JP2011114467A - Vehicle display device and display method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide "a vehicle display device and a vehicle display method" for notifying a driver that there is a blind corner in a rear view image. <P>SOLUTION: The vehicle display device that images a rear view of a vehicle and displays the rear view image includes: an imaging camera 110 which images a rear view of the vehicle; an output control unit 130 which displays the rear view image on a display 140 based on data captured by the imaging camera; a parking direction determination unit 132 which determines whether the vehicle is obliquely parked, based on the captured data; and a blind corner direction determination unit 134 which determines a direction of a blind corner in the rear view image when oblique parking is determined. When the oblique parking is determined, the output control unit 130 displays information 210, 220 for notifying the driver of the presence of blind corner and the direction of the blind corner on the rear view image 200, based on the result of the blind corner direction determination unit. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a vehicle display device having a function of capturing an image of the rear of a vehicle and displaying a rear image thereof, and particularly relates to a method for calling attention when a blind spot occurs in a rear image.

  The mounting of imaging cameras on automobiles has become widespread, and applications using imaging cameras are rapidly expanding. Many of the applications help drivers and improve safety when driving or parking a vehicle. For example, an imaging camera is mounted on the rear of the vehicle, and when the vehicle moves backward, a rear image is displayed on the display, thereby assisting in entering a garage or calling attention to an obstacle behind the vehicle. In addition, a side view camera system for photographing an obstacle existing in the vicinity of a vehicle that is likely to become a blind spot for a driver has been developed.

  In a rear-view (back-view) camera system that captures the rear of a vehicle, a wide-angle lens or a fish-eye lens having a relatively large angle of view or viewing angle is generally used so that a wide range can be imaged with a single imaging camera. For example, in the case of a fisheye lens, the angle of view is about 180 degrees in the horizontal direction. Japanese Patent Application Laid-Open No. 2004-228561 displays an appropriate rear image on the display according to the situation when the vehicle moves backward, displays a wide-angle image with a wide horizontal angle of view on the display when the vehicle moves backward, and moves horizontally when the vehicle does not move backward. A vehicle back-up support apparatus that displays a narrow-angle image with a narrow angle of view on a display is disclosed.

JP-A-2005-112267

  The conventional rear view camera system has the following problems. There are two main cases of parking in the parking lot. One is when parking in a parking space defined in a direction perpendicular to the road (hereinafter referred to as vertical parking for convenience), and the other is parked in a parking space defined in an oblique direction with respect to the road. This is the case (hereinafter referred to as oblique parking for convenience).

  FIG. 1A shows an example of vertical parking, and FIG. 1B shows an example of diagonal parking. In the case of vertical parking, as shown in FIG. 1A, a plurality of parking spaces 14 for parking a vehicle in a direction substantially perpendicular to the road (or traveling space) 10 are provided, and adjacent to one parking space 14 The boundary of the parking space 14 is defined by a white line 12 extending in a direction perpendicular to the road 10. In the case of oblique parking, as shown in FIG. 1B, a plurality of parking spaces 24 are provided so that the vehicle is parked at a fixed inclination angle with respect to the road 20, and one parking space 24 and a parking space adjacent thereto. The boundary of 24 is defined by a white line 22 extending at a constant inclination angle with respect to the road 20.

  FIG. 2 is a diagram for explaining the relationship between the angle of view (viewing angle) and the road in a parked vehicle. FIG. 2A shows an example of vertical parking, and FIG. 2B shows an example of oblique parking. The imaging camera uses a fisheye lens having an angle of view of about 180 degrees.

  As shown in FIG. 2A, when the rear image is taken from the vertically parked vehicle, the horizontal angle of view S of the imaging camera is bilaterally symmetric with respect to the optical axis O. Crosses the center line C1 at a right angle. For this reason, since both sides of the road 10 connected to the parking space are imaged around the optical axis O, no blind spot is generated in the rear image. The blind spot here means the left or right road area that leads to the parking space that is not shown in the rear image.

  On the other hand, when the parking is performed obliquely, as shown in FIG. 2B, the vehicle is tilted with respect to the road 20, so that the optical axis O of the imaging camera intersects the center line C2 of the road 20 at an angle α. For this reason, the angle of view S is biased on one side of the road 10 that leads to the parking space, and as a result, a road region that cannot be imaged by the angle of view S, that is, a blind spot, is generated. In the example of FIG. 2B, the area on the road indicated by the angle β is a blind spot.

  Here, as shown in FIGS. 2A and 2B, it is assumed that a moving body P such as a vehicle, a bicycle, or a pedestrian travels on the roads 10 and 20 and passes in front of the host vehicle. In the rear image of the vehicle that has been parked vertically, as shown in FIG. 3A, the moving object P approaches at time t1, the moving object P passes in front of the own vehicle at time t2, and moves at time t3. It can be visually observed how the body P passes by. On the other hand, as shown in FIG. 3B, in the rear image of the own vehicle parked obliquely, the moving object P cannot be imaged at the time t1 because the road area on the right side of the parking lot is a blind spot. A moving body P approaching the host vehicle suddenly appears at time t2, and a state in which the moving body P moves away at time t3 is visually recognized. The driver can not intuitively understand where the blind spot is from the rear image displayed on the display alone, and if the driver fails to confirm safety because nothing is reflected in the rear image, There was a risk of causing a collision with vehicles and pedestrians that appeared from the blind spot.

  The present invention solves the above-described conventional problems, and an object of the present invention is to provide a vehicle display device and a display method thereof that can notify that a blind spot has occurred in a rear image.

  The vehicle display device according to the present invention captures the rear of the vehicle and displays the rear image thereof. The vehicle display device captures an image of the rear of the vehicle and outputs imaging data. The rear image is displayed based on the imaging data. Possible display means, determination means for determining whether or not the vehicle is parked obliquely based on the imaging data, and blind spot direction determination means for determining a direction in which a blind spot occurs in the rear image when it is determined to be diagonal parking. The display means displays on the rear image a display informing that a blind spot is generated and the direction of the blind spot based on the determination result of the blind spot judging means when it is determined that the parking is oblique.

  Preferably, the determination means further includes a white line detection means for detecting a white line defining a left and right boundary of the parking space, and a comparison means for comparing the lengths of the left and right white lines detected by the white line detection means, The determination means determines that the parking is diagonal when the difference between the lengths of the left and right white lines is equal to or greater than a threshold value. Preferably, the blind spot direction determining unit determines that a blind spot is generated in a shorter one of the left and right white lines detected by the white line detecting unit. Preferably, the display means displays a graphic notation indicating a direction in which a blind spot is generated on the rear image. The vehicle display device may further include audio output means for informing that a blind spot has occurred and the direction of the blind spot. Preferably, the vehicle display device further includes an obstacle detection unit that detects a position of an obstacle behind the host vehicle, and the display unit includes a case where the position of the detected obstacle exists in the field of view of the rear image. Displays a display informing that the obstacle exists in the field of view in the rear image, and if the position of the detected obstacle does not exist in the field of view of the rear image, the detected obstacle is displayed. It is determined whether or not the position of the object and the direction of the blind spot determined by the blind spot direction determination means match, and when they match, a display informing that an obstacle exists in the direction of the blind spot is displayed on the rear image. . Preferably, the direction in which the blind spot is generated is one of the left and right directions with respect to the center of the rear image, and the position of the obstacle is preferably the left or right region with respect to the center of the rear image.

  The vehicle display method for imaging the rear of the vehicle with the imaging camera according to the present invention and displaying the rear image thereof is a step of determining whether or not the parking is diagonal from the rear image captured by the imaging camera, and when the parking is determined to be diagonal parking And determining in which direction of the rear image a blind spot occurs, and when displaying the rear image, the step of notifying that there is a blind spot and the direction of the blind spot on the rear image.

  Preferably, the step of determining whether or not the vehicle is obliquely parked further includes a step of detecting a white line defining a left and right boundary of the parking space, and a step of comparing the lengths of the detected left and right white lines. The step of performing is determined to be oblique parking when the difference in length between the left and right white lines is equal to or greater than a threshold value. Preferably, in the step of determining the direction of the blind spot, it is determined that a blind spot occurs in a shorter one of the left and right white lines detected by the detecting step. Preferably, a graphic notation indicating the direction of the blind spot is synthesized and displayed on the rear image.

  According to the present invention, it is determined whether or not the vehicle is obliquely parked. When the vehicle is obliquely parked, the user is notified that a blind spot has occurred in the rear image. And confirming safety not only by the rear image but also visually. As a result, it is possible to prevent the occurrence of a collision accident with an obstacle such as a vehicle or a pedestrian appearing from a blind spot.

FIG. 1A illustrates an example of vertical parking, and FIG. 1B illustrates an example of oblique parking. 2A is a diagram for explaining the relationship between the angle of view of the imaging camera and the road during vertical parking, and FIG. 2B is a diagram for explaining the relationship between the angle of view of the imaging camera and the road during oblique parking. FIG. 3A shows an example of a moving object displayed in the rear image during vertical parking, and FIG. 3B is a diagram showing an example of the moving object displayed in the rear image during oblique parking. It is a block diagram which shows the structure of the vehicle display apparatus which concerns on 1st Example of this invention. It is a figure which shows the mounting position of an imaging camera. It is a figure which shows the pattern of the white line which controls the boundary of a parking space. It is a figure which shows the structural example of the image process part shown in FIG. It is a figure which shows the structural example of the output control part shown in FIG. It is a figure explaining the determination method of a parking direction. It is a flowchart explaining operation | movement of the vehicle display apparatus of a present Example. It is an example of a display which notifies that a blind spot has arisen in a back picture. It is a figure which shows the other example of the diagonal parking in a present Example. It is a block diagram which shows the structure of the vehicle display apparatus which concerns on the 2nd Example of this invention. It is a figure which shows the operation | movement flow which concerns on 2nd Example of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The vehicle display device according to the present embodiment exemplifies a mode in which one imaging camera is mounted in the center of the rear part of the own vehicle, and the rear image captured by the imaging camera is displayed on the display when the own vehicle moves backward. To do.

  FIG. 4 is a block diagram showing the configuration of the vehicle display device according to the embodiment of the present invention. The vehicle display device 100 according to the present embodiment includes an imaging camera 110, an image processing unit 120 that receives imaging data captured by the imaging camera 110, performs image processing necessary for displaying a rear image, and the like. An output control unit 130 that receives a signal processed by the unit 120 and displays a warning or the like when a blind spot occurs in a rear image; and a display 140 that can display an image synthesized by the output control unit 130 And a speaker 150.

  The imaging camera 110 is configured using, for example, a CCD or a CMOS image sensor. As shown in FIG. 5, the imaging camera 110 is attached to the center in the vehicle width direction at the rear of the host vehicle. Preferably, the imaging camera 110 uses a fish-eye lens having an angle of view θ of about 180 degrees and images a wide range behind the host vehicle. Imaging data captured by the imaging camera 110 is provided to the image processing unit 120.

  The image processing unit 120 is configured using, for example, a microprocessor, a microcomputer, an image processing processor, and the like, and can perform image processing by executing a program stored in a ROM or a RAM. However, the image processing unit 120 may be realized by software, hardware, or a combination of software and hardware.

  The image processing unit 120 receives imaging data from the imaging camera 110, performs image processing on the imaging data, and detects a boundary of the parking space displayed there. The parking space typically limits the boundary with a white line, but may be a groove or a protrusion formed on the road surface in addition to the white line. FIG. 6 shows an example of a white line drawn on the road surface to display the boundary of the parking space (bar-shaped white line, white line composed of an elliptical double line, an enclosed U-shaped white line, etc.). . The boundary of the parking space may be defined by a combination of a groove or protrusion formed on the road surface and a white line, or only by a groove or protrusion formed on the road surface. Further, the image processing unit 120 may trim the captured data to display an image on the display 140 or perform other necessary image processing.

  The output control unit 130 is configured using, for example, a microprocessor, a microcomputer, an image processing processor, and the like, and executes a program stored in a ROM or RAM to output an image or sound. However, the realization method may be any of software, hardware, or a combination of both. The output control unit 130 causes the display 140 to display a rear image captured by the imaging camera 110 when the host vehicle travels backward, for example, when the gear enters the back. At this time, if a blind spot occurs in the rear image, a warning or the like indicating the presence is synthesized and displayed on the rear image. At the same time, the presence of a blind spot can be output as audio from the speaker 150.

  FIG. 7 is a block diagram illustrating a configuration example of the image processing unit 120. The image processing unit 120 includes a frame buffer 122 that holds imaging data from the imaging camera 110, a distortion aberration correction unit 124 that corrects distortion aberration of the imaging data output from the frame buffer 122, and parking from the corrected imaging data. And a parking white line detection unit 126 that detects a white line defining a space. The detection of the white line is performed using a known image processing technique. For example, the outline or outline of the white line can be extracted from the contrast ratio or brightness difference between the road surface and the white line. Data processed by the distortion correction unit 124 and the parking white line detection unit 124 is provided to the output control unit 130.

  FIG. 8 is a block diagram illustrating a configuration example of the output control unit 130. The output control unit 130 receives imaging data from the image processing unit 120 and receives the white line information detected by the image synthesizing unit 132 that displays the image data on the display 140 and the parking white line detection unit 126, and determines the parking direction of the host vehicle. It has the parking direction determination part 134 to determine, and the blind spot direction determination part 136 which determines a blind spot direction, when it determines with diagonal parking by the parking direction determination part 134.

  FIG. 9A shows an example of a rear image when the vehicle is parked vertically. It is assumed that the white line of the parking space extends in a direction perpendicular to the road and the vehicle is parked so as to be substantially parallel to the white line. In the rear image, the left and right white lines WL and WR are projected, and the outline of the white lines WL and WR or the area thereof is detected by the parking white line detection unit 126. This detection result is provided to the parking direction determination unit 134 as coordinate information. The parking direction determination unit 134 calculates the length DL in the longitudinal direction of the left white line WL, similarly calculates the length DR in the longitudinal direction of the right white line WR, and obtains the difference between the two. It is ideal if the vehicle is parked parallel to the white lines WL and WR, and DL and DR are equal, but in reality, the vehicle is parked with some inclination with respect to the white line. Therefore, when | DL-DR | <threshold, it is determined that the parking is vertical. Further, when both the left and right white lines are not shown in the rear image, it is determined that the parking is vertical.

  On the other hand, in the case of diagonal parking, the left and right white lines displayed in the rear image are not symmetric. In the example of FIG. 9B, the white line WL on the left is shown larger than the white line WR on the right. That is, when the difference between the lengths DL and DR of the left and right white lines WL and WR is greater than or equal to the threshold (| DL−DR | ≧ threshold), it is determined that the parking is oblique. It is determined that parking is diagonal even when the left or right white line is not shown.

  The blind spot direction determination unit 136 determines whether the blind spot is generated in the left or right direction of the rear image when it is determined that the parking is oblique. As shown in FIG. 2B, in the case of diagonal parking, a region that is not imaged by the imaging camera, that is, a blind spot, is generated in either the left or right region of the road that leads to the parking space. In the present embodiment, it is determined that a blind spot occurs in the shorter left and right white lines WL and WR lengths DL and DR. In the example of FIG. 9B, it is determined that a blind spot occurs in the direction of the white line WR on the right side.

  Next, the operation of the vehicle display device of this embodiment will be described with reference to the flowchart of FIG. First, the output control unit 130 monitors whether or not the gear of the own vehicle has moved backward (step S101), and when it is detected that the gear has been set to reverse, the rear image of the own vehicle is displayed on the display 140. Ready to display. The imaging camera 110 starts imaging behind the host vehicle (step S102), the imaging data is subjected to image processing by the image processing unit 120, and the parking white line detection unit 126 detects the white line of the parking space reflected in the imaging data. Is detected (step S103).

  Next, the parking direction determination part 134 determines whether the white line was detected based on the detection result of the parking white line detection part 126 (step S104). When no white line is detected, the parking direction determination unit 134 determines vertical parking (step S110). When the white line is detected, the parking direction determination unit 134 compares the lengths DL and DR of the left and right white lines WL and WR as described with reference to FIG. 9 (step S105), and the difference | DL-DR It is determined whether or not | is larger than a threshold value (step S106). When the difference is less than or equal to the threshold, it is determined that the parking is vertical (step S110), and when the difference is greater than the threshold, it is determined that the parking is oblique (step S107).

  Next, the blind spot direction determination unit 136 determines in which direction left and right blind spots occur when the imaging camera is based on the optical axis or the center of the rear image (step S108). As described above, the blind spot direction determination unit 136 determines that a blind spot occurs on the white line side of the shorter white line WL, WR length DL, DR. When only one of the left and right white lines is shown in the imaging data, it is determined that a blind spot occurs on the side where the white line is not shown.

  Next, the image composition unit 132 displays a rear image on the display 140 based on the imaging data, and displays a warning notifying that a blind spot has occurred on the rear image (step S109). Preferably, the image synthesizing unit 132 can inform the existence and the direction of the blind spot using a graphic on the rear image, and can inform the existence and the direction of the blind spot using a text. Furthermore, the output control unit 130 can also notify the presence and direction of the blind spot from the speaker 150 by voice.

  FIG. 11 is a display example of a rear image when parked obliquely. In the rear image 200 shown on the display 140, the white line 22 on the left side is displayed, and the parked vehicle 28 is shown in the adjacent parking space. Since the white line on the right side is not shown in the rear image 200, a blind spot exists in the right side direction from the center of the rear image. In the example shown in the figure, the rear image 200 includes a character notation 210 that “the right side is a blind spot. Please confirm safety visually” and a graphic notation 220 that represents a schematic planar state parked obliquely. Are combined and displayed. Further, the graphic notation 220 schematically shows the angle of view S of the imaging camera so that a region β that is a dead angle that is not included in the angle of view S can be identified.

On the other hand, when it is determined that the parking is vertical, the image composition unit 132 displays the rear image on the display as usual based on the imaging data from the image processing unit 120 (step S111).
At this time, the character notation 210 and the graphic notation 220 are not displayed.

  As described above, according to the present embodiment, when it is determined that the parking is oblique, the driver is informed of the blind spot in the rear image and the direction thereof. Encourage sufficient safety confirmation. Thereby, the collision with the moving body which passes back can be prevented beforehand.

  Next, another aspect of oblique parking will be described. As shown in FIG. 12, even if the parking space is a white line 12 perpendicular to the road 10, if the vehicle is parked diagonally with respect to the white line 12, the result is This is the same as the oblique parking described above. That is, an area that cannot be imaged by the imaging camera, that is, a blind area β is generated. Also in this case, as in the above-described embodiment, the rear image displays a blind spot and a warning in that direction.

  Next, a second embodiment of the present invention will be described. The vehicle display apparatus according to the first embodiment displays a rear image by the imaging camera, but the vehicle display apparatus 100A according to the second embodiment includes an obstacle detection unit 160 as shown in FIG. . The obstacle detection means 160 detects an obstacle existing around the vehicle (in this embodiment, behind the vehicle) using a millimeter wave radar, an infrared sensor, etc., and outputs the detection result to the output control unit 130. provide. This detection result includes at least information on the position of the obstacle.

  FIG. 14 is a flowchart for explaining the operation of the second embodiment. When the obstacle detection unit 160 detects an obstacle behind the host vehicle (step S201), the output control unit 130 determines whether the obstacle exists in the field of view of the rear image (step S202). If the image composition unit 132 determines that an obstacle is present in the field of view, the image composition unit 132 warns the user that the obstacle is present in the field of view using a character or graphic notation (step S203). On the other hand, when the output control unit 130 determines that there is no obstacle in the field of view, the output control unit 130 determines whether the position of the obstacle detected by the obstacle detection unit 160 matches the direction of the blind spot. (Step S204). For example, the output control unit 130 determines whether the obstacle exists in the left or right direction with respect to the optical axis of the imaging camera 110 behind the host vehicle, and the direction in which the obstacle exists is a blind spot. It is determined whether or not the direction matches. If it is determined that the two match, the image composition unit 132 warns with a character notation or a graphic notation that an obstacle exists in the blind spot direction on the rear image (step S205). Furthermore, sound may be output from the speaker 150. According to the second embodiment, the driver is encouraged to pay sufficient attention to obstacles that may suddenly appear from the direction of the blind spot.

  The preferred embodiment of the present invention has been described in detail above, but the present invention is not limited to the specific embodiment, and various modifications can be made within the scope of the present invention described in the claims. Deformation / change is possible. Although the above-mentioned embodiment shows an example as a vehicle-mounted display device, the vehicle-mounted display device may be included in a system integrated with a navigation device and an audio / video device.

DESCRIPTION OF SYMBOLS 10, 20: Road 12, 22: White line 14:24: Parking space 100: Vehicle display apparatus 110: Imaging camera 120: Image processing part 126: Parking white line detection part 130: Output control part 132: Image composition part 134: Parking direction Determination unit 136: Blind spot direction determination unit 140: Display 200: Rear image 210: Character notation 220: Graphic notation WL: White line on the left side WR: White line on the right side DL: Length of white line on the left side DR: Length of white line on the right side S : Angle of view β: Area of blind spot P: Moving object

Claims (12)

A vehicle display device that images the rear of the vehicle and displays the rear image thereof,
Imaging means for imaging the rear of the vehicle and outputting imaging data;
Display means capable of displaying a rear image based on the imaging data;
Determining means for determining whether or not the host vehicle is parked obliquely based on the imaging data;
When it is determined that the parking is oblique, it has a blind spot direction determination means for determining a direction in which a blind spot occurs in the rear image,
When the display unit determines that the parking is oblique, the vehicle display device displays on the rear image a display informing that a blind spot is generated and a direction of the blind spot based on a determination result of the blind spot determination unit. The determination unit further includes a white line detection unit that detects a white line that defines a right and left boundary of the parking space, and a comparison unit that compares the lengths of the left and right white lines detected by the white line detection unit. The vehicle display device according to claim 1, wherein when the difference between the lengths of the left and right white lines is equal to or greater than a threshold value, the vehicle is determined to be obliquely parked. The vehicle display device according to claim 2, wherein the blind spot direction determination unit determines that a blind spot is generated in a shorter one of the left and right white lines detected by the white line detection unit. The vehicle display device according to claim 1, wherein the display unit displays a graphic notation indicating a direction in which a blind spot is generated on the rear image. The vehicle display device according to claim 1, further comprising audio output means for notifying that a blind spot has occurred and a direction of the blind spot. The vehicle display device further includes obstacle detection means for detecting the position of an obstacle behind the host vehicle, and the display means is configured to detect the position of the obstacle in the field of view of the rear image. A display informing that the obstacle is present in the visual field is displayed on the rear image, and when the position of the detected obstacle is not present in the visual field of the rear image, Determining whether or not the position and the direction of the blind spot determined by the blind spot direction determination unit match, and displaying a display on the rear image informing that an obstacle exists in the direction of the blind spot when they match. Item 6. The vehicle display device according to any one of Items 1 to 5. The vehicle display device according to claim 1, wherein a direction in which the blind spot is generated is a left or right direction with respect to a center of the rear image. The vehicle display device according to claim 6, wherein the position of the obstacle is a left or right region with respect to a center of the rear image. A vehicle display method for imaging the rear of a vehicle with an imaging camera and displaying the rear image,
Determining whether or not the vehicle is obliquely parked from the rear image captured by the imaging camera;
A step of determining in which direction of the rear image a blind spot occurs when it is determined that the parking is oblique;
When displaying the rear image, the step of informing that a blind spot has occurred on the rear image and the direction of the blind spot;
A vehicle display method comprising: The step of determining whether or not the parking is diagonally further includes a step of detecting white lines that define the left and right boundaries of the parking space, and a step of comparing the lengths of the detected left and right white lines. The vehicle display method according to claim 9, wherein when the difference between the lengths of the left and right white lines is equal to or greater than a threshold, the vehicle is determined to be obliquely parked. The vehicle display method according to claim 10, wherein the step of determining the direction of the blind spot determines that a blind spot occurs in a shorter one of the left and right white lines detected by the detecting step. The vehicle display method according to claim 9, wherein the graphic notation indicating the direction of the blind spot is synthesized and displayed on the rear image.

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