JP2012090087A - Driving assist apparatus using vehicle periphery image - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving assist apparatus which enables drivers to easily grasp the situation around a vehicle.SOLUTION: A driving assist apparatus 10 includes a driving assist apparatus ECU 11, an imaging device 12, an obstacle detection device 13, a display device 18, and warning means 19. The driving assist apparatus ECU 11 obtains a peripheral image 31 captured by the imaging device 12 and a guide image 32a assisting driving. When the obstacle detection device 13 detects an obstacle 33, the driving assist apparatus ECU 11 displays the peripheral image 31 without displaying the guide image 32a on the display device 18 and informs a driver that the obstacle 33 is detected through the warning means 19. When the obstacle detection device 13 does not detect the obstacle 33, the guide image 32a and the peripheral image 31 are superposed to be displayed on the display device 18.

Description

  The present invention relates to a driving support device that supports a driver by displaying an image around a vehicle on a display device.

  As one of the conventional driving assistance devices, a video displayed by a camera that captures the rear of the vehicle is displayed on a monitor, and a guide display indicating an expected trajectory of the vehicle linked to the steering angle of the steering wheel is captured by the camera. A technique of superimposing on a video and displaying it on a monitor is disclosed. The guide display includes an expected trajectory of the vehicle and a distance guide line from the vehicle. According to this configuration, when the vehicle moves backward, the rear image and the expected backward movement locus of the vehicle are displayed on the monitor, so that the driver can move backward with reference to the monitor screen in addition to viewing the rear. Become convenient.

JP 2001-180405 A

  However, while the guide display shows an expected trajectory of the vehicle traveling at the current steering angle of the steering wheel, the guide display is superimposed on the image captured by the camera, so that the driver can It is difficult to see external images. In particular, when an obstacle is in the vicinity of the vehicle and the guide display is superimposed on an image outside the vehicle, the guide display may overlap the obstacle and the driver may not easily see the obstacle.

  The present invention has been made in view of the above-mentioned problems, and one of its purposes is to provide a driving support device that makes it easy for the driver to grasp the situation around the vehicle by displaying an image around the vehicle. is there.

  In order to solve the above-described problems, a driving support apparatus according to the present invention displays an imaging device that captures the periphery of a vehicle, a captured peripheral image, and a guide image for driving support that is superimposed on the peripheral image. A display device, and the display mode of the guide image is changed according to the peripheral image.

  According to the present invention, the driver can easily grasp the situation around the vehicle.

It is a figure showing the outline of the driving support device concerning the embodiment of the present invention. It is a figure which shows the control flowchart for operating a driving assistance device. FIG. 6 is a diagram in which an image around a vehicle and a guide image are superimposed and displayed on a display. It is a figure which shows the display concerning embodiment of this invention. It is a figure which shows the display concerning the modification of this invention.

  Hereinafter, the driving assistance device concerning one embodiment of the present invention is explained.

  First, the structure of the driving assistance apparatus concerning embodiment of this invention is demonstrated with reference to FIG. As shown in FIG. 1, the driving assistance device 10 according to the embodiment includes a driving assistance device ECU 11, a camera 12, an objective sensor 13, a steering wheel 14, a rudder angle sensor 15, a trajectory calculation unit 16, and a warning. A generation unit 17, a display 18, and a speaker 19 are provided.

  The driving support device ECU 11 is an electric circuit including a known microcomputer. The vehicle support device ECU 11 is configured to electronically control the camera 12, the objective sensor 13, the trajectory calculation means 16, the warning generation means 17, the display 18, the speaker 19, and transmit and receive electrical signals. As described later, the driving support device ECU 11 determines whether or not to display a guide image that combines a predicted course trajectory calculated by the trajectory calculating means 16 and a distance guide line indicating a predetermined distance from the vehicle, or It is determined whether to change the transmittance or the shape.

  The camera 12 is an imaging device for capturing an image around the vehicle. The camera 12 may be used in common with a monocular camera or a compound eye camera used in the collision prevention apparatus. For example, a camera having a CCD or a CMOS image sensor or the like may be used.

  The objective sensor 13 is an obstacle detection device that detects obstacles around the vehicle using ultrasonic waves, lasers, or radio waves. Examples include clearance sonar and millimeter wave radar.

  The steering wheel 14 is a steering device that changes the traveling direction of the vehicle.

  The steering angle sensor 15 is a steering angle detection device that detects the turning angle of the steering wheel 14.

  The trajectory calculation means 16 is a means for calculating the trajectory of the predicted course of the vehicle from the turning angle of the steering wheel 14 detected by the steering angle sensor 15.

  The warning generation unit 17 is a unit that generates a warning sound emitted from the speaker 19. The warning generation unit 17 may generate a display symbol for highlighting a character displayed on the display 18 or an obstacle detected by the objective sensor 13.

  The display 18 is a display device that displays an image or the like captured by the camera 12 via the vehicle support device ECU 11, and may be a head-up display (HUD). The display 18 may be shared with a display device that displays a car navigation screen, and the installation position may be an instrument panel, a dashboard, or a dashboard.

  The speaker 19 is a warning device that generates a sound by changing an electrical signal into a physical vibration, and emits a warning sound generated by the warning generation means 17. The speaker 19 may be substituted for a voice guidance device for car navigation.

  Next, an operation for controlling the driving support device 10 will be described with reference to a control flowchart shown in FIG.

  The driver may want to check a position hidden in the vehicle that the driver cannot visually check, for example, because the driver is parked backward or in parallel. At this time, when the driver operates the shift lever from the D range to the R range, the driving support program is started and the routine proceeds to step 210. The driving assistance device ECU 11 acquires a peripheral image around the vehicle imaged by the camera 12 in step 210. As one of the peripheral images, there is a peripheral image 31 shown in FIG.

  The driving assistance apparatus ECU11 proceeds to step 220, and acquires a guide image that combines the predicted course trajectory of the vehicle calculated by the trajectory calculation means 16 and a distance guide line indicating a predetermined distance from the vehicle. The guide image 32a is linked to the steering wheel 13, and as shown in FIG. 3, when the steering wheel 13 is turned to the right, the guide image 32a is generated to be bent to the right. The distance guide line may be set to a predetermined distance (for example, a distance of 50 cm and a distance of 1 m from the vehicle), and the predetermined distance may be changed according to the vehicle speed sensor.

  The driving assistance device ECU 11 proceeds to step 230 and monitors whether or not the objective sensor 13 has detected an obstacle. As shown in FIG. 3, when the objective sensor 13 detects the obstacle 33, the driving assistance device ECU 11 proceeds to step 240.

  The driving assistance device ECU 11 acquires the warning information generated by the warning generation unit 17. For example, as shown in FIG. 4, the warning information 34 may be displayed as text on the display 18 such as “please check the surroundings of the vehicle directly”, or emphasize the obstacle 33. It may be circled so as to be displayed. Further, a warning sound such as “beep sound” or “please be careful” may be emitted from the speaker 19 to alert the driver.

  The driving support device ECU 11 proceeds to step 250, and displays the warning information 34 acquired in step 240 together with the peripheral image 31 on the display 18 without displaying the guide image 32a as shown in FIG.

  On the other hand, if the driving support device ECU 11 does not detect an obstacle in step 230, the driving assistance device ECU 11 proceeds to step 260. The driving assistance device ECU 11 superimposes and displays the guide image 32 a acquired in step 220 on the vehicle peripheral image 31 displayed on the display 18.

  As shown in FIG. 3, the conventional driving support apparatus displays a surrounding image 31 of the vehicle on which the obstacle 33 is reflected on the display 18, and further displays a guide image 32 a on the surrounding image 31 on the display 18. . When displayed in this way, the guide image 32a is displayed from above the obstacle 33, and the obstacle 33 overlaps the guide image 32a. Since the obstacle 33 overlaps with the guide image 32a, the driver may not easily see the obstacle 33 in some cases.

  On the other hand, when an obstacle is detected as in the embodiment of the present invention, the driver quickly recognizes that there is an obstacle by displaying the warning information 34 without displaying the guide image 32a on the display 18. be able to. Further, when no obstacle is detected, the driver can easily drive by displaying the guide image 32a superimposed on the peripheral image 31.

  As described above, according to the embodiment of the present invention, the driver can easily drive by grasping the situation around the vehicle.

  In the above-described embodiment, the case of the control of the driving support device 10 has been described. However, the control is not limited to the driving support device 10 described above, and the control is such as changing the display method of the display according to the situation around the vehicle. Any method other than displaying the guide image 32a may be employed.

  For example, in the above-described embodiment, the driving support device 10 starts the driving support program when the driver operates the shift lever from the D range to the R range. For example, the driving support device 10 is installed on a display, an instrument panel, or the like. Alternatively, it may be started by pressing a driving support device start switch (not shown).

  Furthermore, in the said embodiment, although the driving assistance apparatus 10 was used in order to carry out back or parallel parking as an example, the case of the driving assistance by a front camera in case the vehicle is moving forward may be sufficient. For example, it may be when passing the oncoming vehicle when moving forward or when confirming the front of the vehicle when switching during parking.

  Furthermore, in the above embodiment, when the obstacle 33 is detected, the guide image 32a is not displayed, but the display mode may be changed as in the guide image 32b of FIG. For example, the shape of the guide image 32a may be changed, for example, the transmittance may be lowered, the solid line display may be changed to a broken line display, or the line thickness may be reduced. By doing in this way, the same effect as an embodiment can be acquired.

  Furthermore, in the above-described embodiment, an image captured by one camera 12 is displayed on the display 18, but one type or two or more types of images captured using a plurality of cameras may be displayed on the display 18. For example, an image captured using a plurality of cameras includes an overhead image viewed from above the vehicle.

  Furthermore, in the above-described embodiment, the camera 12 captures a peripheral image of the vehicle and the objective sensor 13 detects an obstacle. However, the camera 12 captures a peripheral image of the vehicle and performs image processing of the peripheral image. An obstacle may be detected by doing the following. That is, the objective sensor is not necessary and only the camera 12 is provided.

  DESCRIPTION OF SYMBOLS 10 ... Driving assistance device, 11 ... Driving assistance device ECU, 12 ... Camera, 13 ... Objective sensor, 18 ... Display, 19 ... Speaker, 31 ... Peripheral image, 32a, 32b ... Guide image, 33 ... Obstacle, 34 ... Warning information

Claims (6)

An imaging device for imaging the periphery of the vehicle;
A display device for displaying a captured peripheral image and a guide image for driving support to be displayed superimposed on the peripheral image,
A driving support device that changes a display mode of the guide image according to the peripheral image. The driving support device according to claim 1,
An obstacle detection device for detecting whether there is an obstacle around the vehicle;
A driving support device that changes a display mode of the guide image according to the obstacle. The driving support device according to claim 1 or 2,
The driving support device, wherein the change of the display mode of the guide image is the deletion of the guide image. The driving support device according to claim 1 or 2,
The driving support device, wherein the change in the display mode of the guide image is a change in the transmittance or shape of the guide image. The driving support device according to claim 4,
A warning means for alerting the driver;
A driving assistance device that warns a driver when the obstacle is detected. The driving support device according to any one of claims 1 to 5,
The imaging device is a plurality of imaging devices,
The driving support device is a display device that displays a plurality of surrounding images.

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