JP2010245859A - Video device for assisting parking - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a video device for assisting parking which can display a video obtained by subjecting a digital video around a vehicle to image processing on a display part as a real-time video without delay when the digital video is subjected to the image processing to be displayed on the display part thereafter. <P>SOLUTION: The video device for assisting parking includes: a radio apparatus 11 for receiving, from a transmission part 2, a video around a vehicle that is obtained by a camera 4 and digitally converted; a vehicular velocity sensor 16 for detecting the vehicular velocity V; a CPU/DSP 9 for subjecting the video received by the radio apparatus 11 to image processing, and thereafter correcting the video based on the velocity V; and a monitor 8 for displaying the video corrected by the CPU/DSP 9; wherein a distance X that the vehicle advances from the acquisition of the video by the camera 4 to the end of the image processing to the video is obtained from the velocity V, and the video is corrected so that the target point in the video is displayed on the front side by a length (x) corresponding to the distance X. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a parking assistance video apparatus that supports a driver's parking work by displaying a video around a vehicle on a display unit.

Some display a video obtained by a camera behind the vehicle on a car navigation or the like to assist the driver in the back parking work.
In addition, there is one that displays distance information from a vehicle to an obstacle on a display unit as assistance for a driver's parking work (see, for example, Patent Document 1).

  In addition, there is an apparatus that displays a predicted trajectory through which the entire vehicle can pass along with an image obtained by an imaging unit on a display unit as assistance for a driver's parking work (see, for example, Patent Document 2).

  As described above, when the video obtained by the imaging unit is processed and displayed on the display unit, the analog video obtained by the imaging unit is usually converted to digital, and then the digital video is processed and displayed on the display unit. Display.

  However, when the analog video obtained by the imaging unit is converted to digital and sent to the display unit, for example, as shown in FIG. 10, the analog video obtained by the imaging unit 90 is converted digitally by the CPU / DSP 91. Compress after conversion. Next, after modulation in the CPU / microcomputer 92, the data is transmitted from the wireless device 93 to the wireless device 94. Then, the signal is demodulated by the CPU / microcomputer 95 and decompressed by the CPU / DSP 96 and displayed on the display unit 97. As described above, when a digital video is sent to the display unit, a plurality of image processes are performed. Therefore, compared with a case where an analog video obtained by the imaging unit is sent to the display unit as it is, the CPU / DSP 91, 96 or CPU / There is a delay from when the image is obtained by the imaging unit 90 according to the processing capability of the microcomputers 92 and 95 until the image is displayed on the display unit 97. As described above, when a delay occurs in the video displayed on the display unit 97, what is displayed on the display unit 97 appears farther than the actual one, and thus the driver's parking work cannot be supported well. There is a fear.

  For example, as shown in FIG. 11 (a), when the vehicle 98 is moved back to the target point 99, if a delay occurs in the back image of the vehicle 98, the vehicle 98 is moved as shown in FIG. 11 (b). Even if the target point 99 is reached, as shown in FIG. 11C, the target point 99 is still displayed on the display unit 97, so the driver further backs the vehicle 98, and FIG. As shown, the vehicle 98 passes the target point 99.

JP 2001-2224013 A JP 2007-090991 A

  Therefore, in the present invention, after image processing is performed on a digital video around the vehicle, when the display is displayed on the display unit, the video can be displayed on the display unit as a real-time video with no delay. An object is to provide a video apparatus.

  The parking assist video apparatus according to the present invention includes a receiving unit that receives a video image of the surroundings of the vehicle obtained by the imaging unit and converted to digital from the transmitting unit, a speed detecting unit that detects the speed of the vehicle, and the receiving unit. Image processing means for performing image processing on the received video and then correcting based on the speed detected by the speed detection means; and display means for displaying the video corrected by the image processing means; The processing means obtains the distance traveled by the vehicle from the speed detected by the speed detecting means until the image processing of the image processing means for the video is completed after the image is obtained by the imaging means, and corresponds to the distance The video is corrected so that the target point in the video is displayed in front of the length of the image.

  Thus, when image processing is performed on a digital video around the vehicle and then displayed on the display unit, the video can be displayed on the display unit as a real-time video without delay.

The image processing means may be configured to move the position of each pixel of the video downward in the video by a length corresponding to the distance.
Further, the image processing means may be configured to shorten the length corresponding to the distance as it goes upward from the lowest line of the video.

Further, the image processing means may be configured to cut a portion below the target point in the video by a length corresponding to the distance and then stretch the remaining video by the length.
In addition, the receiving unit receives video transmitted from the plurality of transmitting units, and the image processing unit performs image processing on each video received by the receiving unit, and then uses the speed detection unit. Correction may be performed based on the detected speed, the corrected images may be combined with each other, and the display unit may display the image combined by the image processing unit.

Thereby, the parking assistance video apparatus can be applied to an around view system.
In addition, the parking assist video device includes a steering angle detection unit that detects a steering angle of a steering wheel of the vehicle, and the image processing unit displays the video based on the steering angle detected by the steering angle detection unit. After rotating around the center of the bottom line of the video, the video is corrected so that the video displayed on the display means is displayed in front by the length corresponding to the distance. May be.

  According to the present invention, in a parking assistance video device that supports a driver's parking operation by displaying a video around the vehicle on the display unit, the digital video around the vehicle is subjected to image processing and then displayed. When displayed on the screen, the video can be displayed on the display as a real-time video with no delay.

It is a figure which shows the structure of the parking assistance imaging | video apparatus of embodiment of this invention. It is a flowchart which shows operation | movement of the parking assistance imaging | video apparatus of 1st Embodiment of this invention. It is a figure which shows an example of the image | video rotated by rotation angle (theta). It is a figure which shows the relationship between the speed V and the distance X which a vehicle travels by 180 ns delay. It is a figure which shows the correction method in the parking assistance imaging | video apparatus of 1st Embodiment. It is a flowchart which shows operation | movement of the parking assistance imaging | video apparatus of 2nd Embodiment of this invention. It is a figure which shows the correction method in the parking assistance imaging | video apparatus of 2nd Embodiment. It is a figure which shows an around view system. It is a flowchart which shows operation | movement of the parking assistance imaging | video apparatus of 3rd Embodiment of this invention. It is a figure which shows the structure of the existing parking assistance imaging | video apparatus. It is a figure for demonstrating the problem in the existing parking assistance imaging | video apparatus.

FIG. 1 is a diagram showing a configuration of a parking assistance video apparatus according to an embodiment of the present invention.
A parking assistance video apparatus 1 illustrated in FIG. 1 includes a transmission unit 2 and a reception unit 3.
The transmission unit 2 includes a camera 4 (imaging means), a CPU / DSP 5, a CPU / microcomputer 6, and a wireless device 7 (transmission means).

The CPU / DSP 5 converts the analog video obtained by the camera 4 into digital and then compresses it.
The CPU / microcomputer 6 modulates the video compressed by the CPU / DSP 5.

The wireless device 7 transmits the video modulated by the CPU / microcomputer 6.
The receiving unit 3 is, for example, a car navigation system, and includes a monitor 8 (display means), a CPU / DSP 9 (image processing means), a CPU / microcomputer 10, a wireless device 11 (receiving means), and a ROM / RAM 12. It has.

The wireless device 11 receives the video transmitted by the wireless device 7.
The CPU / microcomputer 10 demodulates the video received by the wireless device 11.
The CPU / DSP 9 corrects after decompressing the video demodulated by the CPU / microcomputer 10.

The monitor 8 displays an image corrected by the CPU / DSP 9.
The CPU / DSP 9 includes an image processing unit 13, a moving distance calculation unit 14, and an angle calculation unit 15.

  The image processing unit 13 decompresses the video demodulated by the CPU / microcomputer 10 using the ROM / RAM 12 as an image processing buffer. In addition, the image processing unit 13 rotates the expanded image by the rotation angle θ2 calculated by the angle calculation unit 15, and then the length x corresponding to the distance X obtained by the movement distance calculation unit 14. The rotated image is corrected so that the target point is displayed in front.

  The moving distance calculation unit 14 uses the calculation table recorded in the ROM / RAM 12 to obtain an image from the camera 4 corresponding to the vehicle speed V detected by the vehicle speed sensor 16 (speed detection means). The distance X traveled by the vehicle before the image processing of the image processing unit 13 for the video is completed.

The angle calculation unit 15 calculates the rotation angle θ2 of the vehicle based on the steering angle θ1 of the steering wheel of the vehicle detected by the steering angle sensor 17 (steering angle detection means).
<First Embodiment>
FIG. 2 is a flowchart showing the operation of the CPU / DSP 9 in the parking assistance video apparatus 1 of the first embodiment.

  First, when an image demodulated by the CPU / microcomputer 10 is input (S11), the CPU / DSP 9 takes in the speed V detected by the vehicle speed sensor 16 and the steering angle θ1 of the steering wheel detected by the steering angle sensor 17. (S12).

Next, the CPU / DSP 9 calculates the rotation angle θ2 corresponding to the traveling direction of the vehicle based on the speed V and the steering angle θ1 in the angle calculation unit 15 (S13).
Next, the CPU / DSP 9 causes the image processing unit 13 to rotate the expanded video by a rotation angle θ2 around the center of the bottom line of the video (S14). For example, as shown in FIG. 3, the expanded image is rotated by a rotation angle θ2 around the center (origin) of the bottom line of the image.

  Next, the CPU / DSP 9 uses the calculation table recorded in the ROM / RAM 12 to determine the distance X corresponding to the speed V in the movement distance calculation unit 14. For example, in the calculation table in which the speed V (km / h) shown in FIG. 4 corresponds to the distance X (m) that the vehicle travels with a delay time of 180 ns, when the speed V is 1 km / h, 0. 05m is required.

  Then, in the image processing unit 13, the CPU / DSP 9 moves each pixel of the rotated image downward by the length x corresponding to the distance X (S16). At this time, a pixel close to the bottom line of the video is moved downward by a length x, and a pixel far from the bottom line of the video is moved downward by shortening the length x. For example, the screen size of the monitor 8 is VGA (640 × 480), a target point (for example, an obstacle) 1 m away from the vehicle is displayed in the center of the monitor 8, the rotation angle θ2 is zero, and the distance X is 0.05 m. As shown in FIG. 5, pixels near the bottom line of the image are equivalent to 12 (= 480 × (1 / (2 ÷ 0.05))) pixels (corresponding to the above length x). ) Move downward, and move the pixels 3/4 of the entire line away from the bottom line of the video by 9 (= 12 × 3/4) pixels downward.

According to the parking assistance video apparatus 1 of the first embodiment, the video for a length x corresponding to the distance X traveled by the vehicle can be moved downward and displayed on the monitor 8 in the delay time caused by the image processing. Therefore, when image processing is performed on a digital video around the vehicle and then displayed on the monitor 8, the video can be displayed on the monitor 8 as a real-time video with no delay.
<Second Embodiment>
FIG. 6 is a flowchart showing the operation of the CPU / DSP 9 in the parking assistance video apparatus 1 of the first embodiment. In addition, the structure of the parking assistance video apparatus of 2nd Embodiment is the same as that of the parking assistance video apparatus 1 shown in FIG. Further, S21 to S25 shown in FIG. 6 are the same as S11 to S15 shown in FIG.

  When the distance X is obtained in S25, the CPU / DSP 9 cuts out pixels for a length x corresponding to the distance X upward from the bottom line of the video (S26). For example, the screen size of the monitor 8 is VGA (640 × 480), a target point (for example, an obstacle) 1 m away from the vehicle is displayed in the center of the monitor 8, the rotation angle θ2 is zero, and the distance X is 0.05 m. 7 is obtained, as shown in FIG. 7 (a), from the bottom line of the video upwards to 12 (= 480 × (1 / (2 ÷ 0.05))) lines (the above length) (Corresponding to x) is cut out from the video.

  Then, the CPU / DSP 9 stretches the remaining image downward by the cut pixel (S27). For example, as shown in FIG. 7B, the cut out pixels for 12 lines and the remaining 468 lines are stretched downward.

  Further, as shown in FIG. 7C, the image is rotated by a rotation angle θ2 and a pixel corresponding to the length X is cut out from the bottom line of the image upward, and then the image is cut out. When the remaining image is stretched downward by the amount of pixels, the missing pixel (the hatched portion) is added as the image displayed on the monitor 8 to create an image as shown in FIG.

Further, the video range to be cut is not particularly limited as long as it is below the target point.
According to the parking assistance video apparatus 1 of the second embodiment, after cutting the lower part of the video by the length x corresponding to the distance X that the vehicle actually travels in the delay time caused by the image processing, the remaining part is cut off. Can be expanded and displayed on the monitor 8, so that when the digital image around the vehicle is subjected to image processing and then displayed on the monitor 8, the image is real-time without delay. Can be displayed on the monitor 8.

In addition, in each parking assistance image | video apparatus 1 of 1st and 2nd embodiment, you may correct | amend an image | video based only on the distance X, without rotating an image | video.
<Third Embodiment>
As shown in FIG. 8A, the transmitter 2 provided at the rear of the vehicle, the transmitter 18 provided at the right side of the vehicle, the transmitter 19 provided at the front of the vehicle, and the left side of the vehicle. Also in the around view system when the images (1) to (4) respectively sent from the transmission unit 20 are combined with each other and displayed on the monitor 8 as shown in FIG. The parking assistance video apparatus 1 can be applied. The transmission units 18 to 20 each include the camera 4, the CPU / DSP 5, the CPU / microcomputer 6, and the wireless device 7 illustrated in FIG. 1. In addition, it is assumed that the videos (1) to (4) are simultaneously shot and the videos (1) to (4) are sequentially sent to the receiving unit 3.

FIG. 9 is a flowchart showing the operation of the CPU / DSP 9 in the parking assistance video apparatus 1 of the third embodiment which is an around view system.
First, the CPU / DSP 9 corrects each of the videos (1) to (4) in the image processing unit 13 (S30). At this time, the images (1) to (4) are respectively corrected by the correction method shown in FIG.

Then, the CPU / DSP 9 combines the corrected images (1) to (4) with each other (S31).
The distance X required when the image (1) is corrected is a delay time from when the image (1) is obtained by the camera 4 to when the composition processing of the images (1) to (4) is completed. The distance X calculated when the image (2) is corrected corresponds to the distance traveled by the camera 4 after the image (2) is obtained by the camera 4. It corresponds to the distance traveled by the vehicle with the delay time until completion, and the distance X calculated when the image (3) is corrected is the image (1) after the image (3) is obtained by the camera 4. The distance X calculated when the vehicle (4) is corrected corresponds to the distance traveled by the delay time until the synthesis process of (4) to (4) is completed, and the image (4) is calculated by the camera 4. The distance traveled by the vehicle with the delay time from when the video (1) to (4) are combined It is.

  According to the parking assistance video apparatus 1 of the third embodiment, in the around view system in which the videos (1) to (4) obtained by the transmission units 2 and 18 to 20 are synthesized and displayed on the monitor 8, the synthesized video Can be displayed on the monitor 8 as a real-time video with no delay.

  In the above embodiment, the video is transmitted from the transmission unit to the reception unit 3 wirelessly, but the video may be transmitted from the transmission unit to the reception unit 3 by wire.

DESCRIPTION OF SYMBOLS 1 Parking assistance imaging device 2 Transmission part 3 Reception part 4 Camera 5 CPU / DSP
6 CPU / microcomputer 7 Wireless device 8 Monitor 9 CPU / DSP
10 CPU / microcomputer 11 Wireless device 12 ROM / RAM
13 Image processing unit 14 Travel distance calculation unit 15 Angle calculation unit 16 Vehicle speed sensor 17 Steering angle sensor 18 Transmission unit 19 Transmission unit 20 Transmission unit

Claims (6)

Receiving means for receiving, from the transmitting means, an image of the surroundings of the vehicle obtained by the imaging means and converted into digital;
Speed detecting means for detecting the speed of the vehicle;
Image processing means for performing image processing on the video received by the receiving means and then correcting the video based on the speed detected by the speed detecting means;
Display means for displaying the video corrected by the image processing means;
With
The image processing means obtains the distance traveled by the vehicle from the speed detected by the speed detecting means until the image processing of the image processing means for the video ends after the image is obtained by the imaging means, and the distance A parking assist video device, wherein the video is corrected so that a target point in the video is displayed in front by a length corresponding to. The parking assistance video device according to claim 1,
The said image processing means moves the position of each pixel of the said image | video by the length corresponding to the said distance below in the said image | video. The parking assistance imaging | video apparatus characterized by the above-mentioned. The parking assistance video device according to claim 2,
The parking support video apparatus characterized in that the image processing means shortens the length corresponding to the distance as it goes upward from the lowest line of the video. The parking assistance video device according to claim 1,
The image processing means cuts a portion below the target point in the video by a length corresponding to the distance, and then stretches the remaining video by the length. The parking assistance video device according to claim 1,
The receiving means receives video transmitted from the plurality of transmitting means;
The image processing means performs image processing on each video received by the receiving means, and then corrects based on the speed detected by the speed detecting means, and combines the corrected videos with each other.
The parking support video apparatus, wherein the display means displays the video synthesized by the image processing means. The parking assist video device according to any one of claims 1 to 5,
A steering angle detection means for detecting a steering angle of the steering wheel of the vehicle,
The image processing means rotates the video around the center of the bottom line of the video based on the steering angle detected by the steering angle detection means, and then the length corresponding to the distance. The parking assistance video apparatus, wherein the video is corrected so that the video displayed on the display means is displayed in front.