B). And the control apparatus 1 controls to the light emission form of predetermined | prescribed LED based on the input display signal (step 60B).

  When the process up to step 60B is executed, the process returns to step 10, and further, the processes up to step 60B are continuously executed, and the information on the object around the vehicle is displayed according to the light emission form of the associated LED. to continue. Then, when the ignition switch is turned off, or when this control is canceled by the operation of the operation switch unit 2, this flowchart is terminated.

  The vehicle display device of the present embodiment displays a predetermined mark associated with an object by a light emitting diode that emits light in a predetermined light emission form. According to this, the driver can be made aware of the type of the target object and the position information of the target object by the predetermined light emitting mode of the light emitting diode. In addition, simple information presentation that does not require a place can be achieved, and visual object discrimination using a light emission color, lighting timing, or the like can be improved.

(Other embodiments)
In the above-described embodiment, the preferred embodiment of the present invention has been described. However, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention. It is.

  In the above-described embodiment, the vehicle display device provides information on the object in front of the vehicle on the display screen 21 of the display 20. For example, the vehicle display device displays the situation behind the vehicle or the side of the vehicle. You may make it do.

  In the above embodiment, the arithmetic device 10 calculates the position information of the object relative to the vehicle from the information about the object around the vehicle, determines a predetermined mark to be displayed from the detected object, and based on the position information The position display of the object to be displayed on the display unit is calculated. And the control apparatus 1 draws on a display part based on the result which the arithmetic unit 10 calculated | required. The arithmetic device 10 and the control device 1 according to the present invention are not limited to such a role. For example, the arithmetic device 10 receives a video signal detected by the camera 12 or a signal related to the object detected by the sonar sensor 11 to detect the distance or size of the object, and the control device 1 detects the detected object. Even if the predetermined mark to be displayed is determined from the object information, the position display of the object to be displayed on the display unit is calculated based on the position information of the object, and these are displayed on the display unit Good. According to such a division of roles, the arithmetic device 10 can be a highly versatile device, and the control device 1 can be a device that outputs a calculation result matched by the display format of the display 20.

  In the above embodiment, the calculation device 10 is described as a device separate from the control device 1, but is included in the control device 1 and is a device responsible for calculation functions such as position information in object display control. Also good.

  In the above embodiment, the display 20 is an STN liquid crystal display capable of monochrome monochrome display, but may be a high-definition display such as a color TFT.

  In the above embodiment, the image displayed on the display 20 at the time of parking is an image captured by one camera 12, but the image may be captured by a plurality of cameras.

1 ... Control device (display control means)
10 ... Calculation device (calculation means)
11: Sonar sensor (object detection means)
12 ... Camera (imaging means)
20 ... Display (display part)
50 ... Digital display part

Claims (9)

A vehicle display device for displaying a situation around a vehicle,
The object for the vehicle is obtained from information regarding the object around the vehicle acquired by at least one of an imaging unit that captures an image around the vehicle and an object detection unit that detects an object present around the vehicle. Computing means for calculating positional information including the distance and direction of
A display unit that is displayed so that the driver can recognize the position information calculated by the calculation unit without displaying the original image captured by the imaging unit;
Display control means for displaying a predetermined mark associated with the object on the display unit based on the position information;
A vehicle display device comprising: The display unit is a display;
The predetermined mark is a mark associated with the detected object;
The vehicle display device according to claim 1, wherein the display control unit displays the predetermined mark at a corresponding position on the display based on the position information.   The vehicle according to claim 2, wherein the display control means displays the predetermined mark upward on the display as the distance of the object in the position information is farther from the vehicle. Display device. On the display, a coordinate plane in which the coordinate interval in the upper part is denser than the lower part is set,
4. The vehicle display device according to claim 3, wherein the display control means further displays a predetermined background display according to the coordinates of the coordinate plane on the display as the background of the predetermined mark.   The said display control means displays the said predetermined | prescribed mark small on the said display, so that the distance of the said object is left | separated from the said vehicle among the said positional information. The vehicle display device according to any one of the above.   The said display control means displays the predicted course line which estimated the locus | trajectory which the said vehicle drive | works based on the vehicle width of the said vehicle, and the steering angle of a steering wheel on the said display. The vehicle display device according to any one of the above. If it is determined that the object is moving over time,
The vehicle display device according to any one of claims 2 to 6, wherein the display control means displays a moving direction of the object on the display.   The vehicle display device according to claim 1, wherein the display unit is a digital display part of a vehicle instrument.   The vehicle display device according to claim 1, wherein the predetermined mark is configured by a predetermined light emitting diode that emits light in association with the position information of the object.

Images