JP2010238147A - System, method and program for supporting driving - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support system and a driving support method, allowing display of an image of an area to be paid with attention by a driver, i.e., an image made to be seen to the driver. <P>SOLUTION: In the driving support system, a peripheral image indicating the periphery of a vehicle C including a dead point area Zd is obtained, a travel expected track of the vehicle C is specified, expected passage spots PR, PL expected that the vehicle C passes them after traveling by an expected travel distance are specified based on the travel expected track, a display position inside a display screen of a line drawing indicating an outline of a pillar P is specified based on positional relation between the dead point area Zd and the expected passage spots PR, PL, a range of the image to be displayed on the display screen is specified to the peripheral image based on the display position of the line drawing, the image of the range is cut out from the peripheral image, the cut-out image of the range is displayed on the display screen, and the line drawing of the outline is displayed in the display position in the display screen. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a driving support system, a driving support method, and a driving support program, and in particular, a driving support system, a driving support method, and a driving support that display an image related to a driver's blind spot by a vehicle body on a display device mounted on the vehicle. Regarding the program.

  2. Description of the Related Art Conventionally, as a driving support system that supports safe driving, a system that visualizes a blind spot area that is a driver's blind spot by a vehicle body has been developed. In one of them, as described in Patent Document 1, a blind spot area is cut out from a past captured image taken by an in-vehicle camera, and an image of the cut blind spot area and an outline of the cut blind spot area are obtained. The line image to be displayed, that is, the contour line indicating the shape of the vehicle body is superimposed on the current captured image. Then, by displaying the superimposed image, an image showing a peripheral area including a blind spot area that is visualized in a pseudo manner and a boundary line between the blind spot area and the peripheral area is displayed on the display screen.

JP 2003-244688 A

  By the way, the image that the driving support system should show the driver is an image that the driver should pay attention to, and is an image in which a blind spot area and an adjacent area adjacent to the blind spot area are displayed. On the other hand, as described in Patent Document 1, for example, the imaging region of the in-vehicle camera is fixed with respect to the vehicle body, and thus the position in the display screen of the image indicating the blind spot region may be fixed. It is common. Therefore, when the position of the image indicating the blind spot area is fixed in the display screen in this manner, the position of the image indicating the adjacent area adjacent to the blind spot area is also fixed in the display screen.

  However, the adjacent area that the driver should pay attention to is not an area that is fixed relative to the blind spot area in the first place, but rather is an area that is displaced relative to the blind spot area depending on the driving situation of the vehicle. For example, when the vehicle turns to the right at a corner with a small turning radius, the adjacent area that the driver should pay attention to is the area to the right of the blind spot area by the right front pillar, that is, the area to the right of the vehicle body. On the other hand, when the vehicle turns to the right at a corner with a large turning radius, the adjacent area to which the driver should pay attention is the left side of the blind spot area by the right front pillar, that is, the area diagonally to the right of the vehicle body. . As described above, the adjacent area that the driver should pay attention to is the area that is displaced with respect to the blind spot area in the first place. Therefore, the position of the image indicating the blind spot area is simply fixed in the display screen as described above. As a result, the image showing the adjacent area where the driver should pay attention may not be able to expand the display range in the display screen, and may not be displayed depending on the fixed position.

  The present invention has been made in view of the above problems, and an object thereof is a driving support system and a driving support capable of displaying an image of an area where the driver should pay attention, that is, an image to be shown to the driver. It is to provide a program and a driving support method.

In order to solve the above-described problem, the invention described in claim 1 displays an image showing a blind spot area that becomes a blind spot of a driver by a vehicle body and an adjacent area adjacent to the blind spot area on a display screen. A driving support system, a peripheral image acquisition unit that acquires a peripheral image showing a periphery of the vehicle, a predicted travel track specifying unit that specifies a predicted travel track of the vehicle, and a predetermined distance based on the predicted travel track In the display screen of the line drawing showing the outline of the vehicle body based on the predicted passing point specifying means for specifying the expected passing point where the vehicle is expected to pass after traveling, and the positional relationship between the blind spot area and the predicted passing point Display position specifying means for specifying a display position in the image, and image range specifying means for specifying a range of an image to be displayed on the display screen with respect to the peripheral image based on the display position of the line drawing An image extracting means for extracting an image of the range from the peripheral image, the extracted image of the range is displayed on the display screen as an image showing the blind spot area and the adjacent area, and the outline line drawing is displayed. The gist of the invention is that it includes display means for displaying at the display position in the display screen.

  The invention according to claim 2 is the driving support system according to claim 1, wherein the predicted passing point specifying means sets the predetermined distance based on road information of a road on which the vehicle travels. To do.

  According to a third aspect of the present invention, in the driving support system according to the first or second aspect, the predicted traveling locus acquisition unit identifies the predicted traveling locus based on a preset planned traveling route of the vehicle. The gist is to do.

  The invention according to claim 4 is a driving support method using a control means for displaying on a display screen an image showing a blind spot area that becomes a driver's blind spot by a vehicle body and an adjacent area adjacent to the blind spot area. Then, the control means acquires a peripheral image showing the periphery of the vehicle, specifies a predicted travel path of the vehicle, and based on the predicted travel path, the vehicle is expected to pass after traveling a predetermined distance. An expected passing point is specified, a display position in the display screen of a line drawing showing the outline of the vehicle body is specified based on the positional relationship between the blind spot area and the predicted passing point, and based on the display position of the line drawing A range of an image to be displayed on the display screen is identified with respect to the peripheral image, an image of the range is extracted from the peripheral image, and the extracted image of the range is adjacent to the blind spot area and the adjacent area Show area And displays on the display screen as an image, is summarized in that to display the line drawing of the contour in the display position on the display screen.

  The invention according to claim 5 is a driving support program using a control unit that displays on a display screen an image showing a blind spot area that becomes a driver's blind spot by a vehicle body and an adjacent area adjacent to the blind spot area. The control means is based on a surrounding image acquisition means for acquiring a surrounding image indicating the periphery of the vehicle, a predicted traveling locus specifying means for specifying a predicted traveling locus of the vehicle, and a predetermined amount based on the predicted traveling locus. The display screen of the line drawing showing the outline of the vehicle body based on the predicted passing point specifying means for specifying the expected passing point where the vehicle is expected to pass after traveling the distance, and the positional relationship between the blind spot area and the predicted passing point A display position specifying means for specifying a display position in the image, and an image range specifying for specifying a range of an image to be displayed on the display screen with respect to the peripheral image based on the display position of the line drawing An image extracting means for extracting an image of the range from the peripheral image, the extracted image of the range is displayed on the display screen as an image showing the blind spot region and the adjacent region, and the contour The gist is to function as display means for displaying the line drawing at the display position in the display screen.

According to the driving support system of the first aspect, the display position of the line drawing indicating the outline of the vehicle body is specified based on the positional relationship between the predicted passing point based on the predicted traveling locus and the blind spot area. Then, based on the specified display position, the range of the image to be displayed on the display screen is extracted from the peripheral image. The peripheral image showing the periphery of the vehicle is an image that moves relative to the vehicle body of the traveling vehicle. The moving direction of the peripheral image on the display screen can be estimated based on the moving direction of the blind spot area with respect to the periphery of the vehicle. That is, the moving direction on the display screen of the peripheral image can be estimated based on the positional relationship between the blind spot area of the current vehicle and the point where the vehicle is expected to pass, that is, the predicted passing point. If it is a driving assistance system comprised as mentioned above, the display position of the line drawing which shows the outline of a vehicle body will be specified based on the moving direction of such a peripheral image by the display position specification means with which it is provided. Then, the range of the peripheral image displayed on the display screen is specified based on the display position of the line drawing specified in this way. That is, the range of the peripheral image displayed on the display screen can be changed based on the moving direction of the image on the display screen. For this reason, it is possible to display an image to be shown to the driver in the display screen in accordance with a future driving situation.

  According to the driving support system of the second aspect, the expected passing point is specified based on the road information of the road on which the vehicle travels. In general, the traveling speed of a vehicle greatly varies depending on road information of a road on which the vehicle travels. If the traveling speed of such a vehicle increases, the distance to the point to be confirmed by the driver when traveling along the predicted traveling locus, that is, the point corresponding to the image to be displayed to the driver, If the traveling speed of the vehicle decreases, the distance to the point that should be shown to the driver when traveling along the predicted traveling path decreases. Therefore, when traveling along the predicted travel path, the expected passing point should be specified from the distance to the point that should be shown to the driver, which changes according to the traveling speed of the vehicle, but the predetermined distance can be a constant value. In this case, the position accuracy of the predicted passing point itself is impaired. In this regard, in the case of the driving support system configured as described above, since the predetermined distance for specifying the predicted passing point is set based on such road information, the accuracy related to the predicted passing point is improved, as described above. The effect is more certain.

  According to the driving support system of the third aspect, since the predicted travel locus is specified based on the planned travel route, the accuracy with respect to the predicted travel track is improved, and the above-described effect is more reliable.

  According to the driving support method of the fourth aspect, the display position of the line drawing indicating the contour of the vehicle body is specified based on the positional relationship between the predicted passing point based on the predicted traveling locus and the blind spot area. Then, based on the specified display position, the range of the image to be displayed on the display screen is extracted from the peripheral image. The peripheral image showing the periphery of the vehicle is an image that moves relative to the vehicle body of the traveling vehicle. The moving direction of the peripheral image on the display screen can be estimated based on the moving direction of the blind spot area with respect to the periphery of the vehicle. That is, the moving direction on the display screen of the peripheral image can be estimated based on the positional relationship between the blind spot area of the current vehicle and the point where the vehicle is expected to pass, that is, the predicted passing point. With the driving support method as described above, the display position of the line drawing indicating the outline of the vehicle body is specified based on the moving direction of the peripheral image. Then, the range of the peripheral image displayed on the display screen is specified based on the display position of the line drawing specified in this way. Therefore, the range of the peripheral image displayed on the display screen can be changed based on the moving direction of the image on the display screen. For this reason, it is possible to display an image to be shown to the driver in the display screen in accordance with a future driving situation.

According to the driving support program of the fifth aspect, the display position of the line drawing indicating the contour of the vehicle body is specified based on the positional relationship between the predicted passing point based on the predicted traveling locus and the blind spot area. Then, based on the specified display position, the range of the image to be displayed on the display screen is extracted from the peripheral image. The peripheral image showing the periphery of the vehicle is an image that moves relative to the vehicle body of the traveling vehicle. The moving direction of the peripheral image on the display screen can be estimated based on the moving direction of the blind spot area with respect to the periphery of the vehicle. That is, the moving direction on the display screen of the peripheral image can be estimated based on the positional relationship between the blind spot area of the current vehicle and the point where the vehicle is expected to pass, that is, the predicted passing point. With the driving support method as described above, the display position of the line drawing indicating the outline of the vehicle body is specified based on the moving direction of the peripheral image. Then, the range of the peripheral image displayed on the display screen is specified based on the display position of the line drawing specified in this way. Therefore, the range of the peripheral image displayed on the display screen can be changed based on the moving direction of the image on the display screen. For this reason, it is possible to display an image to be shown to the driver in the display screen in accordance with a future driving situation.

The block diagram which shows the structure of the driving assistance system concerning this embodiment. The block diagram which shows the data structure of path | route data. The block diagram which shows the data structure of map drawing data. The block diagram which shows the arrangement configuration of each position detection sensor. The top view which shows the imaging region of a vehicle-mounted camera with a vehicle. The block diagram which shows the structure of a pillar and a pillar monitor. The schematic diagram which shows typically the relationship between a virtual projection surface and an imaging surface. The figure which shows the line drawing of the outline of the pillar which a blind spot line drawing data shows. The top view which shows typically the relationship between a blind spot area | region and a driving | running | working estimated locus | trajectory. (A) (b) The figure which shows the range of the image displayed on a display screen to the flame | frame of a captured image. The flowchart which shows the control processing flow of a driving assistance system. The flowchart which shows the processing flow of a display position specific process.

  Hereinafter, an embodiment embodying the present invention will be described with reference to FIGS. A driving support system 1 is embodied in a form mounted on a vehicle. As shown in FIG. 1, a driving support unit 2 constituting a control means, a display 3, a pillar monitor 4 constituting a display means, a speaker. 5. It is comprised from the vehicle-mounted camera 6 which comprises a periphery image acquisition means, the 1st-3rd position detection sensors 8a-8c, the vehicle speed sensor 30, and the gyro 31.

  The driving support unit 2 includes a CPU 10, a RAM 11, a ROM 12, a GPS receiving unit 13, a vehicle side I / F unit 14, a geographic data storage unit 15, a map drawing processor 16, which constitute a predicted travel locus specifying unit and an expected passing point specifying unit. The audio processor 18, the external input I / F unit 17, the sensor I / F unit 19, the imaging data input unit 21, and the image processing processor 22 constituting the display position specifying unit, the image range specifying unit, and the image extracting unit. ing.

  The CPU 10 executes main control of each process according to the driving support program stored in the ROM 12 with a part of the RAM 11 as a work area. The CPU 10 acquires satellite orbit information and time information received by the GPS receiver 13 from GPS satellites, and calculates the absolute position of the host vehicle by radio wave navigation. The CPU 10 acquires data related to the vehicle speed and data related to the angular velocity from the vehicle speed sensor 30 and the gyro 31 provided in the vehicle via the vehicle-side I / F unit 14. Then, the CPU 10 calculates the relative position from the reference position by autonomous navigation using the vehicle speed and the angular velocity, and specifies the current position of the vehicle in combination with the absolute position calculated by radio wave navigation. Note that the method for specifying the current position of the vehicle is not limited to the above. For example, the vehicle position may be specified only from the information received by the GPS receiving unit 13, or the information received by the GPS receiving unit 13 and a sensor other than the above-described sensors. And may be used in combination.

  The geographic data storage unit 15 is composed of an external storage medium such as a hard disk or an optical disk, and includes route data RD for searching for a route to the destination and each map drawing for outputting the map screen 3a to the display 3. Data MD is stored.

The route data RD is data for each region that divides the whole country into areas, and as shown in FIG. 2, is composed of a header RDa, node data RDb, link data RDc, link cost data RDd, and coordinate data RDe. ing. The header RDa is data for managing each route data RD. The node data RDb includes identification data of each node indicating an intersection, a road end point, and the like, identification data of adjacent nodes, and the like. The link data RDc constitutes a link string, and includes link records indicating connection nodes, data indicating traffic restrictions, and the like. The link cost data RDd is a data group composed of a link ID assigned to each link record, a link length, the number of travel lanes, an average travel time, and the like. The coordinate data RDe is data indicating the absolute coordinates of each node.

  The map drawing data MD is data that is stored for each area obtained by dividing a map of the whole country, and is structured in such a manner that it is divided into layers from a wide area map to a narrow area map. As shown in FIG. 3, each map drawing data MD includes a header MDa, road data MDb, and background data MDc. The header MDa is data indicating the hierarchy, area, etc. of the map drawing data MD that it constitutes, and is data for management purposes. The background data MDc is drawing data for drawing roads, urban areas, rivers, and the like. The road data MDb is data indicating the shape and type of the road, and is composed of road attribute data MDd, link shape data MDe, and connection data MDf.

  The road attribute data MDd is, for example, a road type indicating a high-standard road such as a toll road, a general road, a narrow street, etc., road direction, road width, number of lanes, presence / absence of a median, and prediction associated with the road type It is data which shows a travel distance. The expected travel distance indicates the distance from the current position of the vehicle to the point that should be shown to the driver on the road type road with which it is associated. This is the distance used when specifying the expected passing point where the vehicle is expected to pass. For example, high-standard roads, ordinary roads, and narrow streets are associated with estimated travel distances of 100 m, 30 m, and 10 m, respectively.

  The connection data MDf is data indicating a connection state between each link and each node. The link shape data MDe is composed of coordinate data MDg and shape interpolation data MDh. The coordinate data MDg is data indicating the coordinates of links and nodes. The shape interpolation data MDh is set in the middle of the link and is data relating to the curve shape interpolation point of the road, and is data indicating the coordinates of the shape interpolation point, the direction of the link, and the like.

  The CPU 10 uses the above-described route data RD to search for a planned travel route from the departure point or the current position to the destination. The CPU 10 determines whether or not the current position of the vehicle is approaching the start point of a right curve having a curve curvature radius of a predetermined value (for example, 200 m) or less, and further approaching an intersection. For example, it is determined whether or not the current position of the vehicle has reached a predetermined distance (for example, 300 m) before the start point of the right curve, and further whether or not the current position of the vehicle has reached a predetermined distance before the intersection.

  Further, the CPU 10 uses the map drawing data MD described above and the searched planned travel route to specify a trajectory through which the center of the host vehicle passes along the planned travel route as a predicted travel trajectory. Further, the CPU 10 acquires the predicted travel distance associated with the road type of the road on which the host vehicle travels, and uses the acquired predicted travel distance and the specified predicted travel distance, the predicted travel distance on the travel predicted trajectory. An expected passing point (a point corresponding to an image to be shown to the driver) that the vehicle is expected to reach after traveling the distance is specified.

The map drawing processor 16 receives a control signal from the CPU 10, reads map drawing data MD for drawing a map around the current position of the vehicle from the geographic data storage unit 15, generates map output data, and generates a map. A map screen 3a based on the output data is displayed on the display 3. The map drawing processor 16 generates map output data in such a manner that the vehicle position index 3b indicating the current position of the vehicle is superimposed on the map screen 3a. The external input I / F unit 17
A signal based on a user input operation is received from the operation switch 3c adjacent to the display 3 and the touch panel display 3, and an operation signal related to the input operation is output to the CPU 10. The voice processor 18 receives a control signal from the CPU 10 and uses a voice file (not shown) to cause the speaker 5 to output a voice for guiding a route to the destination, for example.

  The sensor I / F unit 19 receives detection signals from each of the first to third position detection sensors 8a to 8c. The first to third position detection sensors 8a to 8c are composed of ultrasonic sensors, and are attached to the interior of the vehicle so as to surround the driver D seated on the front seat F, as shown in FIG. . The first position detection sensor 8a is attached in the vicinity of a room mirror (not shown) in order to detect the distance from the left front side of the driver D to the head D1. The second position detection sensor 8b is attached near the upper end of the door window W2 (see FIG. 5) in order to detect the distance from the right front side of the driver D to the head D1. The third position detection sensor 8c is attached to the inside of the roof R so as to detect the distance from the left side of the driver D to the head D1. The ultrasonic waves transmitted from the position detection sensors 8a to 8c are reflected by the head D1 of the driver D. Each position detection sensor 8a-8c measures the time from when an ultrasonic wave is transmitted until the reflected wave is received, and calculates the relative distance to the head D1 based on the measurement time. Each calculated relative distance is output to the CPU 10 via the sensor I / F unit 19. The relative distance to the head D1 may be calculated by the sensor I / F unit 19 based on signals from the position detection sensors 8a to 8c.

  The CPU 10 includes a head movement range in which the head D1 of the driver D can move and a first to third position detection sensors 8a to 8c. The head center position Dc, which is the position of the head D1 of the driver D, is specified by a known method such as triangulation based on each relative distance detected by.

  The imaging data input unit 21 receives a control signal from the CPU 10 and drives the in-vehicle camera 6 mounted on the vehicle. The in-vehicle camera 6 is a device that converts optical information of a subject in an area around the vehicle into an electrical signal and outputs the electrical signal. ing. As shown in FIG. 5, the in-vehicle camera 6 is attached to the outside of the roof R of the vehicle C so that its optical axis is directed to the front of the vehicle C. Further, the in-vehicle camera 6 is mounted on the driver's seat arranged on the right side of the vehicle so that the imaging area Z1 thereof includes the front right side of the vehicle C and a part of the right side of the vehicle C in the peripheral area of the vehicle. In addition, it is attached in the vicinity of the right pillar P on the driver's seat side.

  And the imaging data input part 21 drives the vehicle-mounted camera 6, and receives the optical information of the to-be-photographed object in the imaging area Z1 from the vehicle-mounted camera 6 as imaging data IM. The imaging data input unit 21 also drives the in-vehicle camera 6 to receive the installation position, angle (pan / tilt / roll), and angle of view of the in-vehicle camera 6 from the in-vehicle camera 6 as camera data. Imaging data IM generated by the in-vehicle camera 6 is transmitted to the image processor 22 via the imaging data input unit 21.

  The image processor 22 uses the imaging data IM received by the imaging data input unit 21 to display a peripheral image showing the peripheral area of the vehicle on the display screen 4a of the pillar monitor 4 in a range corresponding to the scene. As shown in FIG. 6, the pillar monitor 4 is mounted on the inner surface of the right pillar P of the vehicle C, and displays an image on the display screen 4 a based on display frame data input from the image processor 22.

As described above, when displaying an image in a range corresponding to a scene, the image processor 22 first specifies a blind spot area that is a blind spot of the driver D by the right pillar P. Further, the image processor 22 synthesizes the blind spot area line drawing data BD corresponding to the imaging frame data FLM for each imaging frame data FLM constituting the imaging data IM (see FIG. 8). Then, the image processor 22 performs viewpoint conversion for converting the camera viewpoint 6a of the in-vehicle camera 6 into the viewpoint of the driver D on the imaging frame data FLM obtained by combining the blind spot area line drawing data BD. Note that the blind spot area line drawing data BD is a peripheral image indicated by the synthesized imaging frame data FLM after the viewpoint conversion, and the outline of the part that becomes a blind spot area from the viewpoint of the driver D, that is, the outline 4i of the pillar P ( As shown in FIG. 8, the image data is binary image data composed of a large number of pixel data, similar to the imaging frame data FLM.

  Furthermore, the image processor 22 specifies the display position of the outline 4i of the pillar P on the display screen 4a based on the positional relationship between the predicted passing point and the blind spot area. Further, the image processor 22 cuts out data to be displayed on the display screen 4a from the imaging frame data FLM after the viewpoint conversion so that the outline 4i of the pillar P is displayed at the display position. Then, the image processor 22 outputs the data cut out in this way to the pillar monitor 4 and displays the outline 4i of the pillar P at the specified display position, that is, the periphery of the range corresponding to the scene. The image is displayed on the pillar monitor 4 in such a manner that the image is displayed.

  Aspects of the processing of the image processor 22 described above, that is, (a) a blind spot area specifying process in which a blind spot area by the pillar P is specified and viewpoint conversion is performed on the composite data of the blind spot line drawing data BD and the imaging frame data FLM. (B) A display position specifying process in which the display position of the outline 4i of the pillar P on the display screen is specified and the display frame data is cut out from the combined data after the viewpoint conversion will be described in detail below.

(A) Blind spot area specifying process For example, when the vehicle C approaches the start point or intersection of a right carp having a predetermined curve curvature, the image processing processor 22 receives the CPU 10 when the start condition of the driving support system 1 is satisfied. In response to the control signal, the pillar data PD indicating the position of the pillar P and its three-dimensional shape is read from the ROM 12, and the head of the driver D, which is the detection result of the first to third position detection sensors 8a to 8c. The center position Dc is acquired. Then, the image processor 22 specifies the area where the pillar P is projected as the blind spot area Zd with the head center position Dc as the projection center. For example, as shown in FIG. 7, the image processor 22 calculates lines L1 and L2 passing through the end points P1 and P2 of the pillar P, and a region sandwiched between these lines L1 and L2 is set as a blind spot region Zd. Identify.

  When the blind spot area Zd is specified in this way, the image processor 22 then specifies the reference point Pc for viewpoint conversion. For example, as shown in FIG. 7, the image processor 22 is separated from the head center position Dc by a predetermined distance on a straight line connecting the center of the display screen 4a of the pillar monitor 4 and the head center position Dc. The point is specified as a reference point Pc for viewpoint conversion. After specifying the coordinates of the reference point Pc, the image processor 22 then determines the position of the virtual projection plane VP using the reference point Pc and the head center position Dc. The virtual projection plane VP determined in this way is a plane on which an image captured by the in-vehicle camera 6 is virtually projected. For example, the image processor 22 determines a plane that includes the reference point Pc and is perpendicular to the center line La connecting the head center position Dc and the reference point Pc as the virtual projection plane VP.

When the virtual projection plane VP is determined in this way, the image processor 22 then acquires camera data via the imaging data input unit 21 and based on the installation position, angle, and angle of view of the in-vehicle camera 6. Thus, the imaging plane CP corresponding to the position of the virtual projection plane VP is determined. The imaging plane CP is a plane perpendicular to the optical axis AX of the in-vehicle camera 6 and is a plane in which the focal position of the in-vehicle camera 6 is set in the plane, and is closer to the vehicle C than the virtual projection plane VP. It is a plane set at a close position. When the image processing processor 22 determines the image pickup surface CP, the image pickup data IM composed of a plurality of image pickup frame data FLM is transferred to the image pickup data input unit 21 in such a manner that the in-vehicle camera 6 is focused on the image pickup surface CP. Via the in-vehicle camera 6.

  Further, the image processor 22 uses the blind spot area Zd, the virtual projection plane VP, the imaging plane CP, and the camera viewpoint 6a, and the projected image projected from the camera viewpoint 6a onto the virtual projection plane VP is an outline of the blind spot area Zd, That is, the line drawing in the shape of the outline 4i of the pillar P is specified on the imaging surface CP. For example, as shown in FIG. 7, the image processor 22 identifies a plurality of straight lines connecting the contours of the blind spot area Zd (for example, the left end point VP1 and the right end point VP2) on the virtual projection plane VP and the camera viewpoint 6a. Then, the intersection points (for example, the intersection points Lf3 and Lf4) between the plurality of straight lines and the imaging surface CP are specified. Then, the image processor 22 configures the imaging frame data FLM from the relationship between the image indicated by the imaging frame data FLM on the imaging surface CP and the intersection on the imaging surface CP, for example, as shown in FIG. Among the large number of pixels, data indicating a pixel group corresponding to the intersection on the imaging surface CP is generated as blind spot area line drawing data BD. Then, the image processor 22 synthesizes the blind spot area line drawing data BD corresponding to the imaging frame data FLM for each imaging frame data FLM constituting the imaging data IM. Subsequently, the image processor 22 converts each pixel constituting the image on the imaging plane CP to the virtual projection plane so that an image obtained by projecting the image on the imaging plane CP onto the virtual projection plane is displayed on the display screen 4a. A process of converting each pixel constituting the upper image is performed. That is, the viewpoint conversion for converting the camera viewpoint 6a of the in-vehicle camera 6 into the viewpoint of the driver D is performed on the imaging frame data in which the blind spot area line drawing data BD is synthesized.

(B) Display position specifying process After executing the blind spot area specifying process as described above, the image processor 22 reads out the predicted passing point calculated by the CPU 10 from the RAM 11, and the predicted passing point is the dead spot area Zd. It is determined whether or not it is on the right side. Then, the image processor 22 identifies the display position of the outline 4i of the pillar P on the display screen 4a based on the determination result. In other words, the image processor 22 extracts the display frame data to be extracted from the imaging frame data FLM after the viewpoint conversion (the range of the image to be displayed on the display screen) based on the positional relationship between the predicted passing point and the blind spot area Zd. ). It should be noted that the display range of the display frame data is stored in the image processor 22 in a form associated with the positional relationship between the predicted passing point and the blind spot area Zd.

  For example, when the planned travel route is indicated by a thick line on the left side in FIG. 9 and the predicted passing point specified from the road type of the road to be traveled is the left passing point PL in FIG. It is determined that the predicted passing point is not on the right side of the blind spot area Zd. Then, based on the determination result, the image processor 22 captures the imaging frame data FLM as indicated by the thick line in FIG. 10B so that the outline 4i of the pillar P is biased to the right side of the display screen 4a. From this, the display frame data DPL for the left side is cut out. The image processor 22 cuts out the display frame data DPL for each imaging frame data FLM at a predetermined calculation cycle, and outputs the display frame data DPL to the display screen 4a at a predetermined frame rate.

At this time, in a vehicle traveling on such a planned travel route, an image to be shown to the driver D is an image that the driver D should pay attention to, and an image showing a blind spot area Zd and an adjacent area adjacent to the blind spot area. That is, it is an image showing the front right side of the vehicle C. In this regard, if the image is displayed based on the display frame data DPL for the left side, the outline 4i of the pillar P, that is, the blind spot area Zd, is biased to the right side of the display screen 4a. The image is displayed on substantially the entire display screen 4a. Therefore, by performing display processing based on the display frame data DPL for the left side, the driver D is provided with an image corresponding to the scene to be shown to the driver D over a wide range on the display screen 4a. It will be.

  In addition, while the predicted passing point is not on the right side of the blind spot area Zd, the image displayed on the display screen 4a moves from the left side to the right side of the display screen 4a regardless of the cutout range of the display frame data (FIG. 10 ( see arrow direction in b)). If the outline 4i of the pillar P is biased and displayed on the left side of the display screen 4a (see FIG. 10A), the image showing the adjacent area to be shown to the driver D moves within a narrow range on the display screen 4a. Therefore, the time to be shown to the driver D is also shortened. In this regard, if the image is displayed on the display screen 4a based on the display frame data DPL for the left side, the image of the adjacent area to be shown to the driver D moves in a wide range on the display screen 4a. As a matter of course, the images according to the driving situation in the future will be displayed over a long period of time. Therefore, display processing based on the display frame data DPL for the left side is performed, so that the driver D is provided with an image corresponding to the scene to be shown to the driver D over a long period of time.

  On the other hand, when the planned travel route is indicated by a bold line on the right side in FIG. 9 and the predicted passing point identified from the road type of the road to be traveled is the right passing point PR in FIG. 9, the image processor 22 Based on the determination result, right-side display frame data DPR is obtained from the imaging frame data FLM, as indicated by a thick line in FIG. 10A, so that the outline 4i of the pillar P is biased to the left side of the display screen 4a. Cut out. That is, the image processor 22 switches the position of the display frame data in the imaging frame data FLM according to the scene. Then, the image processor 22 cuts out such display frame data DPR at a predetermined calculation cycle, and outputs the display frame data DPR to the display screen 4a at a predetermined frame rate.

  At this time, in a vehicle traveling on such a planned travel route, an image to be shown to the driver D is an image that the driver D should pay attention to, and an image showing a blind spot area Zd and an adjacent area adjacent to the blind spot area. That is, it is an image showing the right side of the vehicle C rather than the front of the vehicle C. That is, even when the vehicle makes the same right turn, the area that the driver D should pay attention to differs depending on the scene. In this regard, if the image is displayed based on the display frame data DPR for the right side, the outline 4i of the pillar P, that is, the blind spot area Zd, is biased to the left side of the display screen 4a. Is displayed on substantially the entire display screen 4a. Therefore, display processing based on the display frame data DPR for the right side is performed, so that the driver D is provided with an image corresponding to the scene to be shown to the driver D over a wide range on the display screen 4a. It will be.

  In addition, while the predicted passing point is on the right side of the blind spot area Zd, the image displayed on the display screen 4a moves from the right side to the left side of the display screen 4a regardless of the cutout range of the display frame data (FIG. 10 ( see arrow direction in a)). If the outline 4i of the pillar P is biased and displayed on the right side of the display screen 4a (see FIG. 10B), the image showing the adjacent area to be shown to the driver D moves within a narrow range on the display screen 4a. Therefore, the time to be shown to the driver D is also shortened. In this regard, if the image is displayed on the display screen 4a based on the display frame data DPR for the right side, the image of the adjacent area to be shown to the driver D moves in a wide range on the display screen 4a. As a matter of course, the images according to the driving situation in the future will be displayed over a long period of time. Therefore, by performing display processing based on the left display frame data DPL, the driver D is provided with an image corresponding to the scene to be shown to the driver D over a long period of time.

Next, the processing procedure of the driving support method using the driving support system 1 and the driving support program will be described with reference to FIGS. 11 and 12. Note that the driving support process shown below is repeatedly executed every predetermined time, for example, every 100 milliseconds, when the ignition module is turned on, and the travel schedule route on which the vehicle travels is set in advance. .

  First, a determination is made as to whether or not the activation condition of the driving support system is satisfied by the arithmetic processing of the CPU 10. As an activation condition of the driving support system, for example, the vehicle C is approaching an activation target point set in advance in the map drawing data MD such as a right curve or an intersection having a curve curvature of 200R or less.

  First, the current position of the vehicle C is specified by the arithmetic processing of the CPU 10 using the detection results of the GPS receiver 13, the vehicle speed sensor 30, and the gyro 31. Further, the distance between the current position of the vehicle C and the activation target point is calculated by the CPU 10 using the preset scheduled travel route, the activation target point, and the current position of the vehicle C (step S1). Then, the distance between the current position of the vehicle C and the activation target point is calculated until the activation condition of the driving support system is satisfied (NO in step S2). Then, when the CPU 10 determines that the vehicle C has approached the start target point (that the start condition of the system is satisfied) (YES in step S2), a blind spot area that becomes the blind spot of the driver D by the pillar P is imaged. It is specified by the processing processor 22 (dead angle area specifying process: step S3).

  Specifically, the head position of the driver D is detected by the position detection sensors 8a to 8c, and the center of the head is calculated by the arithmetic processing of the CPU 10 using the relative distances from the position detection sensors 8a to 8c to the head D1. The position Dc is specified. When the head center position Dc is specified, the pillar data PD is read from the ROM 12 to the image processor 22, and the head center position Dc of the driver D is read from the RAM 11 to the image processor 22. Then, the projection area of the pillar P with the head center position Dc as the projection center is specified as the blind spot area Zd by the arithmetic processing of the image processor 22 using the pillar data PD and the head center position Dc.

  When the blind spot area Zd is specified in this way, as described above, the virtual projection plane VP and the imaging plane CP are set by the arithmetic processing of the image processor 22, and the focal point of the in-vehicle camera 6 is set on the imaging plane CP. In this manner, the imaging data IM is acquired by the in-vehicle camera 6. Next, the blind spot line drawing data BD is generated by the arithmetic processing of the image processor 22 using the blind spot area Zd, the virtual projection plane VP, the imaging plane CP, and the camera viewpoint 6a. Further, the blind spot area line drawing data BD corresponding to the imaging frame data FLM is synthesized for each imaging frame data FLM by the arithmetic processing of the image processor 22 using the blind spot area line drawing data BD and the imaging frame data FLM. Then, the viewpoint conversion is performed on the synthesized imaging frame data FLM by the arithmetic processing of the image processor 22 using the synthesized imaging frame data FLM.

When the blind spot area specifying process is performed as described above, display frame data corresponding to the scene is generated by the image processor 22 (display position specifying process: step S4).
Specifically, the road type of the road on which the vehicle C currently travels is specified by the arithmetic processing of the CPU 10 using the current position of the vehicle C, the map drawing data MD, and the route data RD (step S4-1). Next, the estimated travel distance corresponding to the identified road type is acquired by the calculation process of the CPU 10 using the map drawing data MD (step S4-2). Subsequently, a trajectory through which the center position of the host vehicle passes along the planned travel route, that is, a predicted travel trajectory, is calculated by a calculation process of the CPU 10 using the preset planned travel route and the map drawing data MD. Further, the calculation process of the CPU 10 using the calculated predicted travel path, the acquired estimated travel distance, and the current position of the vehicle C causes the vehicle C to reach when the vehicle travels along the predicted travel path by the planned travel distance. Then, an expected point (a point corresponding to an image to be shown to the driver), that is, an expected passing point is specified (step S4-3).

  When the predicted passing point is specified in this way, the predicted passing point is read out from the RAM 11 to the image processor 22, and the predicted passing point is calculated by the calculation processing of the image processor 22 using the predicted passing point and the blind spot area Zd. It is determined whether or not the passing point is on the right side of the blind spot area Zd (step S4-4). When it is determined that the predicted passing point is on the right side of the blind spot area Zd (YES in step S4-5), the display position of the outline 4i of the pillar P on the display screen 4a is set to the left side by the calculation process of the image processor 22. Specified. On the other hand, when it is determined that the predicted passing point is not on the right side of the blind spot area Zd (NO in step S4-5), the display position of the outline 4i of the pillar P on the display screen 4a is moved to the right side by the arithmetic processing of the image processor 22. Identified. When the display position is specified in this way, the display frame data corresponding to the display position is cut out from the imaging frame data FLM by the arithmetic processing of the image processor 22 using the synthesized imaging frame data FLM. That is, when it is determined that the expected passing point is on the right side of the blind spot area Zd, the display frame data DPR for the right side is cut out from the imaging frame data FLM. On the other hand, when it is determined that the predicted passing point is not on the right side of the blind spot area Zd, the display frame data DPL for the left side is cut out from the imaging frame data FLM.

  When the display position specifying process is performed as described above, the display frame data is output to the pillar monitor 4 at a predetermined frame rate by the image processor 22 (step S5). As a result, an image of a range based on the positional relationship between the predicted passing point and the blind spot area, that is, an image corresponding to the scene to be shown to the driver D is provided over a wide range of the display screen 4a. In addition, an image corresponding to the scene to be shown to the driver D is provided over a long period of time.

  When an image corresponding to the scene to be shown to the driver D is displayed on the display screen 4a, whether or not the termination condition of the driving support system is satisfied by the arithmetic processing of the CPU 10 using the route data RD and the current position of the vehicle C. Is determined. As an end condition of the driving support system, for example, after the vehicle C has passed the intersection to be subjected to the driving support process, the vehicle has further traveled 20 m, or the curve curvature is 200 R or less in the curve to be the driving support process. After 5 seconds, 5 seconds have passed. Then, the blind spot area specifying process, the display position specifying process, the display process, and the system end determination are repeated in the same order until the end condition of the driving support system is satisfied. The support process is terminated (YES in step S7).

As described above, according to the driving support system, the driving support method, and the driving support program in the above embodiment, the following effects can be obtained.
(1) According to the above embodiment, the display position of the outline 4i of the pillar P is specified based on the positional relationship between the predicted passing point based on the predicted travel path and the blind spot area Zd. Then, based on the specified display position, the range of the image to be displayed on the display screen 4a is cut out from the peripheral image. For this reason, the display position of the outline 4i of the pillar P is specified based on the moving direction of the image on the display screen 4a. And the range of the image displayed on the display screen 4a is specified based on the display position of the outline 4i of the pillar P specified in this way. That is, the range of the image displayed on the display screen 4a can be changed based on the moving direction of the image on the display screen 4a. For this reason, it becomes possible to display the image which should be shown to the driver | operator D in the display screen 4a according to a future driving | running | working condition.

(2) According to the above embodiment, the expected passing point is specified based on the road information of the road on which the vehicle C travels. The traveling speed of the vehicle C generally varies greatly depending on the road information of the road on which the vehicle C travels. When the traveling speed of the vehicle C increases, the predicted traveling distance, which is the distance to the point to be confirmed by the driver when traveling along the predicted traveling path, that is, the point to be displayed to the driver, increases. In addition, when the traveling speed of the vehicle C decreases, the predicted traveling distance, which is the distance to the point to be shown to the driver when traveling along the predicted traveling locus, also decreases. Therefore, when traveling along the predicted travel path, the distance to the point to be shown to the driver that changes according to the travel speed of the vehicle, that is, the predicted passing point is specified from the predicted travel distance. If becomes a constant value, the positional accuracy of the predicted passing point itself is impaired due to the increase / decrease in the predicted travel distance described above. In this regard, according to the above embodiment, the predicted travel distance for specifying the predicted passing point is set based on such road information, so the accuracy related to the predicted passing point is improved, and the above-described effect is more certain. It becomes.

(3) In the above embodiment, since the predicted travel locus is specified based on the planned travel route, the accuracy related to the predicted travel track can be improved, and the above-described effects can be further ensured.
In addition, the said embodiment can also be changed and implemented as follows.

  -Not only in the configuration in which the planned travel route is set prior to the driving support processing, but in the configuration in which the planned travel route is not set prior to the driving support processing, for example, the road shape and road type around the vehicle C, Furthermore, the same effects as in the above (1) and (2) can be obtained if the predicted passage point is specified based on the driving situation of the vehicle C and the like.

  -When specifying the predicted passing point, the expected mileage is specified for each road type. However, the present invention is not limited to such a configuration, and the same effect as the above (1) can be achieved even in a configuration in which the predicted mileage is treated as a constant value. In addition, the calculation load required for the driving support process can be reduced as much as the process for specifying the expected travel distance is omitted.

  -Not only the structure which performs viewpoint conversion to imaging frame data FLM but if it is the structure from which the image seen from the driver | operator's viewpoint is obtained from a camera viewpoint, such viewpoint conversion can also be omitted. Even if it is such a structure, the effect similar to said (1)-(3) will be acquired, and it will also become possible to reduce the load of the calculation which a driving assistance process requires as much as viewpoint conversion is omitted.

  -The positional relationship between the blind spot area and the predicted passing point is not limited to whether the predicted passing point is on the right side of the blind spot area, and if it is a positional relationship that correlates with the moving direction of the image on the display screen, the blind spot. The relative distance between the region and the expected passing point, or the relative distance and direction can also be applied.

DESCRIPTION OF SYMBOLS 1 ... Driving assistance system, 2 ... Driving assistance unit which comprises control means, 3 ... Display, 4 ... Pillar monitor which comprises display means, 4i ... Contour, 5 ... Speaker, 6 ... In-vehicle camera which comprises peripheral image acquisition means , 8a to 8c ... position detection sensors, 10 ... a CPU that constitutes a predicted travel locus specifying means and an expected passing point specifying means, 11 ... RAM, 12 ... ROM, 13 ... GPS receiving unit, 14 ... vehicle side I / F unit, DESCRIPTION OF SYMBOLS 15 ... Geographic data memory | storage part, 16 ... Map drawing processor, 17 ... External input I / F part, 19 ... Sensor I / F part, 21 ... Imaging data input part, 22 ... Display position specific | specification means, Image range specific | specification means, and Image processor constituting image extraction means, 30 ... vehicle speed sensor, 31 ... gyro, IM ... imaging data, FLM ... imaging frame data, DPL, DPR ... display frame Data, RD: Route data, MD: Map drawing data, D
... driver, BD ... blind spot area line drawing data, P ... pillar, PL ... left passage point, PR ... right passage point.

Claims (5)

A driving support system that displays on a display screen an image showing a blind spot area that is a blind spot of a driver by a vehicle body and an adjacent area adjacent to the blind spot area,
Peripheral image acquisition means for acquiring a peripheral image indicating the periphery of the vehicle;
A predicted travel trajectory specifying means for specifying a predicted travel trajectory of the vehicle;
Based on the predicted travel trajectory, an expected passing point specifying means for specifying an expected passing point where the vehicle is expected to pass after traveling a predetermined distance;
Display position specifying means for specifying a display position in the display screen of a line drawing showing an outline of the vehicle body based on a positional relationship between the blind spot area and the predicted passing point;
Image range specifying means for specifying a range of an image to be displayed on the display screen with respect to the peripheral image based on the display position of the line drawing;
Image extracting means for extracting the image of the range from the peripheral image;
Displaying the extracted image of the range on the display screen as an image showing the blind spot area and the adjacent area, and displaying the outline line drawing at the display position in the display screen;
A driving support system characterized by comprising: The expected passing point specifying means is:
The driving support system according to claim 1, wherein the predetermined distance is set based on road information of a road on which the vehicle travels. The predicted travel locus specifying means includes
The driving support system according to claim 1 or 2, wherein the predicted travel locus is specified based on a preset travel route of the vehicle. A driving support method using a control means for displaying on a display screen an image showing a blind spot area that is a blind spot of a driver by a vehicle body and an adjacent area adjacent to the blind spot area,
The control means is
Obtaining a peripheral image showing the periphery of the vehicle;
Identifying the predicted travel trajectory of the vehicle, based on the predicted travel trajectory, identifying an expected passing point where the vehicle is expected to pass after traveling a predetermined distance,
Based on the positional relationship between the blind spot area and the predicted passing point, the display position of the line drawing showing the outline of the vehicle body is specified in the display screen, and the line drawing is displayed on the display screen based on the display position of the line drawing. A range of images to be identified relative to the surrounding image,
The image of the range is extracted from the peripheral image, and the extracted image of the range is displayed on the display screen as an image showing the blind spot area and the adjacent area, and the line drawing of the outline is also displayed. A driving support method, comprising: displaying at the display position on a screen. A driving support program using a control means for displaying on a display screen an image showing a blind spot area that is a blind spot of a driver by a vehicle body and an adjacent area adjacent to the blind spot area,
The control means;
Peripheral image acquisition means for acquiring a peripheral image indicating the periphery of the vehicle;
A predicted travel trajectory specifying means for specifying a predicted travel trajectory of the vehicle;
Based on the predicted travel trajectory, an expected passing point specifying means for specifying an expected passing point where the vehicle is expected to pass after traveling a predetermined distance;
Display position specifying means for specifying a display position in the display screen of a line drawing showing an outline of the vehicle body based on a positional relationship between the blind spot area and the predicted passing point;
Image range specifying means for specifying a range of an image to be displayed on the display screen with respect to the peripheral image based on the display position of the line drawing;
Image extracting means for extracting the image of the range from the peripheral image;
The extracted image of the range is displayed on the display screen as an image showing the blind spot area and the adjacent area, and the outline line drawing is displayed as the display means on the display position in the display screen. A driving assistance program characterized by that.

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