JP2018074286A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve a driving support effect concerning a driving support device.SOLUTION: A driving support device includes: an estimation section 1 for recognizing an obstacle included in a video of an on-vehicle camera 11 and estimating a probability of a collision between an obstacle and a vehicle 20; a generation section 2 for generating an overview video from a virtual view point set on an outer side of a vehicle on the basis of a video of the on-vehicle camera 11; and a control section 3 for allowing an on-vehicle display 15 to display an overview video when a vehicle speed of the vehicle 20 is at least equal to or less than a predetermined vehicle speed and also a collision probability is equal to or more than a predetermined value.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a driving support apparatus that notifies a driver of the presence of an obstacle by displaying a bird's-eye view video from a viewpoint (virtual viewpoint) set outside a vehicle on a display.

  Conventionally, by performing image processing on a video captured by an in-vehicle camera, an overhead view video from a viewpoint (virtual viewpoint) set outside the vehicle, that is, a video looking down on the vehicle from the sky is generated. Technology has been developed. As specific methods of image processing, planar projective transformation using a homography matrix, projection processing in a three-dimensional space, and the like are known. By using such a technique, the objective situation around the vehicle can be provided to the driver with an easy-to-understand video, and the driving support effect can be enhanced (see Patent Documents 1 and 2).

JP-A-2015-182670 JP 2011-034273

  By the way, since the bird's-eye view video as described above can be watched by the driver, it is desirable not to display it unnecessarily while the vehicle is traveling. On the other hand, from the viewpoint of reducing the risk of collision between the vehicle and the obstacle, it may be desirable to display a bird's-eye view image even when the vehicle is traveling to enhance the driving support effect. For example, if the situation around the vehicle is provided as a bird's-eye view when making a left turn at an intersection, the driver can easily notice a motorcycle or a bicycle on the left side of the vehicle, and can avoid a collision. The conventional driving support apparatus has not established such a method for providing an overhead view image, and there is room for improvement in enhancing the driving support effect.

  One of the purposes of the present case was created in view of the above-described problems, and is to provide a driving support device that can improve the driving support effect. It should be noted that the present invention is not limited to this purpose, and is an operational effect that is derived from each configuration shown in “Mode for Carrying Out the Invention” to be described later. Can be positioned as a purpose.

(1) The disclosed driving support apparatus includes an estimation unit that recognizes an obstacle included in the video of the in-vehicle camera and estimates a probability that the obstacle and the vehicle collide. Moreover, the production | generation part which produces | generates the bird's-eye view image from the virtual viewpoint set out of the said vehicle based on the said image | video is provided. Furthermore, a control unit is provided that displays the overhead image on an in-vehicle display when at least the vehicle speed of the vehicle is equal to or lower than a predetermined vehicle speed and the probability is equal to or higher than a predetermined value.
The obstacle means a “target” existing around the vehicle and may cause the vehicle to collide. The obstacle includes other vehicles, bicycles, objects, people, and the like.

(2) It is preferable that the generation unit generates a vertical overhead view image in which the vehicle is looked down vertically and a tilted overhead view image in which the vehicle is looked down obliquely from the viewpoint.
(3) It is preferable that the said control part switches and displays the said vertical bird's-eye view image and the said inclination bird's-eye view image according to the operating state of the blinker of the said vehicle. For example, it is preferable that the control unit displays the vertical overhead image when the winker is not operated, and displays the tilt overhead image when the winker is operated.
(4) It is preferable that the said production | generation part changes the viewpoint position or overhead direction of the said bird's-eye view image | video according to the kind of said obstruction.

(5) It is preferable that the said production | generation part changes the viewpoint position or overhead direction of the said bird's-eye view image | video according to the relative position of the said obstruction with respect to the said vehicle.
(6) It is preferable that the said control part emphasizes and displays the said obstruction in the said bird's-eye view image | video. For example, it is preferable that the control unit displays a mark representing the position of the obstacle in the overhead view so as to be superimposed on the obstacle.
(7) It is preferable that the said control part fixes the viewpoint position of the said bird's-eye view image in an intersection to a road surface coordinate system.

  By displaying a bird's-eye view image during low-speed traveling where the collision probability between the vehicle and the obstacle is a predetermined value or more, the driver can be informed of the presence of the obstacle, and the driving support effect can be enhanced.

It is a block block diagram of a driving assistance device. It is a perspective view of the vehicle carrying a driving assistance device. It is a schematic diagram for demonstrating the presence direction of an obstruction. It is a schematic diagram for demonstrating the object which can become an obstruction at the time of a left turn. It is a schematic diagram for demonstrating the object which can become an obstruction at the time of a right turn. (A) and (B) are display examples (pedestrians in direction A) of the display. (A)-(C) are the example of a display (B direction bicycle). (A)-(C) are the example of a display (Motorcycle of a C direction). (A) and (B) are display examples (pedestrians in the direction D). (A) and (B) are display examples (pedestrians in the E direction). (A) and (B) are display examples (bicycle in the F direction). It is a flowchart for demonstrating the content of control.

  A driving assistance apparatus as an embodiment will be described with reference to the drawings. Note that the embodiment described below is merely an example, and there is no intention to exclude various modifications and technical applications that are not explicitly described in the following embodiment. Each configuration of the present embodiment can be implemented with various modifications without departing from the spirit thereof. Further, they can be selected as necessary, or can be appropriately combined.

[1. Hardware configuration]
FIG. 1 is a block diagram for explaining functions of the driving support device 10 of the present embodiment. The driving support device 10 is an electronic control device (computer) mounted on the vehicle, and has a function (attention warning function) of automatically detecting an obstacle around the vehicle and notifying the driver. The driving support device 10 of the present embodiment has a function of estimating a collision risk for an obstacle from the type, relative distance, and relative speed of the obstacle, and notifying the driver of information regarding the obstacle with a high collision risk. The obstacle referred to here means a “target” existing around the vehicle, which may collide with the vehicle. Obstacles include other vehicles, bicycles, objects, people, and the like. Hereinafter, the vehicle 20 on which the driving support device 10 is mounted will be described with reference numeral 20.

  The driving support device 10 includes a processor (central processing unit), a memory (main memory, main storage device), an auxiliary storage device, an interface device, a recording medium drive, and the like. As shown in FIG. 1, a camera 11 (on-vehicle camera), a vehicle speed sensor 12, a GPS (Global Positioning System) device 13, and a blinker lever 14 are connected to the input side of the driving support device 10. Hereinafter, these are collectively referred to as input devices 11 to 14. On the other hand, a display 15 (vehicle-mounted display) and a speaker 16 (vehicle-mounted speaker) are connected to the output side of the driving support device 10. Hereinafter, these are collectively referred to as output devices 15 and 16.

  The camera 11 is an imaging device that captures images around the host vehicle 20 (images such as still images and moving images). For example, an imaging device [CCD (Charge-Coupled Device), CMOS (Complementary Metal-Oxide-Semiconductor), etc. ] Is a built-in video camera. The own vehicle 20 shown in FIG. 2 has cameras 11 installed on the front, rear, left and right sides of the vehicle body. By synthesizing the respective shooting ranges, it is possible to grasp the entire situation around the host vehicle 20.

  The vehicle speed sensor 12 detects the traveling speed (vehicle speed) of the host vehicle 20, and the GPS device 13 detects positioning information related to the vehicle position (for example, latitude, longitude, altitude). In addition, the GPS device 13 has a function of determining whether or not the position of the host vehicle 20 is near the intersection (whether or not the distance from the intersection is equal to or less than a predetermined distance) by collating with the built-in map information. Have. The winker lever 14 is a switch for controlling the operating state of the winker (direction indicator), and is operated by the driver. Various information obtained by these input devices 11 to 14 is input to the driving support device 10.

  The output devices 15 and 16 are devices to be controlled by the driving support device 10. The display 15 and the speaker 16 are for outputting images taken by the camera 11, positioning information detected by the GPS device 13, a map around the host vehicle 20, control contents in the driving support device 10, and the like. When the own vehicle 20 is equipped with a car navigation system, a car audio system, a multimedia system, etc., instead of or in addition to the display 15 and the speaker 16, general-purpose video display devices included in these systems, An audio output device may be used.

[2. Software configuration]
The driving support device 10 includes an estimation unit 1, a generation unit 2, and a control unit 3. These are the functions of the driving support device 10 classified for convenience, and each element may be described as an independent program, or may be described as a composite program having these functions. Good. These programs are stored in a memory or an auxiliary storage device built in the driving support device 10 and executed by the processor. Alternatively, these programs are recorded on a recording medium (removable medium) such as an optical disk or a semiconductor memory, and are read into the memory via a recording medium drive and executed.

  The estimation unit 1 performs an image analysis process on the video imaged by the camera 11 to recognize an obstacle existing around the host vehicle 20. Appropriate processing is performed on the video imaged by the camera 11 so that the position, type (other vehicle, bicycle, object, person, etc.), moving speed, etc. of the obstacle in the video image can be grasped. Known methods (optical flow analysis, pattern matching, etc.) are employed as the obstacle detection method.

  In addition, the estimation unit 1 has a function of estimating a relative position (direction when the obstacle is viewed from the host vehicle 20) with respect to each recognized obstacle as a reference. As shown in FIG. 3, the estimation unit 1 of the present embodiment classifies the relative positions (existing directions) of obstacles mainly into six directions. The A direction is the left front of the host vehicle 20, the B direction is the left side, the C direction is the left rear, the D direction is the front right, the E direction is the right side, and the F direction is the right rear. For example, the pedestrian 21 in FIG. 4 is regarded as an obstacle existing in the A direction. Similarly, the bicycle 22 exists in the B direction, and the motorcycle 23 (motorcycle) is considered to exist in the C direction. Moreover, the directions in which each of the pedestrian 24, the pedestrian 25, and the bicycle 26 in FIG. 5 exist are the D direction, the E direction, and the F direction. The relative position (existing direction) of the obstacle is estimated based on the shooting range of the camera 11 and the position on the video where the obstacle is reflected.

  Further, the estimation unit 1 collides with the host vehicle 20 based on the type of obstacle, relative position, relative speed, collision margin time (TTC, Time to Collision), collision margin (MTC, Margin to Collision), and the like. It has a function to estimate the probability of performing (in other words, collision risk). The higher the probability, the higher the possibility of a collision. A known method is employed as a specific probability calculation method.

  The generation unit 2 generates an overhead video from a virtual viewpoint set outside the vehicle based on the video of the camera 11. The bird's-eye view image is a processed image obtained by performing appropriate image processing on the image captured by the camera 11 and looks down at the surroundings of the host vehicle 20 at an angle that looks down on the host vehicle 20 or an obstacle. It is a video to show. As a specific method of image processing, planar projective transformation using a homography matrix, projection processing in a three-dimensional space, or the like can be employed.

  For example, it is assumed that an obstacle in an image captured by the camera 11 is projected on a predetermined projection surface (for example, a road surface or a virtual curved surface), and the shape when the projection surface is viewed from an arbitrary viewpoint is shown. presume. The generation unit 2 of the present embodiment has a function of generating two types of vertical overhead video (so-called 2D video) and inclined overhead video (so-called 3D multi-around video). In addition, when performing the planar projective transformation using the homography matrix, by using the homography matrix including elements corresponding to the viewpoint and the overhead direction of the vertical overhead view image and the inclined overhead view image, Each tilted overhead view image can be easily generated.

  The vertical bird's-eye view image is a bird's-eye view image of the host vehicle 20 looking down vertically. That is, if at least the overhead view direction is vertically downward, the video is a vertical overhead video. The viewpoint position of the vertical overhead view image is preferably set vertically above the host vehicle 20. Further, as long as the host vehicle 20 is visible in the bird's-eye view video, the viewpoint position may be set at a position shifted from vertically above the host vehicle 20. An example of a vertical overhead view image is shown on the left side of FIG.

  The tilted bird's-eye view image is a bird's-eye view image when the host vehicle 20 is looked down obliquely downward. That is, all the overhead view images other than the vertical overhead view image are tilted overhead view images. While the viewpoint of the vertical bird's-eye view image is preferably vertically above the host vehicle 20, the viewpoint of the tilted bird's-eye view image is set at an arbitrary position. Moreover, while the overhead view direction of the vertical overhead view image is vertically downward, the overhead view direction of the inclined overhead view image is set to a direction inclined with respect to the vertical line. The viewpoint position and the bird's-eye direction of the tilted bird's-eye view image are preferably set and changed according to the type of obstacle or according to the relative position of the obstacle.

  The generation unit 2 generates an overhead view image that includes both the host vehicle 20 and the obstacle and that is easy for the driver to understand the relative positional relationship between them, as the inclined overhead view image. For example, when the host vehicle 20 is going to turn right, an overhead view image including both the host vehicle 20 and an obstacle close to the traveling direction of the host vehicle 20 (an obstacle present on the right side when viewed from the host vehicle 20) is displayed. Generate. On the other hand, when the host vehicle 20 is about to turn left, an overhead view image including both the host vehicle 20 and an obstacle existing on the left side when viewed from the host vehicle 20 is generated.

When changing the viewpoint position of the tilted bird's-eye view image according to the type of obstacle, the following method may be adopted.
・ When the obstacle is a pedestrian, set the viewpoint position behind the vehicle 20 ・ When the obstacle is a pedestrian, set the viewpoint position where the overhead view in the top view is perpendicular to the movement direction of the obstacle・ When the obstacle is not a pedestrian, set the viewpoint position in front of the vehicle 20 ・ When the obstacle is a person other than the pedestrian, set the viewpoint position where the overhead view in the top view is parallel to the moving direction of the obstacle Set

For example, since a pedestrian may stop or suddenly change the direction of travel while walking, it is preferable to provide a bird's-eye view video from a viewpoint that makes it easy to track the behavior of the pedestrian. Therefore, the viewpoint position is set behind the host vehicle 20 so that the movement of the pedestrian can be easily understood. Alternatively, the viewpoint position is set so that the moving direction of the pedestrian can be viewed from the lateral direction (a direction perpendicular to the moving direction when viewed from above).
On the other hand, obstacles other than pedestrians (for example, motorcycles and bicycles) often do not stop suddenly, and provide a bird's-eye view image in which the positional relationship with the host vehicle 20 is easy to understand rather than tracking the behavior of the obstacles. It is preferable. Therefore, the viewpoint position is set in front of the host vehicle 20 so that the distance between the host vehicle 20 and the obstacle can be easily understood. Alternatively, the viewpoint position is set so that the object can be viewed from a direction along the moving direction of the obstacle (a direction parallel to the moving direction in a top view).

  An example of the tilted overhead view video is shown in FIG. The tilted bird's-eye view image is obtained by converting the image taken by the camera 11, and the more the actual position is away from the projection plane, the more distorted (largely deformed) the image is displayed. However, the driver who visually recognizes the image can easily grasp that an obstacle such as another vehicle or a person exists at the position. Note that the video of the host vehicle 20 as shown in FIG. 6B is obtained by synthesizing an image prepared in advance with a tilted overhead video. This is because the shooting range of the camera 11 provided in the host vehicle 20 does not include the host vehicle 20 itself.

  The generation unit 2 of the present embodiment has a function of generating two types of tilted overhead video. The first tilt bird's-eye view image is a tilt bird's-eye view image based on the road surface coordinate system (a tilt bird's-eye view image in which the position of the viewpoint is fixed on the road surface coordinate system). This tilted bird's-eye view video is a bird's-eye view video that allows objective observation of both the movement of the host vehicle 20 and the movement of the obstacle. The second tilted bird's-eye view image is a tilted bird's-eye view image based on the vehicle coordinate system (a tilted bird's-eye view image in which the position of the viewpoint is fixed on the vehicle coordinate system). This tilted bird's-eye view video is a bird's-eye view video from a viewpoint that follows the movement of the host vehicle 20. The driver can set these types in advance according to his / her preference (selectively setting on / off of the objective display mode). For example, when the “objective display mode” is selected as the display mode of the tilted overhead view video, the former is provided. Conversely, when the “objective display mode” is not selected, the latter is provided.

  The control unit 3 notifies the driver of the presence of an obstacle determined to have a high possibility of collision. The control unit 3 has a function of causing the display 15 to display information on an obstacle having a probability of colliding with the host vehicle 20 of a predetermined value or more, and uttering voice guidance from the speaker 16. Obstacle notification conditions are listed below. In the present embodiment, the “predetermined vehicle speed” in condition 2 is set within a range of 0 to 30 [km / h]. In addition, Condition 3 is established when the distance on the map from the intersection center is within several tens [m].

Condition 1: There is an obstacle with a collision probability of a predetermined value or more.
Condition 2: The vehicle speed of the host vehicle 20 is a predetermined vehicle speed or less.
Condition 3: The position of the host vehicle 20 is near the intersection.
Condition 4: The winker of the host vehicle 20 is operating.

  The control unit 3 performs voice guidance when at least the condition 1 is satisfied. Information display on the display 15 is performed when all of the conditions 1 to 3 are satisfied. At this time, when the condition 4 is not satisfied, the vertical overhead image is displayed, and when the condition 4 is satisfied, the inclined overhead image is displayed. That is, the inclination overhead view image is displayed on the display 15 only when the host vehicle 20 traveling at a low speed in the vicinity of the intersection is going to turn right or left. On the other hand, if the host vehicle 20 is not about to turn right or left even near the intersection, a vertical overhead image is displayed on the display 15. At this time, when the display 15 is a video display device of a car navigation system, route guidance and map display by the car navigation system may be continued.

  The control unit 3 of the present embodiment has a function of highlighting and displaying obstacles in the overhead view video. For example, as shown in FIGS. 6A and 6B, the presence of an obstacle is emphasized by superimposing a rectangular dashed frame around the obstacle. Alternatively, the presence of an obstacle may be emphasized by increasing the brightness around the obstacle. As a specific highlighting technique, a known technique can be employed.

6 to 11 exemplify videos displayed on the display 15.
6A and 6B are examples of images when an obstacle (pedestrian) is present in the A direction when viewed from the host vehicle 20. When the host vehicle 20 does not turn left (when the winker is not operating), a vertical overhead view image is displayed on the display 15. At this time, as shown in FIG. 6A, the video of the camera 11 may be displayed on the right side of the display 15 while the vertical overhead view video is displayed on the left side of the display 15. On the other hand, when the host vehicle 20 makes a left turn (when the winker is operating), as shown in FIG. 6B, a tilt overhead view image from the rear side of the host vehicle 20 is displayed on the display 15. The relative overhead relationship between the host vehicle 20 and the obstacle is easily expressed in the tilted overhead view video. At this time, it is preferable to set the viewpoint position so as to provide a tilted bird's-eye view image that includes a lot of the left region as viewed from the host vehicle 20. Further, the viewpoint position may be set to a position other than the rear of the host vehicle 20, for example, may be set in the vicinity of the host vehicle 20 (side of the host vehicle 20), and the overhead view in the top view is an obstacle. It may be set at a position perpendicular to the moving direction. By providing the tilted bird's-eye view image, the driver can intuitively grasp the sense of distance from the pedestrian and the direction, and the driver's attention is drawn to the left front pedestrian. Therefore, the driving support effect is improved.

  7A to 7C are examples of images when an obstacle (bicycle) is present in the B direction when viewed from the host vehicle 20. When the host vehicle 20 does not turn left (when the winker is not operating), as shown in FIG. 7A, the vertical overhead view image and the image of the camera 11 are displayed on the display 15. On the other hand, when the host vehicle 20 turns to the left (when the winker is operating), as shown in FIG. 7B, the tilted overhead view image in which the display 15 includes a lot of the left region as viewed from the host vehicle 20. Is displayed. Note that, as shown in FIG. 7C, an oblique overhead view image from the front side of the host vehicle 20 may be displayed. 6B, a viewpoint position may be set in the vicinity of the host vehicle 20, or a viewpoint position in which the overhead view in the top view is parallel to the moving direction of the obstacle is set. May be. By providing the tilted overhead view image, the driver's attention is drawn to the left side bicycle, and the driving support effect is improved.

  8A to 8C are examples of images when an obstacle (motorcycle) is present in the C direction as viewed from the host vehicle 20. When the host vehicle 20 does not turn left (when the winker is not operating), as shown in FIG. 8A, the vertical overhead view image and the camera 11 image are displayed on the display 15. On the other hand, when the host vehicle 20 makes a left turn (when the winker is operating), as shown in FIG. 8B, a tilted overhead view image in which the display 15 includes a large area on the left side when viewed from the host vehicle 20. Is displayed. Note that, as shown in FIG. 8C, an oblique overhead view image from the front side of the host vehicle 20 may be displayed. Similarly to the case where the obstacle is a bicycle, the viewpoint position may be set in the vicinity of the host vehicle 20, or the viewpoint position where the overhead view in the top view is parallel to the moving direction of the obstacle may be set. . By providing the tilted overhead view image, the driver's attention is drawn to the left rear motorcycle, and the driving support effect is improved.

  FIGS. 9A and 9B are examples of images when an obstacle (pedestrian) is present in the direction D as viewed from the host vehicle 20. When the host vehicle 20 does not turn right (when the winker is not operating), the vertical overhead view image and the camera 11 image are displayed on the display 15 as shown in FIG. On the other hand, when the host vehicle 20 turns to the right (when the winker is operating), the display 15 displays a tilted overhead view image including many areas on the right side when viewed from the host vehicle 20. The viewpoint position of the tilted bird's-eye view video is set in the vicinity of the host vehicle 20, for example. At this time, the viewpoint position may be set behind the host vehicle 20 as shown in FIG. Alternatively, the viewpoint position may be set to a position where the overhead view direction in the top view is perpendicular to the moving direction of the obstacle. By providing such an overhead view video, the driver's attention is drawn to the pedestrian on the right front, and the driving support effect is improved.

  FIGS. 10A and 10B are examples of images when an obstacle (pedestrian) is present in the E direction as viewed from the host vehicle 20. When the host vehicle 20 does not turn right (when the winker is not operating), as shown in FIG. 10A, the vertical overhead view image and the image of the camera 11 are displayed on the display 15. On the other hand, when the host vehicle 20 makes a right turn (when the winker is operating), an inclined overhead view video is displayed on the display 15 as shown in FIG. By providing the tilted overhead view image, the driver's attention is drawn to the pedestrian on the right side, and the driving support effect is improved.

  FIGS. 11A and 11B are examples of images when an obstacle (bicycle) is present in the C direction as viewed from the host vehicle 20. When the host vehicle 20 does not turn right (when the winker is not operating), as shown in FIG. 11A, the vertical overhead view video and the video of the camera 11 are displayed on the display 15. On the other hand, when the host vehicle 20 makes a right turn (when the winker is operating), an inclined overhead view video is displayed on the display 15 as shown in FIG. Note that the viewpoint position of the tilted bird's-eye view image may be set in front of the host vehicle 20 as in the image example of FIG. By providing the tilted overhead view image, the driver's attention is drawn to the right rear bicycle, and the driving support effect is improved.

[3. flowchart]
FIG. 12 is an example of a flowchart for explaining the contents of control performed by the driving support device 10. This flow is repeatedly performed at a predetermined cycle. First, various information obtained by the input devices 11 to 14 is input to the driving support device 10 (step A1). The estimation unit 1 performs image analysis processing on the video imaged by the camera 11 and recognizes the presence of an obstacle (step A2). Further, the probability of collision is estimated based on the recognized type of obstacle, relative position, relative speed, collision margin time, collision margin, and the like (step A3).

  Thereafter, it is determined whether or not the collision probability is equal to or higher than a predetermined value (condition 1) (step A4). Here, if the probability of collision is less than a predetermined value, this flow ends until the next execution cycle. On the other hand, if the collision probability is equal to or higher than a predetermined value, it is determined whether or not the vehicle speed is equal to or lower than the predetermined vehicle speed (condition 2) (step A5), and whether or not the own vehicle 20 is located near the intersection. (Condition 3) is determined (step A6). If either of the conditions 2 and 3 is not satisfied, the control unit 3 notifies the presence of an obstacle by voice from the speaker 16 (step A7), and this flow is terminated until the next execution cycle. On the other hand, if both conditions 2 and 3 are satisfied, it is determined whether or not the winker is operating (condition 4) (step A8).

  If the winker is not actuated at step A8, it is determined that the host vehicle 20 is going straight ahead, and an overhead view direction that is vertically downward is set directly above the host vehicle 20 (step A9). A video is generated (step A10). Thereafter, the vertical overhead view video is displayed on the display 15 (step A16), the obstacle in the video is highlighted (step A17), and the presence of the obstacle is notified by voice from the speaker 16 (step A18).

If the winker is operating in step A8, it is determined that the host vehicle 20 is going to turn left and right, and a viewpoint position and an overhead direction that can overlook both the host vehicle 20 and the obstacle are set (step A11). ), The inclined overhead view video is generated by the generation unit 2 (step A12). If the traveling direction of the host vehicle 20 is different from the direction in which the obstacle exists, the process may proceed to step A9 instead of step A11.
Thereafter, it is determined whether or not the display mode of the inclined overhead view video is the objective display mode (step A13). Here, when the objective display mode is selected, the viewpoint position is fixed to the road surface coordinate system (step A14). On the other hand, when the objective display mode is not selected, the viewpoint position is fixed to the vehicle coordinate system (step A15). In addition, an oblique overhead view video is displayed on the display 15 (step A16), an obstacle in the video is highlighted (step A17), and the presence of the obstacle is notified by voice from the speaker 16 (step A18).

[4. Action, effect]
(1) By displaying a bird's-eye view image during low-speed traveling where the probability of a collision between the host vehicle 20 and an obstacle is a predetermined value or more, the driver can be informed of the presence of the obstacle and enhance the driving support effect. be able to. In addition, since the bird's-eye view image is not displayed when the vehicle speed is equal to or higher than the predetermined vehicle speed, the driving support effect can be improved without obstructing the normal driving operation, and the troublesomeness due to the provision of unhelpful information can be avoided.

  (2) By using the inclined overhead view video, it is possible to provide an objective video in which the positional relationship between the host vehicle 20 and the obstacle is easy to understand, and the driving support effect can be improved. In addition, since the amount of information in the depth direction is larger in the tilt overhead view image than in the vertical overhead view image, the driver can more appropriately grasp the situation around the host vehicle 20. Therefore, the driving support effect can be enhanced.

  (3) Providing a kind of overhead view video according to the subsequent movement of the vehicle 20 (whether it is turning right or left or straight ahead) by switching between the vertical overhead view image and the inclined overhead view image according to the operating state of the winker. Can do. For example, when the host vehicle 20 goes straight through an intersection, even if there is a pedestrian in the A direction when viewed from the host vehicle 20, the positional relationship between the pedestrian and the host vehicle 20 is provided as a tilted overhead video. The necessity is low. In the above-mentioned embodiment, since the kind of bird's-eye view image is selected according to the operating state of the blinker, information suitable for the traveling state of the host vehicle 20 can be provided, and the driving support effect can be enhanced.

(4) As shown in FIGS. 6 to 11, by changing the viewpoint position and the overhead direction of the overhead view video according to the type of the obstacle, it is possible to provide the overhead view video corresponding to the type of the obstacle, Driving support effect can be enhanced. For example, when the obstacle is a pedestrian, it is possible to provide a bird's-eye view image that makes it easy to grasp the pedestrian's sudden change of direction or stopping motion. On the other hand, when the obstacle is other than a pedestrian, it is possible to provide a bird's-eye view image that makes it easy to grasp the positional relationship with the host vehicle 20.
(5) As shown in FIGS. 6 to 11, by changing the viewpoint position and the overhead direction of the overhead view video according to the relative position of the obstacle, the overhead view video in the direction corresponding to the relative position of the obstacle is provided. And the driving support effect can be enhanced. For example, when an obstacle is present on the left side of the host vehicle 20, the viewpoint position is set so that an inclined overhead view image including a large area on the left side when viewed from the host vehicle 20 is provided. On the other hand, when an obstacle is present on the right side of the host vehicle 20, the viewpoint position is set so as to provide a tilted overhead image including many areas on the right side when viewed from the host vehicle 20. Thereby, the driving support effect can be enhanced.

(6) As shown in FIGS. 6 to 11, by highlighting the obstacles in the overhead view image, the driver's attention to the obstacles can be more effectively evoked, and the driving support effect can be obtained. Can be increased.
(7) By fixing the viewpoint position to the road surface coordinate system, it is possible to provide a bird's-eye view image that allows objective observation of both the movement of the host vehicle 20 and the movement of the obstacle, thereby enhancing the driving support effect. it can.

[5. Modified example]
In the above-described embodiment, the driving support device 10 that recognizes an obstacle using the camera 11 has been described in detail. However, instead of the camera 11, a radar device that detects an obstacle using an electromagnetic wave or a reflected wave of a sound wave is used. May be. Further, by recognizing a white line, a pedestrian crossing, a traffic light, or the like in a video photographed by the camera 11, it may be determined whether or not the position of the host vehicle 20 is near the intersection. Even when these methods are employed, it is possible to realize the driving support device 10 that exhibits the same operations and effects as the above-described embodiment.

DESCRIPTION OF SYMBOLS 1 Estimation part 2 Generation | occurrence | production part 3 Control part 10 Driving assistance apparatus 11 Camera 12 Vehicle speed sensor 13 GPS apparatus 14 Winker lever 15 Display 16 Speaker

Claims (7)

Recognizing an obstacle included in the image of the in-vehicle camera, and estimating an probability that the obstacle and the vehicle collide,
Based on the video, a generation unit that generates an overhead video from a virtual viewpoint set outside the vehicle;
And a control unit that displays the bird's-eye view video on a vehicle-mounted display when the vehicle speed is at or below a predetermined vehicle speed and the probability is at or above a predetermined value. 2. The driving support device according to claim 1, wherein the generation unit generates a vertical overhead view image in which the vehicle is looked down vertically and an inclined overhead view image in which the vehicle is looked down obliquely from the viewpoint. . The driving support device according to claim 2, wherein the control unit switches between the vertical overhead view image and the inclined overhead view image according to an operating state of the winker of the vehicle. The driving support device according to any one of claims 1 to 3, wherein the generation unit changes a viewpoint position or an overhead direction of the overhead view video according to a type of the obstacle. The driving support according to any one of claims 1 to 4, wherein the generation unit changes a viewpoint position or an overhead direction of the overhead image according to a relative position of the obstacle with respect to the vehicle. apparatus. The driving support device according to claim 1, wherein the control unit highlights and displays the obstacle in the overhead view video. The driving support apparatus according to any one of claims 1 to 6, wherein the control unit fixes a viewpoint position of the bird's-eye view image in an intersection to a road surface coordinate system.

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