JP2018172039A - Drive support device, drive support method and drive support program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drive support device capable of supporting a driving operation when a vehicle turns right at an intersection using an on-vehicle camera used in an electronic mirror device, and also to provide a drive support method and a drive support program.SOLUTION: A drive support device includes: a travelling environment determination part determining whether or not a vehicle is in a right-turn stand-by state where the vehicle stops in an intersection; a mode switching part switching a display mode of an on-vehicle display device to a mirror mode visibly recognizing rearward visibility of the vehicle by a reflected image in an optical mirror from a display mode visibly recognizing the rearward visibility of the vehicle by a camera image imaged by the on-vehicle camera, when the vehicle is in the right-turn stand-by state; an image visual field adjusting part adjusting the image visual field of the on-vehicle camera so that a traffic light for an on-coming vehicle is imaged; and a current indication content presentation part presenting a current indication content of the traffic light for the on-coming vehicle on the basis of the camera image.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a driving support device, a driving support method, and a driving support program that support driving operation when making a right turn at an intersection.

  Conventionally, a camera image display unit that displays a rear view of a vehicle imaged by an in-vehicle camera installed at the rear of the vehicle is built-in, and the vehicle rear view can be visually recognized by a reflected image of the optical mirror or a camera image of the camera image display unit. Devices (hereinafter referred to as “electronic mirror devices”) have been put into practical use. Hereinafter, the mode for visually recognizing the rear field of view with the reflected image of the optical mirror is referred to as “mirror mode”, and the mode for visually recognizing the rear field of view with the camera image of the camera image display unit is referred to as “display mode”. According to the electronic mirror device, the rear field of view can be confirmed from the camera image subjected to the light control process, which is useful as an anti-glare measure when the headlamp of the following vehicle is dazzling.

  By the way, when making a right turn at an intersection, the driver needs to confirm that there is no oncoming vehicle and perform a right turn operation. In particular, when the host vehicle is at the head of a right turn vehicle at an intersection where a time difference type traffic signal is installed, in order to perform a right turn operation smoothly, check the displayed content of the traffic signal for the oncoming lane located behind the vehicle. There are many. In the conventional rearview mirror including the above-described electronic mirror device, only the rear view of the vehicle can be visually recognized. Therefore, the driver looks back and confirms the displayed content of the traffic signal for the oncoming lane.

  As a technology to support the driving operation at the time of a right turn at an intersection, there has been proposed a device for imaging a traffic signal for an oncoming lane and notifying the driver of a vehicle waiting for a right turn at the intersection. (For example, Patent Document 1).

Japanese Patent No. 4561338

  However, in the technique of Patent Document 1, a dedicated vehicle-mounted camera whose imaging field of view is adjusted so that the traffic signal for the oncoming lane is imaged is used. This in-vehicle camera is used only in a very limited scene when waiting for a right turn at an intersection, and is not cost-effective. Therefore, there is a problem in terms of cost in order to spread it.

  An object of the present invention is to provide a driving support device, a driving support method, and a driving support program that can support a driving operation when making a right turn at an intersection using a vehicle-mounted camera used in a vehicle-mounted display device. is there.

The driving support apparatus according to the present invention is
A camera image display unit that displays a camera image captured by a vehicle-mounted camera, and an optical mirror that is installed on a display surface of the camera image display unit and is capable of transmitting light emitted from the camera image display unit; An in-vehicle display device that provides a vehicle rear view by a reflected image of the optical mirror or the camera image;
A traveling environment determination unit that determines whether the vehicle is in a right turn standby state where the vehicle is stopped in an intersection;
When in the right turn waiting state, the in-vehicle display is changed from a display mode in which the rear view of the vehicle is viewed by the camera image captured by the in-vehicle camera to a mirror mode in which the rear view of the vehicle is viewed by the reflected image of the optical mirror. A mode switching unit for switching the mode of the device;
An imaging field of view adjustment unit that adjusts the imaging field of view of the in-vehicle camera so that the traffic signal for the oncoming lane is imaged when the vehicle is in the right turn standby state;
A presenting content presenting unit that presents the presenting content of the traffic signal for the oncoming lane based on the camera image when in the right turn waiting state;
It is characterized by providing.

The driving support method according to the present invention includes:
A camera image display unit that displays a camera image captured by a vehicle-mounted camera, and an optical mirror that is installed on a display surface of the camera image display unit and is capable of transmitting light emitted from the camera image display unit; A driving support method using a vehicle-mounted display device that provides a vehicle rear view by a reflected image of the optical mirror or the camera image,
Determining whether the vehicle is in a right turn standby state where it is stopped within an intersection;
When the vehicle is in the right turn standby state, the vehicle-mounted display device changes from a display mode in which the rear view of the vehicle is viewed by the camera image captured by the vehicle-mounted camera to a mirror mode in which the rear view of the vehicle is viewed by a reflected image of the optical mirror. Switching between modes,
Adjusting the imaging field of view of the in-vehicle camera so that the traffic signal for the oncoming lane is imaged when in the right turn waiting state;
A step of presenting the current contents of the traffic signal for the opposite lane of the vehicle based on the camera image when the vehicle is in the right turn standby state;
It is characterized by including.

The driving support program according to the present invention includes:
A camera image display unit that displays a camera image captured by a vehicle-mounted camera, and an optical mirror that is installed on a display surface of the camera image display unit and is capable of transmitting light emitted from the camera image display unit; In the computer of the in-vehicle display device that provides the vehicle rear view by the reflected image of the optical mirror or the camera image,
A process of determining whether the vehicle is in a right turn standby state where the vehicle is stopped in an intersection;
When the vehicle is in the right turn standby state, the vehicle-mounted display device changes from a display mode in which the rear view of the vehicle is viewed by the camera image captured by the vehicle-mounted camera to a mirror mode in which the rear view of the vehicle is viewed by a reflected image of the optical mirror. The process of switching the mode,
A process of adjusting the imaging field of view of the in-vehicle camera so that the traffic signal for the oncoming lane is imaged when in the right turn waiting state;
When the vehicle is in the right turn waiting state, based on the camera image, a process of presenting the current contents of the traffic signal for the opposite lane of the vehicle;
Is executed.

  ADVANTAGE OF THE INVENTION According to this invention, the driving | operation operation in the case of turning right at an intersection can be assisted using the vehicle-mounted camera used with a vehicle-mounted display apparatus.

It is a figure which shows the installation aspect of the driving assistance device which concerns on embodiment. It is a figure which shows the structural example of the driving assistance device which concerns on embodiment. It is a flowchart which shows an example of a driving assistance process. It is a figure which shows the imaging visual field of the electronic mirror apparatus in a driving | running | working state and a right turn waiting state. It is a figure which shows the example of a display of a camera image display part and a signal display part.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  Drawing 1 is a figure showing an example of an installation mode of driving support device 1 concerning an embodiment. FIG. 2 is a diagram illustrating a configuration example of the driving support device 1. The driving assistance device 1 is attached to, for example, an upper center of a windshield in a vehicle interior (a general attachment position of a room mirror), and is used for confirming a rear view of the vehicle.

  As shown in FIGS. 1 and 2, the driving support device 1 includes a processing unit 11, a camera image display unit 12, an optical mirror 13, a signal display unit 14, an operation unit 15, a communication unit 16, a rear camera 20, and the like. The processing unit 11, the camera image display unit 12, and the optical mirror 13 constitute an in-vehicle display device.

  The rear camera 20 includes an image sensor such as a charge-coupled device (CCD) image sensor or a complementary metal oxide semiconductor (CMOS) image sensor. An electrical signal indicating a rear view image photoelectrically converted by the image sensor is transmitted to the processing unit 11 by wireless communication or wired communication. The rear camera 20 can use existing equipment in the vehicle.

  The rear camera 20 includes an angle adjustment mechanism that can adjust the mounting angle and a drive unit that operates the angle adjustment mechanism (both not shown). The operation of the angle adjustment mechanism is automatically controlled by the processing unit 11. The imaging field of view of the rear camera 20 is adjusted by operating the angle adjustment mechanism.

  The camera image display unit 12 is a display such as a liquid crystal display or an organic EL display, for example. A camera image captured by the rear camera 20 is displayed on the camera image display unit 12.

  The optical mirror 13 is disposed on the forefront of the electronic mirror device 1 (opening of a housing (reference numeral omitted)). The camera image display unit 12 is disposed on the back side (inside the housing) of the optical mirror 13. The optical mirror 13 is an optical member that reflects incident light from the front side and transmits incident light from the back side. For example, as the optical mirror 13, a half mirror having the same reflectance and transmittance can be applied.

  The signal display part 14 has three light emission parts (code | symbol abbreviation) corresponding to the blue color lamp of a traffic light, a yellow color lamp, and a red color lamp. The light emitting unit is configured by, for example, an LED (light emitting diode). The signal display unit 14 is normally controlled to be in a non-lighting state, and displays the displayed contents of the traffic signal for the oncoming lane as necessary.

  The processing unit 11 includes a CPU (Central Processing Unit) as an arithmetic / control device, a ROM (Read Only Memory) and a RAM (Random Access Memory) as a main storage device (all not shown). The ROM stores a basic program called BIOS (Basic Input Output System) and basic setting data. The CPU centrally controls the operation of each block of the electronic mirror device 1 by reading out a program corresponding to the processing content from the ROM, developing it in the RAM, and executing the expanded program, for example.

  Although illustration is omitted, the driving support device 1 may include a storage unit that stores map data and the like, and a position detection unit (for example, a GPS (Global Positioning System)) that detects a traveling position of the vehicle V. The storage unit is an auxiliary storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage unit may be a disk drive that reads and writes information by driving an optical disk such as a CD (Compact Disc) and DVD (Digital Versatile Disc) and a magneto-optical disk such as an MO (Magneto-Optical disk). For example, the storage unit may be a memory card such as a USB memory or an SD card.

  By collating the detection result by the position detection unit with the map data, it is possible to determine whether or not the traveling position of the host vehicle is an intersection and whether or not the vehicle is in a right turn waiting state at the intersection.

  The communication unit 16 is a communication interface for connecting to an in-vehicle network such as a CAN (Controller Area Network). The processing unit 11 transmits / receives information to / from the vehicle ECU 30 connected to the in-vehicle network via the communication unit 16, and information related to the traveling of the vehicle V (for example, traveling speed, operating status of the direction indicator, steering) To obtain the steering angle.

  The vehicle-mounted display device of the driving support device 1 has a display mode in which rearward visual recognition is performed with the camera image of the camera image display unit 12 and a mirror mode in which rearward visual recognition is performed with the reflected image of the optical mirror 13. In the display mode, the camera image display unit 12 is in an on state, and a user (for example, a driver) views the camera image of the camera image display unit 12 through the optical mirror 13. On the other hand, in the mirror mode, the camera image display unit 12 is in an off state, and the user visually recognizes the reflected image reflected on the optical mirror 13.

  For example, the display mode and the mirror mode are switched in conjunction with the operation of the operation unit 15. Furthermore, in the present embodiment, even when the display mode is set, depending on the traveling environment of the vehicle V, specifically, when the vehicle V is in a right turn standby state at the intersection, Can be switched to mirror mode.

  In other words, the processing unit 11 functions as the driving environment determination unit 111, the mode switching unit 112, the imaging visual field adjustment unit 113, and the display content presentation unit 114 by executing the driving support program. These functions will be described in detail according to the flowchart of FIG. The driving support program is stored in the ROM of the processing unit 11, for example. The driving support program is provided via, for example, a computer-readable portable storage medium (including an optical disc, a magneto-optical disc, and a memory card) in which the program is stored. Further, for example, the driving support program may be provided by downloading from a server having the program via a network.

  FIG. 3 is a flowchart illustrating an example of the driving support process executed by the processing unit 11. This process is realized, for example, when the electronic mirror device 1 is activated with the start of the power source (engine or motor) of the vehicle, and the CPU calls and executes the driving support program stored in the ROM.

  Note that the in-vehicle display device of the driving support device 1 is used in the display mode. That is, it is assumed that camera images from the rear camera 20 are continuously acquired in units of one frame and displayed on the camera image display unit 12.

  In step S101 of FIG. 3, the processing unit 11 determines whether or not the vehicle V is in a right turn standby state at the intersection (processing as the traveling environment determination unit 111). For example, it can be determined whether or not the vehicle V is in a right turn standby state at the intersection based on the traveling position, traveling speed, operating direction of the direction indicator, and steering angle of the steering wheel. When it is in a right turn waiting state (“YES” in step S101), the process proceeds to step S102. When it is not in the right turn waiting state (“NO” in step S101), the process of step S101 is repeated.

  In step S102, the processing unit 11 switches the display mode of the in-vehicle display device from the display mode to the mirror mode (processing as the mode switching unit 112). Since the driver visually recognizes the rear view of the vehicle V from the reflected image of the optical mirror 13, even if the imaging field of view of the rear camera 20 is switched by the subsequent processing, the function as a rearview mirror of the in-vehicle display device is Not damaged.

  In step S103, the processing unit 11 adjusts the imaging field of view of the rear camera 20 so that the traffic signal for the oncoming lane is captured (processing as the imaging field adjustment unit 113). For example, since the relative positional relationship between the stop position in the intersection at the time of the right turn and the installation position of the traffic light for the oncoming lane is generally determined, the imaging field of view that includes the display contents of the traffic light is It can be set in advance. In addition, when the display content of a traffic light is directly presented by a camera image, fine adjustment of the imaging field of view may be performed so that the display content becomes clear.

  In step S104, the processing unit 11 analyzes the camera image to recognize the current content of the traffic signal for the oncoming lane, and displays the recognition result on the signal display unit 14 (processing as the current content presenting unit 114). ). One of the three light emitting units of the signal display unit 14 is lit.

  The driver can easily grasp the displayed content of the traffic signal for the oncoming lane by the signal display unit 14 without performing an extra operation such as looking back, so that the driver can smoothly perform a right turn operation. Specifically, the lighting of the yellow light emitting part and the red light emitting part of the signal display unit 14 enables the driver to know that the traffic signal for the oncoming lane is about to turn red and is red. The right turn operation can be started safely and smoothly while confirming the front.

  In step S105, the processing unit 11 determines whether or not the right turn of the vehicle V has been completed (processing as the traveling environment determination unit 111). For example, it is possible to determine whether or not the right turn has been completed based on the travel position of the vehicle V, the travel speed, and the operating status of the direction indicator. When the right turn is completed (“YES” in step S105), the process proceeds to step S106. When the right turn is not completed (“NO” in step S105), the process of step S105 is repeated. During this time, as the display content of the traffic light changes from blue to yellow to red, the display on the signal display unit 14 also changes.

  In step S <b> 106, the processing unit 11 hides the displayed content of the signal display unit 14 (processing as the displayed content presentation unit 114).

  In step S107, the processing unit 11 adjusts the imaging field of view of the rear camera 20 so that the rear view of the vehicle V is imaged (processing as the imaging field of view adjustment unit 113).

  In step S108, the processing unit 11 switches the display mode of the in-vehicle display device from the mirror mode to the display mode (processing as the mode switching unit 112). The driver visually recognizes the rear view of the vehicle V from the camera image of the camera image display unit 12.

  In this way, a series of driving support processing at the time of right turn is completed. The driving support process is executed again from step S101 in preparation for a right turn at the next intersection. As shown in FIG. 4, the rear view is confirmed in the display mode and the signal display unit 14 is not lit in the vehicle V1 that is stopped at the stop position of the intersection and the vehicle V3 that has made a right turn and has gone straight ahead. The state is controlled (see FIG. 5A). Further, in the vehicle V2 waiting for a right turn in the intersection, the rear view is visually recognized in the mirror mode, and the signal display unit 14 is controlled to be lit (see FIG. 5B).

  As described above, the driving support device 1 is installed on the display surface of the camera image display unit 12 and the camera image display unit 12 that displays the camera image captured by the rear camera 20 (vehicle-mounted camera). An in-vehicle display device that provides a rear view of the vehicle by a reflected image or a camera image of the optical mirror 13, and a right turn standby in which the vehicle V is stopped at the intersection A traveling environment determination unit 111 that determines whether or not the vehicle V is in the state, and a reflected image of the optical mirror 13 from the display mode in which the rear view of the vehicle V is visually recognized by the camera image captured by the rear camera 20 in the right turn standby state. The mode switching unit 112 for switching the display mode of the in-vehicle display device to the mirror mode for visually recognizing the rear view of the vehicle V, and a right turn waiting state. In addition, the imaging field of view adjustment unit 113 that adjusts the imaging field of view of the rear camera 20 so that the traffic signal for the oncoming lane is imaged, and the current signal of the traffic signal for the oncoming lane based on the camera image when in the right turn standby state. And a signal display unit 14 (presented content presenting unit) for presenting displayed content.

  The driving support method according to the present embodiment is provided on a display surface of a camera image display unit 12 that displays a camera image captured by a rear camera 20 (vehicle-mounted camera) and a camera image display unit 12. A driving support method using an in-vehicle display device that includes an optical mirror 13 that can transmit light emitted from the unit 12 and that provides a vehicle rear field of view with a reflected image or a camera image of the optical mirror 13. A step of determining whether or not the vehicle is in a right turn standby state that is stopped at an intersection (step S101 in FIG. 3), and in a right turn standby state, the rear view of the vehicle is determined by a camera image captured by the rear camera 20. The display mode of the electronic mirror device 1 is switched from the display mode for visual recognition to the mirror mode for visually recognizing the rear view of the vehicle by the reflected image of the optical mirror 13. In step S102, when the vehicle is in the right turn waiting state, the step of adjusting the imaging field of view of the rear camera 20 so that the traffic signal for the oncoming lane is imaged (step S103), and in the right turn waiting state, A step of presenting the current contents of the traffic signal for the oncoming lane based on the camera image (step S104).

  The driving support program according to the present embodiment is installed on the display surface of the camera image display unit 12 and the camera image display unit 12 that displays the camera image captured by the rear camera 20 (vehicle camera), and displays the camera image. The vehicle V crosses the processing unit 11 (computer) of the in-vehicle display device that includes the optical mirror 13 that can transmit the light emitted from the unit 12 and provides the vehicle rear field of view with the reflected image or camera image of the optical mirror 13. The process of determining whether or not the vehicle is in a right turn standby state that is stopped inside (step S101 in FIG. 3), and in the right turn standby state, the rear view of the vehicle is visually recognized by a camera image captured by the rear camera 20. The display mode of the electronic mirror device 1 is switched from the display mode to the mirror mode for visually recognizing the rear view of the vehicle by the reflected image of the optical mirror 13. Processing to change (step S102), processing to adjust the imaging field of view of the rear camera 20 so that the traffic signal for the oncoming lane is imaged when in the right turn standby state (step S103), and when in the right turn standby state Then, based on the camera image, a process of presenting the display contents of the traffic signal for the oncoming lane of the vehicle (step S104) is executed.

  According to the driving support device 1, it is possible to support a driving operation when making a right turn at an intersection using the rear view confirmation rear camera 20 used in the in-vehicle display device. Since it is not necessary to provide a dedicated in-vehicle camera for driving assistance when turning right, it is possible to support safe driving while suppressing equipment costs.

  As mentioned above, the invention made by the present inventor has been specifically described based on the embodiment. However, the present invention is not limited to the above embodiment, and can be changed without departing from the gist thereof.

  For example, the signal display unit 14 in the embodiment may be provided separately from the in-vehicle display device. For example, a display of a smartphone can be used as the signal display unit 14. Also, a part of the camera image display unit 12 can be used as the signal display unit 14. When the signal display unit 14 is configured by an image display device such as a liquid crystal display, the processing unit 11 (presentation content presentation unit 114) displays the camera image from the rear camera 20 as it is or after cutting out a part thereof. Thus, the display contents of the traffic light may be presented. Further, the processing unit 11 (presentation content presenting unit 114) may present the present content of the traffic signal by voice.

  The processing unit 11 (traveling environment determination unit 111) may determine whether the vehicle is in a right turn standby state based on a manual operation of the operation unit 15 by the driver.

  In the embodiment, the present invention is realized by the processing unit 11 (computer) functioning as the traveling environment determination unit 111, the mode switching unit 112, the imaging visual field adjustment unit 113, and the display content display unit 114. Some or all of these functions can also be configured by an electronic circuit such as a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), or a PLD (Programmable Logic Device).

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  The present invention is suitable for driving support technology that supports driving operation when making a right turn at an intersection.

1 Driving Support Device 11 Processing Unit (Computer)
DESCRIPTION OF SYMBOLS 111 Travel environment determination part 112 Mode switching part 113 Imaging visual field adjustment part 114 Presented content presentation part 12 Camera image display part 13 Optical mirror 14 Signal display part 15 Operation part 16 Communication part 20 Rear camera (vehicle-mounted camera)

Claims (6)

A camera image display unit that displays a camera image captured by a vehicle-mounted camera, and an optical mirror that is installed on a display surface of the camera image display unit and is capable of transmitting light emitted from the camera image display unit; An in-vehicle display device that provides a vehicle rear view by a reflected image of the optical mirror or the camera image;
A traveling environment determination unit that determines whether the vehicle is in a right turn standby state where the vehicle is stopped in an intersection;
When in the right turn waiting state, the in-vehicle display is changed from a display mode in which the rear view of the vehicle is viewed by the camera image captured by the in-vehicle camera to a mirror mode in which the rear view of the vehicle is viewed by the reflected image of the optical mirror. A mode switching unit for switching the mode of the device;
An imaging field of view adjustment unit that adjusts the imaging field of view of the in-vehicle camera so that the traffic signal for the oncoming lane is imaged when the vehicle is in the right turn standby state;
A presenting content presenting unit that presents the presenting content of the traffic signal for the oncoming lane based on the camera image when in the right turn waiting state;
A driving support apparatus comprising:   The driving support device according to claim 1, wherein the current content presentation unit recognizes the current content based on the camera image and presents a recognition result by display.   The driving support apparatus according to claim 1, wherein the presenting content presentation unit presents the camera image.   The driving support device according to any one of claims 1 to 3, wherein the presenting content presentation unit recognizes the presenting content based on the camera image and presents a recognition result by voice. . A camera image display unit that displays a camera image captured by a vehicle-mounted camera, and an optical mirror that is installed on a display surface of the camera image display unit and is capable of transmitting light emitted from the camera image display unit; A driving support method using a vehicle-mounted display device that provides a vehicle rear view by a reflected image of the optical mirror or the camera image,
Determining whether the vehicle is in a right turn standby state where it is stopped within an intersection;
When the vehicle is in the right turn standby state, the vehicle-mounted display device changes from a display mode in which the rear view of the vehicle is viewed by the camera image captured by the vehicle-mounted camera to a mirror mode in which the rear view of the vehicle is viewed by a reflected image of the optical mirror. Switching between modes,
Adjusting the imaging field of view of the in-vehicle camera so that the traffic signal for the oncoming lane is imaged when in the right turn waiting state;
A step of presenting the current contents of the traffic signal for the opposite lane of the vehicle based on the camera image when the vehicle is in the right turn standby state;
A driving support method comprising: A camera image display unit that displays a camera image captured by a vehicle-mounted camera, and an optical mirror that is installed on a display surface of the camera image display unit and is capable of transmitting light emitted from the camera image display unit; In the computer of the in-vehicle display device that provides the vehicle rear view by the reflected image of the optical mirror or the camera image,
A process of determining whether the vehicle is in a right turn standby state where the vehicle is stopped in an intersection;
When the vehicle is in the right turn standby state, the vehicle-mounted display device changes from a display mode in which the rear view of the vehicle is viewed by the camera image captured by the vehicle-mounted camera to a mirror mode in which the rear view of the vehicle is viewed by a reflected image of the optical mirror. The process of switching the mode,
A process of adjusting the imaging field of view of the in-vehicle camera so that the traffic signal for the oncoming lane is imaged when in the right turn waiting state;
When the vehicle is in the right turn waiting state, based on the camera image, a process of presenting the current contents of the traffic signal for the opposite lane of the vehicle;
A driving support program that executes

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