JP2018107573A - Visual confirmation device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a visual confirmation device for vehicle capable of displaying an image at a rear side even in a case where a normal picked-up image cannot be obtained by an imaging part which images the rear side.SOLUTION: If there is abnormality in a part of a rear-side picked-up image caused by freezing, water droplet deposition or dirt deposition of a lens of a rear-side camera, a region corresponding to a part of the abnormality is segmented from a peripheral picked-up image, interpolated and displayed (120-126). If there is abnormality over all the rear-side picked-up image such as a case where the rear-side camera is being housed or a failure, a region corresponding to the rear-side picked-up image to be displayed on a monitor is segmented from the peripheral picked-up image and displayed (112-118).SELECTED DRAWING: Figure 4

Description

  The present invention relates to a vehicular visual recognition device for visually recognizing a vehicle periphery by photographing the vehicle periphery and displaying a captured image.

  For example, a technique disclosed in Patent Document 1 has been proposed as a vehicular visual recognition device that displays captured images around a vehicle and visually recognizes the vicinity of the vehicle.

  Patent Document 1 proposes an apparatus that visually recognizes the periphery of a vehicle instead of an outer mirror by providing a camera in the rear part of the left and right front fenders of the vehicle and displaying an image captured by the camera on a display. Specifically, in the technique of Patent Document 1, a mark is displayed in a region corresponding to a rear vehicle, and the size of the mark is changed according to the distance between the host vehicle and the rear vehicle, thereby displaying the rear. The approach of the vehicle is easy to understand.

JP 2013-207747 A

  However, as in the technique described in Patent Document 1, in a device that substitutes for an outer mirror by displaying a photographed image, photographing taking into account storage, malfunction, dirt, condensation, freezing, etc. of a photographing unit such as a camera. There is room for improvement in the image.

  The present invention has been made in consideration of the above facts, and it is possible to display a rear side image even when a normal photographed image cannot be obtained by a photographing unit that photographs the rear side. An object is to provide an apparatus.

  In order to achieve the above object, the invention described in claim 1 includes a photographing unit for photographing a rear side of the vehicle, a display unit for displaying a rear side photographed image photographed by the photographing unit, and a rear side of the vehicle. A peripheral photographing unit for photographing a vehicle periphery including a detection unit, a detection unit for detecting an abnormality of the rear side photographed image, and a peripheral photographing photographed by the peripheral photographing unit when the abnormality is detected by the detection unit And a control unit that performs display control for displaying the rear side of the vehicle on the display unit using an image.

  According to the first aspect of the present invention, the rear side photographed image obtained by photographing the rear side of the vehicle by the photographing unit is displayed on the display unit.

  Further, the periphery photographing unit photographs the vehicle periphery including the rear side of the vehicle. That is, the peripheral captured image captured by the peripheral capturing unit includes the rear side of the vehicle. Note that the peripheral captured image may include the entire imaging range by the imaging unit or a part thereof. The surrounding photographing unit can photograph the periphery of the vehicle including the rear side of the vehicle by photographing the periphery of the vehicle over a wide range using, for example, a fisheye lens.

  In the detection unit, an abnormality in the rear side photographed image is detected. For example, a failure of the photographing unit may be detected, or a state in which all or part of the photographing unit cannot be normally obtained due to freezing, condensation, dirt, or the like may be detected as an abnormality.

  Then, in the control unit, when an abnormality is detected by the detection unit, display control for displaying the rear side of the vehicle on the display unit using the peripheral captured image captured by the peripheral capturing unit is performed. Accordingly, it is possible to display the rear side image even when a normal captured image cannot be obtained by the photographing unit that photographs the rear side.

  In the display control, as in the invention described in claim 2, when an abnormality is detected in a partial area of the rear side photographed image by the detection unit, the area corresponding to the partial area is photographed in the periphery. You may cut out from an image, synthesize | combine with a back side picked-up image, and may display it on a display part. Alternatively, as in the third aspect of the present invention, when an abnormality is detected on the entire surface of the rear side photographed image by the detection unit, a region corresponding to the rear side photographed image is cut out from the peripheral photographed image, and the rear side You may display on a display part instead of a method picked-up image.

  In addition, the peripheral photographing unit may be arranged in the vehicle lower direction as in the fourth aspect of the invention. By disposing the vehicle photographing unit in the vehicle lower direction, it becomes difficult to adhere dirt from the top and freeze due to frost, and a normal peripheral photographed image can be obtained.

  In addition, as in the invention described in claim 5, the display control is performed by performing viewpoint conversion in accordance with the viewpoint of the rear side photographed image when displaying the peripheral photographed image on the vehicle rear side display unit. May be displayed on the screen. Thereby, even if it displays a periphery picked-up image instead of a rear side picked-up image, it can display without a sense of incongruity. Further, even if an image cut out from the peripheral captured image is combined with the rear side captured image, it can be displayed without a sense of incongruity.

  As described above, according to the present invention, it is possible to provide a vehicular visual recognition device capable of displaying a rear side image even when a normal captured image cannot be obtained by a photographing unit that photographs the rear side. There is an effect.

It is a figure which shows schematic structure of the visual recognition apparatus for vehicles which concerns on embodiment of this invention. It is a block diagram which shows the structure of the control system of the visual recognition apparatus for vehicles which concerns on this embodiment. It is a figure which shows each imaging | photography range of a rear side camera and a peripheral camera. It is a flowchart which shows an example of the display control performed with the control apparatus of the visual recognition apparatus for vehicles which concerns on this embodiment. (A) is a figure which shows an example of the picked-up image of a rear side camera, (B) is a figure which shows the image after the mirror image conversion of (A). It is a figure which shows the example which cut out the area | region corresponding to a rear side picked-up image from the peripheral picked-up image of a peripheral camera. (A) is a figure which shows the example which abnormality has generate | occur | produced in the whole surface of a rear side picked-up image, (B) is a figure which shows the example in which abnormality has generate | occur | produced in a part of back side picked-up image. .

  Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of a vehicular visual recognition apparatus according to an embodiment of the present invention.

  The vehicular visual recognition apparatus according to the present embodiment includes a rear side camera 12 as an imaging unit, a peripheral camera 14 as a peripheral imaging unit, a monitor 16 as a display unit, and a control device 18 as a detection unit and a control unit. It is provided corresponding to the left and right of the vehicle. A center monitor device 20 is provided at the center of the instrument panel.

  The rear side camera 12 is installed outside at the front side end of the vehicle in the vertical direction middle part of the side door (front side door, not shown) of the vehicle and photographs the rear side of the vehicle. The rear side camera 12 is provided in a substantially rectangular parallelepiped box-shaped housing 13 as a support, and a lens is arranged toward the rear side of the vehicle to photograph the rear side of the vehicle. The vehicle width direction inner side end part of the housing | casing 13 is attached to the side door, and the housing | casing 13 is supported by the side door (vehicle body side) so that rotation in the vehicle front-back direction is possible.

  The peripheral camera 14 is provided in the same housing 13 as the rear side camera 12 and images the periphery of the vehicle. The peripheral camera 14 is provided with a fisheye lens, and is arranged toward the vehicle lower side in order to suppress adhesion of dirt from above and freezing due to frost. In the present embodiment, the peripheral camera 14 captures the vehicle periphery including the rear side of the vehicle with a fisheye lens. Specifically, the front-rear direction and the side direction of the vehicle are photographed as an example of the vicinity of the vehicle. In the present embodiment, an example in which the peripheral camera 14 is disposed in the vehicle lower side direction will be described, but the vehicle lower side is not limited to just below. Moreover, you may arrange | position toward the horizontal direction and a vehicle side instead of a vehicle lower direction.

  The monitor 16 is provided near the lower end of the front pillar, and mainly displays a rear side photographed image of the rear side camera 12. That is, the rear side of the vehicle can be visually recognized by checking the monitor 16 instead of the outer mirror.

  The control device 18 is provided corresponding to each of the left and right, and performs display control of the captured image of each of the left and right rear side cameras 12.

  The center monitor device 20 can generate and display a bird's-eye view image centered on the vehicle from the peripheral captured image of the peripheral camera 14, and can display an operation panel of an in-vehicle device (for example, navigation device, air conditioner, audio). It is said that.

  Then, the structure of the control system of the visual recognition apparatus 10 for vehicles which concerns on this embodiment is demonstrated. FIG. 2 is a block diagram illustrating a configuration of a control system of the vehicle visual recognition device 10 according to the present embodiment.

  The control device 18 includes a microcomputer in which a CPU 18A, a ROM 18B, a RAM 18C, and an I / O (input / output interface) 18D are connected to a bus 18E.

  The ROM 18B stores various programs for performing display control and the like for displaying the rear side photographed image on the rear side camera 12 on the monitor 16. The program stored in the ROM 18B is expanded in the RAM 18C and executed by the CPU 18A, whereby display control on the monitor 16 is performed.

  A rear side camera 12, a peripheral camera 14, a monitor 16, and a center monitor device 20 are connected to the I / O 18D.

  The rear side camera 12 obtains a rear side photographed image by photographing the rear side of the vehicle. The rear side photographed image obtained by photographing is output to the control device 18 as a photographing result of the rear side camera 12.

  The peripheral camera 14 obtains a peripheral captured image by capturing the front-rear direction and the lateral direction of the vehicle as an example of the vehicle periphery including the rear side of the vehicle. The peripheral photographed image obtained by photographing is output to the control device 18 as a photographing result of the peripheral camera 14. In the present embodiment, the peripheral captured image is a captured image in which a vehicle periphery in a wider range than the rear side captured image is captured. Specifically, in the peripheral camera 14, the entire area on the side of the vehicle is set as a photographing range by a fisheye lens as shown by hatching in FIG. On the other hand, the rear side camera 12 takes a picture of the rear side at a predetermined angle of view, and as shown in FIG. Note that the photographing result of the peripheral camera 14 is also output to the center monitor device 20. Further, in the example of FIG. 3, an example in which the entire area on the side of the vehicle is set as the imaging range as an example of the imaging range of the peripheral camera 14 is an example and is not limited to the entire area on the side of the vehicle. As long as it is around the vehicle including the direction.

  The monitor 16 displays a rear side photographed image photographed by the rear side camera 12. When the rear side captured image is displayed, it is displayed by performing image processing such as mirror image conversion for inverting the left and right of the captured image. In the present embodiment, when the rear side photographed image is displayed on the monitor 16, a part of the rear side photographed image is cut out and displayed, and the display range can be changed by changing the cutout position. However, in the following description, the point of cutting out a part of the rear side captured image is omitted.

  As described above, the center monitor device 20 generates and displays a bird's-eye view image from the peripheral captured image of the peripheral camera 14. Further, as described above, the center monitor device 20 displays an operation panel or the like of an in-vehicle device (for example, an air conditioner, a navigation device, audio, etc.). Although not shown, the center monitor device 20 includes a microcomputer in which a CPU, a ROM, a RAM, and an I / O are connected to a bus, as in the control device 18. In addition, when the peripheral captured image is displayed on the center monitor device 20, it is not necessarily a bird's-eye view image.

  In the present embodiment, a pair of control devices 18 are provided corresponding to the left and right sides of the vehicle, so that the other control device 18 is connected to each I / O 18D so that they can communicate with each other. In addition, it is good also as a form which controls the rear side cameras 12 and the monitor 16 of right and left as one control apparatus 18, respectively.

  In the present embodiment, when there is an abnormality in the rear side captured image captured by the rear side camera 12, display control for displaying the rear side of the vehicle on the monitor 16 using the peripheral captured image of the peripheral camera 14 is controlled. Device 18 does. Specifically, when there is an abnormality in a part of the rear side photographed image due to freezing of the lens of the rear side camera 12, water droplet adhesion, dirt adhesion, etc., an area corresponding to the part of the abnormality is taken as a peripheral photographed image. Cut out from and interpolated for display. Further, when the rear side camera 12 is in the retracted state or when there is an abnormality in the entire rear side photographed image such as a failure, it corresponds to the rear side photographed image displayed on the monitor 16 from the peripheral photographed image. A region is cut out and an image cut out instead of the rear side photographed image is displayed.

  When the rear side photographed image cannot be obtained normally in the storage state, the rear side photographed image abnormality is determined based on the state of an actuator such as a motor for storing the rear side camera 12 or a sensor. An abnormality is detected by detecting it. Further, when the rear side photographed image cannot be obtained normally due to a failure of the rear side camera 12, for example, a state in which a predetermined signal is output at the time of normality is set, and the presence or absence of the detection of the signal is detected. Detect anomalies. In addition, if there is an abnormality in a part of the rear side photographed image due to freezing, water droplet adhesion, dirt adhesion, etc. An abnormality is detected by detecting it.

  Then, the specific process performed with the control apparatus 18 of the visual device 10 for vehicles which concerns on this embodiment comprised as mentioned above is demonstrated. FIG. 4 is a flowchart illustrating an example of display control performed by the control device 18 of the vehicle visual recognition device 10 according to the present embodiment. The display control in FIG. 4 is started by executing a display control program stored in advance in the ROM 18B when an ignition switch (IG) (not shown) is turned on.

  In step 100, the control device 18 controls the rear side camera 12 to start photographing with the rear side camera 12, and the process proceeds to step 102.

  In step 102, the control device 18 acquires the imaging result of the rear side camera 12, performs mirror image conversion on the acquired rear side captured image, starts displaying on the monitor 16, and proceeds to step 104. That is, mirror image conversion that reverses the right and left of the rear side photographed image of FIG. 5A is performed, and the rear side photographed image shown in FIG. Since the monitor 16 is provided in the vicinity of the lower end of the front pillar, it is possible to visually recognize the rear side by looking at the monitor 16 instead of the outer mirror.

  In step 104, the control device 18 detects an abnormality in the rear side photographed image and proceeds to step 106. For example, as described above, by determining whether the rear side camera 12 is in the retracted state, receiving a normal signal, or having an area in the captured image that has not changed over a predetermined time, Detects abnormalities in the side image.

  In step 106, the control device 18 determines whether there is an abnormality in the rear side captured image based on the detection result in step 104. If the determination is affirmative, the process proceeds to step 108. If the determination is negative, the process returns to step 104 and the above-described processing is repeated.

  In step 108, the control device 18 acquires the photographing result of the peripheral camera 14 and proceeds to step 110.

  In step 110, the control device 18 determines whether or not there is an abnormality in a part of the rear side captured image from the result of the abnormality detection of the rear side captured image in step 104. If the determination is negative, the process proceeds to step 112. If there is an abnormality in a part of the rear side captured image, the determination is affirmed and the process proceeds to step 120.

  In step 112, the control device 18 cuts out a region corresponding to the rear side photographed image from the peripheral photographed image, and proceeds to step 114.

  In step 114, the control device 18 performs correction such as distortion correction on the clipped peripheral captured image, and proceeds to step 116.

  In step 116, the control device 18 performs viewpoint conversion and mirror image conversion to convert the clipped peripheral captured image into the viewpoint of the rear side captured image, and invert left and right, and proceeds to step 118.

  In step 118, the control device 18 controls to display the clipped peripheral captured image on the monitor 16 instead of the rear side captured image, and proceeds to step 128. That is, as shown in FIG. 6, an image cut out from the peripheral captured image is displayed on the monitor 16. As a result, even if there is an abnormality in the entire surface of the rear side photographed image, the peripheral photographed image can be displayed instead of being displayed, so that the rear side view can be secured. For example, as shown in FIG. 7 (A), even if there is an abnormality in the entire rear side photographed image due to freezing or the like, the peripheral photographed image can be displayed instead of being displayed, so that the rear view can be secured.

  On the other hand, in step 120, the control device 18 cuts out a region corresponding to the abnormality in the rear side captured image from the peripheral captured image, and proceeds to step 122.

  In step 122, the control device 18 performs correction such as distortion correction on the clipped peripheral captured image, and proceeds to step 124.

  In step 124, the control device 18 performs viewpoint conversion and mirror image conversion to convert the clipped peripheral captured image into the viewpoint of the rear side captured image, and invert left and right, and proceeds to step 126.

  In step 126, the control device 18 synthesizes and displays the cut out peripheral captured image in the area corresponding to the abnormality in the rear side captured image, and proceeds to step 128. Thereby, the area where the abnormality of the rear side photographed image has occurred can be interpolated and displayed with the peripheral photographed image, and a clear rear side view can be secured. For example, as shown in FIG. 7B, even if an abnormality occurs in a part of the rear side photographed image due to freezing, condensation, dirt, etc., a portion corresponding to the abnormality is interpolated and displayed by the peripheral photographed image. Can ensure the rear view.

  In step 128, the control device 18 detects the abnormality of the rear side captured image again, and proceeds to step 130.

  In step 130, the control device 18 determines whether or not the abnormality of the rear side captured image has been eliminated. If the determination is negative, the process returns to step 108 and the above processing is repeated. If the determination is affirmative, the routine proceeds to step 132.

  In step 132, the control device 18 controls to return to the rear side captured image display, returns to step 104, and repeats the above processing.

  Thus, in this embodiment, even if there is an abnormality in a part of the rear side photographed image, it is possible to display the rear side by interpolating with the peripheral photographed image, so that a clear rear side view is ensured. it can. Further, even if there is an abnormality in the entire rear side photographed image, the peripheral photographed image is used instead of the display, so that a clear rear side view can be secured. Accordingly, even when the rear side camera 12 cannot obtain a normal rear side photographed image, the rear side image can be displayed.

  In the above-described embodiment, when a peripheral captured image is used in steps 118 and 126, icons, characters, and the like may be displayed on the screen. Accordingly, it is possible to notify the occupant that the peripheral captured image is used, and to notify that there is an area where the rear side camera 12 is not used. In addition, an icon, characters, or the like displayed on the screen can prompt the occupant to return from the storage position to the return position, wipe off dirt or water droplets, or send out a repair if there is a malfunction.

  In the above embodiment, the example in which the monitor 16 is provided near the lower end of the front pillar has been described. However, the position of the monitor 16 is not limited to this. For example, it may be provided at the position of the inner mirror. Or you may provide in a combination meter.

  Moreover, although the process performed by the control apparatus 18 in said embodiment was demonstrated as a software process, it is not restricted to this. For example, the processing may be performed by hardware, or may be processing that combines both hardware and software.

  Further, the processing performed by the control device 18 in the above embodiment may be stored and distributed as a program in a storage medium.

  Furthermore, the present invention is not limited to the above, and it goes without saying that various modifications can be made without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 10 Vehicle visual recognition device 12 Rear side camera 14 Peripheral camera 16 Monitor 18 Control apparatus

Claims (5)

A shooting section for shooting the rear side of the vehicle;
A display unit for displaying a rear side photographed image photographed by the photographing unit;
A peripheral photographing unit for photographing the periphery of the vehicle including the rear side of the vehicle;
A detection unit for detecting an abnormality in the rear side photographed image;
When the abnormality is detected by the detection unit, a control unit that performs display control to display the rear side of the vehicle on the display unit using a peripheral captured image captured by the peripheral photographing unit;
A vehicular visual recognition device.   In the display control, when an abnormality is detected in a partial area of the rear side captured image by the detection unit, an area corresponding to the partial area is cut out from the peripheral captured image and the rear side The visual device for a vehicle according to claim 1, wherein the visual device is combined with a captured image and displayed on the display unit.   In the display control, when an abnormality is detected on the entire rear side photographed image by the detection unit, an area corresponding to the rear side photographed image is cut out from the peripheral photographed image, and the rear side photographed image is obtained. The visual device for vehicles according to claim 1 or 2 which displays on said display part instead of.   The vehicular visual recognition device according to any one of claims 1 to 3, wherein the peripheral photographing unit is disposed toward a vehicle lower side direction. The display control performs display conversion on the display unit by performing viewpoint conversion in accordance with the viewpoint of the rear side captured image when the rear side of the vehicle is displayed on the display unit using the peripheral captured image. The visual device for vehicles of any one of -4.