JP2017069852A - Information display device and information display method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information display device which enables situations in front of and at the back of a present vehicle to be confirmed on a display, and an information display method.SOLUTION: In an information display device 1, images captured by a plurality of cameras 12, 13, 14 and 15 are converted into a bird's-eye view image viewed from a virtual view point in the sky, a left rear side and a right rear side of a vehicle are imaged, disappearance points in a first image capturing the left rear side of the vehicle and a second image capturing the right rear side of the vehicle are calculated and the first image, the bird's-eye view image and the second image are arranged side by side in a horizontal direction. At such a time, the information display device 1 displays the first image, the bird's-eye view image and the second image by side on a display 50 in such a manner that the disappearance point in the first image, left and right door mirrors of present vehicle icons displayed in the bird's-eye view image and the disappearance point in the second image are arranged side by side substantially in one horizontal straight line.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an information display device and an information display method.

  Conventionally, as a technique for presenting the situation behind the host vehicle to the driver, a technique is known in which a camera installed on the left and right door mirrors and an image taken by the rear camera are combined and the combined image is displayed on a display ( Patent Document 1).

JP 2007-158427 A

  However, in Patent Document 1, although the situation behind the own vehicle can be confirmed, the situation ahead of the own vehicle cannot be confirmed on the display. For this reason, there was a problem that the driver could not confirm the front without taking his eyes off the display.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide an information display device and an information display method capable of confirming the situation in front of and behind the vehicle on the display.

  An information display device according to an aspect of the present invention converts an image captured by a plurality of imaging units installed in a vehicle into an overhead image viewed from a virtual viewpoint above the sky, and images the left rear and right rear of the vehicle. The vanishing points of the first image obtained by photographing the left rear of the vehicle and the second image obtained by photographing the right rear of the vehicle are calculated, and the first image, the overhead image, and the second image are arranged in the horizontal direction. At this time, the information display device includes the first image such that the vanishing point of the first image, the left and right door mirrors of the vehicle icon displayed in the overhead image, and the vanishing point of the second image are arranged in a substantially horizontal straight line. The overhead image and the second image are displayed side by side on the display means.

  According to the present invention, it is possible to confirm the situation in front of and behind the vehicle on the display.

FIG. 1 is a configuration diagram of an information display apparatus according to an embodiment of the present invention. FIG. 2 is a diagram illustrating an image displayed by the information display device according to the embodiment of the present invention. FIG. 3 is a diagram illustrating the virtual viewpoint position calculated by the information display device according to the embodiment of the present invention. FIG. 4 is a diagram illustrating another image displayed by the information display apparatus according to the embodiment of the present invention. FIG. 5 is a flowchart for explaining an operation example of the information display apparatus according to the embodiment of the present invention. FIG. 6 is a diagram for explaining still another image displayed by the information display apparatus according to the embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same portions are denoted by the same reference numerals, and description thereof is omitted.

  An information display device 1 according to the present embodiment will be described with reference to FIG. As shown in FIG. 1, the information display device 1 includes a right camera 10, a left camera 11, a front camera 12, a right side camera 13, a left side camera 14, a rear camera 15, and a laser range finder 17. The vehicle speed sensor 18, the controller 30, and the display 50 are provided.

  The light camera 10 (second imaging means) is a camera having an image sensor such as a CCD (charge-coupled device) or a CMOS (complementary metal oxide semiconductor), and is installed on the right door mirror. More specifically, the light camera 10 is installed at a position where a scene reflected on the right door mirror can be taken. The light camera 10 outputs the captured image to the controller 30.

  The left camera 11 (first photographing means) is also a camera having an image sensor similar to that of the right camera 10 and is installed on the left door mirror. More specifically, the left camera 11 is installed at a position where a scene reflected on the left door mirror can be taken. The left camera 11 outputs the captured image to the controller 30.

The front camera 12, the right side camera 13, the left side camera 14, and the rear camera 15 (photographing means) are also cameras having image sensors similar to those of the right camera 10, and are respectively forward, right side, left side, and rear of the host vehicle. It is installed in a position where you can shoot These cameras also output the captured image to the controller 30.
In the following description, the four cameras of the front camera 12, the right side camera 13, the left side camera 14, and the rear camera 15 are referred to as “front camera 12 etc.”.

  The laser range finder 17 (detection means) detects an obstacle present around the host vehicle. More specifically, the laser range finder 17 scans the laser beam within a certain angle range, receives the reflected light at that time, and detects the time difference between the laser emission time and the light reception time of the reflected light. Detects the distance and angle between the object and the obstacle.

  The vehicle speed sensor 18 detects the speed of the host vehicle from the number of rotations of the wheels, and outputs the detected speed to the controller 30.

  The controller 30 is a computer including, for example, a CPU, a ROM, a RAM, a data bus connecting them, and an input / output interface, and the CPU performs predetermined processing according to a program stored in the ROM.

  When the controller 30 grasps this functionally, it is classified into a vanishing point calculation unit 31, a lane detection unit 32, a virtual viewpoint position calculation unit 33, a viewpoint conversion unit 34, a storage unit 35, and a synthesis unit 36. can do.

  The vanishing point calculation unit 31 (calculation means) acquires images taken by the right camera 10 and the left camera 11 and calculates the vanishing points of the road in the acquired images.

  The lane detection unit 32 acquires an image captured by the front camera 12 or the like, and detects a lane on the road including the lane in which the host vehicle is traveling from the acquired image. The lane detection unit 32 also detects lane markings such as lane boundary lines and roadway outer lines.

  The virtual viewpoint position calculation unit 33 (changing unit) calculates a virtual viewpoint position where the host vehicle is looked down from above in the traveling lane of the host vehicle.

  The viewpoint conversion unit 34 converts an image photographed by the front camera 12 or the like using the conversion map stored in the storage unit 35 into an overhead view image looking down from the virtual viewpoint.

  The storage unit 35 stores a conversion map used by the viewpoint conversion unit 34, an icon used by the synthesis unit 36, and the like.

  The synthesizing unit 36 (synthesizing means) superimposes icons and the like stored in the storage unit 35 on the images of the right camera 10 and the left camera 11 and the overhead view image converted by the viewpoint conversion unit 34 and outputs them to the display 50. To do.

  The display 50 (display means) is, for example, a liquid crystal display mounted on an instrument panel or a liquid crystal display used for a car navigation device, and displays various information to the passenger.

  An example of an image displayed on the display 50 by the information display apparatus 1 having the above configuration will be described with reference to FIG.

  Images S1, S2, and S3 shown in FIG. 2 are an image of the left camera 11, an overhead image, and an image of the right camera 10, respectively. The own vehicle icon C1 shown in the image S2 is an icon indicating the own vehicle, and the subsequent vehicle C2 is an icon indicating the subsequent vehicle. The combining unit 36 arranges the images S1, S2, and S3 in this order from the left side of the display 50 in the horizontal direction as shown in FIG. At this time, the compositing unit 36 includes the vanishing point of the image S1 (first image), the left door mirror of the vehicle icon C1 shown in the image S2, the right door mirror of the vehicle icon C1, and the image S3 (second image). The images S1, S2, and S3 are arranged so that the vanishing points are arranged in a substantially horizontal straight line. As a result, the driver can check the situation ahead and behind the vehicle on the display 50. In addition, the driver is less likely to be confused by the display position of the following vehicle. In other words, the driver can recognize the image below the vanishing point as an image behind the own vehicle, so even if the subsequent vehicle is displayed in a plurality of images (for example, image S1 and image S2), the direction of the subsequent vehicle is wrong. The fear is reduced.

  Further, as shown in FIG. 2, the combining unit 36 may superimpose a straight line L1 that connects the left and right door mirrors of the vehicle icon C1 and the vanishing points of the images S1 and S3. Thereby, in the image S2, the screen above the straight line L1 indicates the front of the host vehicle, and the screen below the straight line L1 indicates the rear of the host vehicle. As a result, the driver can check the situation in front of and behind the vehicle on the image S2.

Next, the virtual viewpoint position calculated by the virtual viewpoint position calculation unit 33 will be described with reference to FIG.
First, the virtual viewpoint positions P1, P2, and P3 shown in FIG. 3 will be described.
The virtual viewpoint position P1 is a position in the vicinity of the axis that extends vertically upward from the host vehicle, and is a position at which the host vehicle is looked down from behind. 3 is a depression angle at which the virtual viewpoint position P1 looks down at the host vehicle.

  The virtual viewpoint position P2 is a position away from the virtual viewpoint position P1 toward the rear of the host vehicle, and is a position lower than the virtual viewpoint position P1 in the vertical direction. The depression angle θ2 is a depression angle at which the virtual viewpoint position P2 looks down on the host vehicle, and the depression angle θ2 is smaller than the depression angle θ1.

  The virtual viewpoint position P3 is a position away from the virtual viewpoint position P2 toward the rear of the host vehicle, and is a position lower than the virtual viewpoint position P2 in the vertical direction. The depression angle θ3 is a depression angle at which the virtual viewpoint position P3 looks down at the host vehicle, and the depression angle θ3 is smaller than the depression angle θ2.

  When the inter-vehicle distance between the host vehicle and the following vehicle is short, a screen on which changes in the inter-vehicle distance can be easily confirmed is preferable. On the other hand, when the inter-vehicle distance between the host vehicle and the following vehicle is long, a screen on which the rear of the host vehicle can be confirmed as much as possible is preferable. This is to notify the driver of the presence of the following vehicle.

  Therefore, the virtual viewpoint position calculation unit 33 calculates the virtual viewpoint position so as to approach the virtual viewpoint position P1 as the inter-vehicle distance from the following vehicle is shorter as shown in FIG. Further, the virtual viewpoint position calculation unit 33 calculates the virtual viewpoint position so as to approach the virtual viewpoint position P3 as the inter-vehicle distance from the subsequent vehicle is longer.

  As described above, by calculating the virtual viewpoint position based on the inter-vehicle distance from the following vehicle, the following vehicles C2 and C3 (icons indicating the following vehicles M2 and M3) are easily reflected in the image S2, as shown in FIG. Depending on the position of the following vehicle, even if the virtual viewpoint position is changed, it may not appear in the image S2. Even in this case, if the vanishing point exists in the image captured by the right camera 10 or the left camera 11, the succeeding vehicle M3 appears in the vicinity of the vanishing point of the image S3. The driver can confirm. Note that the virtual viewpoint position calculation unit 33 may calculate the virtual viewpoint position using the relative speed with the following vehicle in addition to the inter-vehicle distance. Specifically, as illustrated in FIG. 3, the virtual viewpoint position calculation unit 33 may calculate the virtual viewpoint position so that the virtual viewpoint position P1 approaches the virtual viewpoint position P1 as the relative speed with the subsequent vehicle increases. Further, the virtual viewpoint position calculation unit 33 may calculate the virtual viewpoint position so that the virtual viewpoint position P3 becomes closer as the relative speed with the subsequent vehicle decreases.

  In this way, when the driver changes the lane to the right lane in the image S2 shown in FIG. 4 by calculating the virtual viewpoint position based on the inter-vehicle distance or relative speed with the following vehicle, the following vehicle existing in the lane change destination Since the inter-vehicle distance or relative speed with C3 can be confirmed in an approximate range, it becomes easier to change lanes.

  Next, an operation example of the information display device 1 will be described with reference to the flowchart of FIG. This flowchart starts when the ignition switch is turned on.

  In step S <b> 101, the vanishing point calculation unit 31 calculates the vanishing points of the images taken by the right camera 10 and the left camera 11.

  In step S <b> 102, the controller 30 acquires the inter-vehicle distance between the host vehicle and the following vehicle using the laser range finder 17.

  In step S103, the virtual viewpoint position calculator 33 calculates the virtual viewpoint position based on the inter-vehicle distance.

  In step S104, the viewpoint conversion unit 34 uses the conversion map to convert an image captured by the front camera 12 or the like into a bird's-eye view image looking down from the virtual viewpoint.

  In step S <b> 105, the composition unit 36 displays the image captured by the left camera 11, the bird's-eye view image, and the image captured by the right camera 10 side by side in the horizontal direction of the display 50.

  As described above, according to the information display device 1 according to the present embodiment, the following operational effects can be obtained.

  The information display device 1 arranges the door mirror position of the vehicle icon C1 and the vanishing points of the images S1 and S3 so as to coincide with the vertical direction of the display 50 as shown in FIG. As a result, the driver can check the situation ahead and behind the vehicle on the display 50. In addition, since the driver can regard the image below the vanishing point as an image behind the own vehicle, even if the subsequent vehicle is displayed in a plurality of images, the possibility that the direction of the subsequent vehicle is wrong is reduced.

  Further, the information display device 1 displays a straight line L1 connecting the left and right door mirrors of the vehicle icon C1 and the vanishing points of the images S1 and S3 as shown in FIG. Thus, the driver can grasp at a glance that the screen below the straight line L1 indicates the rear of the vehicle and the screen above the straight line L2 indicates the front of the vehicle.

  Moreover, the information display apparatus 1 can display the own vehicle icon C1 above the center of the image S2. This makes it easier for the driver to check the presence of the following vehicle and to check the presence of the preceding vehicle.

  The information display device 1 changes the virtual viewpoint based on the inter-vehicle distance between the host vehicle and the following vehicle. As a result, the following vehicle is easily reflected on the display 50, and the driver can easily confirm the following vehicle.

  Further, the information display device 1 increases the virtual viewpoint position as the inter-vehicle distance is shorter than the predetermined distance, and decreases the virtual viewpoint position as the inter-vehicle distance is longer than the predetermined distance. As a result, the following vehicle is easily reflected on the display 50, and the driver can easily confirm the following vehicle. Since the driver can check the inter-vehicle distance and relative speed with the following vehicle within an approximate range, the driver can easily change lanes and merge.

  Although the embodiments of the present invention have been described as described above, it should not be understood that the descriptions and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  For example, the right camera 10 and the left camera 11 have been described as cameras installed on the right door mirror and the left door mirror, respectively, but are not limited thereto. You may install the right camera 10 and the left camera 11 in the position which can image | photograph the right back and left back of a vehicle.

  Further, as shown in FIG. 6, the information display device 1 superimposes two straight lines L2 from the left door mirror of the vehicle icon C1 of the image S2 toward the upper end and the lower end of the image S1, and the right side of the vehicle icon C1. Two straight lines L3 may be superimposed from the door mirror toward the upper and lower ends of the image S3. Thus, the driver can confirm at a glance that the image S1 is an image of the left door mirror and the image S3 is an image of the right door mirror.

  Further, the present invention can be applied to an autonomous driving vehicle.

DESCRIPTION OF SYMBOLS 10 Right camera 11 Left camera 12 Front camera 13 Right side camera 14 Left side camera 15 Rear camera 17 Laser range finder 18 Vehicle speed sensor 30 Controller 31 Vanishing point calculation part 32 Lane detection part 33 Virtual viewpoint position calculation part 34 View point conversion part 35 Memory | storage Part 36 Compositing part 50 Display

Claims (7)

An image photographed by a plurality of photographing means installed in the vehicle is converted into a bird's-eye view image looking down from a virtual viewpoint in the sky, and an own vehicle icon indicating the position of the vehicle is superimposed on the bird's-eye view image and displayed on the display means. In the information display device,
First photographing means for photographing the left rear of the vehicle;
Second imaging means for imaging the right rear of the vehicle;
Computing means for computing the vanishing points of the first image photographed by the first photographing means and the second image photographed by the second photographing means;
A combining means for displaying the first image, the bird's-eye view image, and the second image in a horizontal direction on the display means;
The synthesizing means matches the left and right door mirrors of the vehicle icon with the vanishing point calculated by the calculating means in the vertical direction.   The information display device according to claim 1, wherein the combining unit superimposes a straight line connecting the left and right door mirrors on the first image, the overhead image, and the second image.   The synthesizing unit superimposes two straight lines from the left door mirror of the vehicle icon toward the first image, and two lines from the right door mirror displayed on the vehicle icon toward the second image. The information display device according to claim 1, wherein straight lines are superimposed.   The information display device according to claim 1, wherein the combining unit superimposes the own vehicle icon above a center of the overhead image. Detecting means for detecting a subsequent vehicle existing behind the vehicle;
Change means for changing the position of the virtual viewpoint,
5. The information display according to claim 1, wherein the changing unit changes the position of the virtual viewpoint based on an inter-vehicle distance detected by the detecting unit. apparatus.   The information display device according to claim 5, wherein the changing unit increases the position of the virtual viewpoint as the inter-vehicle distance is shorter, and lowers the position of the virtual viewpoint as the inter-vehicle distance is longer. An image photographed by a plurality of photographing means installed in the vehicle is converted into a bird's-eye view image looking down from a virtual viewpoint in the sky, and an own vehicle icon indicating the position of the vehicle is superimposed on the bird's-eye view image and displayed on the display means. In the information display method,
Shoot the left rear of the vehicle with the first shooting means,
Shoot the right rear of the vehicle with the second shooting means,
Calculating a vanishing point of each of the first image photographed by the first photographing means and the second image photographed by the second photographing means;
The first image, the bird's-eye view image, and the second image are arranged in the horizontal direction, and arranged on the display means so that the door mirror position of the vehicle icon and the calculated vanishing point coincide with each other in the vertical direction. An information display method characterized by that.

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