JP2019001376A - Visual recognition device for vehicle - Google Patents

Abstract

To provide a visual recognition device for a vehicle that can display an appropriate visible range in accordance with a positional relationship between a vehicle and a parking area.SOLUTION: A visual recognition device for a vehicle includes: a rearward camera 12 for filming a rearward side of a vehicle; a monitor 16 for displaying a rearward side filming image that is filmed by the rearward camera 12; and a control device 18 for controlling the monitor 16 to display a predetermined filmed image to visually recognize in accordance with at least one of a distance to a parking area from the vehicle and a steering angle of the vehicle in reversing the vehicle.SELECTED DRAWING: Figure 2

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.

  2. Description of the Related Art There is known a technique for displaying a captured image around a vehicle and mounting a vehicle visual recognition device on the vehicle around the vehicle instead of an optical mirror.

  For example, Patent Document 1 includes a camera mounted on a vehicle so that the rear can be photographed, a control drive circuit that changes a rear visual field range of the camera, and a television monitor that displays an object photographed by the camera. A vehicle rear view device has been proposed.

  In this vehicle rear view device, when the vehicle moves backward, the rear view range is changed to the near lower visual field position by the control drive circuit and changed to the direction corresponding to the steering direction, so that the blind spot when the vehicle moves backward can be eliminated.

Japanese Utility Model Publication No. 6-75900

  However, in the technique described in Patent Document 1, the viewing range is changed when reversing, but depending on the angle to be changed, the rear side cannot be seen if it is too downward, and if the amount of change in the downward direction is small, parking areas such as white lines are difficult to see. Because there are cases, there is room for improvement.

  The present invention has been made in view of the above facts, and an object of the present invention is to provide a vehicular visual recognition device capable of displaying an appropriate visual recognition range corresponding to the positional relationship between the vehicle and the parking area.

  In order to achieve the above object, a first aspect includes an imaging unit that captures a rear side of a vehicle, a display unit that displays a captured image captured by the imaging unit, a distance from the vehicle to a parking area, and a vehicle And a control unit that performs control to display a captured image for visual recognition determined in accordance with at least one of the steering angles on the display unit when the vehicle is moving backward.

  According to the first aspect, the rear side of the vehicle is photographed by the photographing unit, and the photographed photographed image is displayed on the display unit. That is, by confirming the captured image displayed on the display unit, the rear side of the vehicle can be visually recognized.

  And in a control part, control which displays the picked-up image for visual recognition previously decided according to at least one of the distance from a vehicle to a parking area and the steering angle of a vehicle on a display part is performed. Thereby, it is possible to display an appropriate visual range corresponding to the positional relationship between the vehicle and the parking area.

  In addition, the rear imaging | photography part which image | photographs the back of a vehicle may further be provided, and a control part may calculate distance based on at least one image of the back image captured by the captured image and the back imaging | photography part. Thereby, the distance from a vehicle to a parking area can be obtained easily. In this case, the control unit may calculate the distance by determining an image to be used for calculating the distance based on the bird's-eye view image generated from each of the captured image and the rear captured image. As described above, by generating the bird's-eye view image, it is possible to easily identify the imaging unit that can be used for calculating the distance to the parking area.

  In addition, when the control unit displays a captured image for visual recognition that is determined in advance according to the distance, the control unit may perform control to display a captured image that can be visually recognized on the lower side of the vehicle as the distance is shorter. Good. Thereby, it is possible to display an appropriate visual range according to the distance.

  Furthermore, when the control unit displays a photographed image for visual recognition determined in advance according to the steering angle, the control unit performs control to display a photographed image that can be visually recognized on the lower side of the vehicle as the steering angle is small. May be. Thereby, it becomes possible to display the suitable visual recognition range according to the steering angle.

  As described above, according to the present invention, it is possible to provide a vehicular visual recognition device capable of displaying an appropriate visual recognition range corresponding to the positional relationship between the vehicle and the parking area.

(A) is a figure which shows the vehicle mounting position example of the camera of the visual recognition apparatus for vehicles which concerns on this embodiment, (B) is a figure which shows the mounting position example of the monitor of the visual recognition apparatus for vehicles. 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 for demonstrating the image for visual recognition produced | generated from a picked-up image. (A) is a figure which shows the state where the white line of a parking area | region and a vehicle are substantially parallel, (B) is a vehicle bent with respect to the white line of a parking area | region, and the rear side of the left and right rear side camera It is a figure which shows the state which each shows a white line in an image, (C) is a vehicle bent with respect to the white line of a parking area, and a white line is reflected in one rear side image of a right-and-left rear side camera. FIG. It is a figure which shows the example which changes the cutout area | region of a partial image to the vehicle lower side. It is a figure which shows an example of the extraction angle level according to the distance to a parking area, and a steering angle. It is a flowchart which shows an example of the flow of the process performed with the control apparatus of the visual recognition apparatus for vehicles which concerns on this embodiment.

  Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1A is a diagram illustrating an example of a vehicle mounting position of the camera of the vehicle visual recognition device according to the present embodiment, and FIG. 1B is a diagram illustrating an exemplary mounting position of a monitor of the vehicle visual recognition device. .

  The vehicular visual recognition device 10 according to the present embodiment includes a rear side camera 12 as a photographing unit, a rear camera 14 as a rear photographing unit, a monitor 16 as a display unit, and a center monitor device 20.

  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.

  In the present embodiment, the rear camera 14 is provided in the trunk as an example, and a lens is disposed toward the rear of the vehicle to photograph the rear of the vehicle. The rear camera 14 may be provided at a position other than the trunk. For example, you may provide in the rear window glass upper part etc. of the vehicle interior back.

  The monitor 16 is provided in the vicinity of the lower end of the front pillar, and mainly displays a photographed image photographed by 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 center monitor device 20 is provided at the center of the instrument panel, and generates and displays a bird's-eye view image from the respective captured images of the rear side camera 12 and the rear camera 14, or includes an in-vehicle device (for example, a navigation device). , Air conditioner, audio, etc.) can be displayed.

  In the following description, a captured image captured by the rear side camera 12 may be referred to as a rear side captured image, and a captured image captured by the rear camera 14 may be referred to as a rear captured image.

  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 vehicular visual recognition device 10 according to the present embodiment includes a control device 18 as a control unit that controls display of a captured image on the monitor 16. The control device 18 performs display control of the rear side photographed images photographed by the left and right rear side cameras 12, and performs reverse interlock control described later. Note that the reverse interlock control is a control that makes it easier to visually recognize an obstacle on the vehicle side lower side by changing the visual recognition range on the vehicle rear side when reversing.

  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 such as display control for displaying the rear side photographed image of the rear side camera 12 on the monitor 16 and a reverse interlock control program for performing the reverse interlock control described above. 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.

  The I / O 18D is connected to a reverse switch 22, a rear side camera 12, a rear camera 14, a monitor 16, a rudder angle sensor 24, and a center monitor device 20.

  The reverse switch 22 is provided in the shift device or the like, detects whether or not the shift device is operated at the reverse position, and outputs the detection result to the control device 18. Instead of the reverse switch 22, a shift position sensor that detects the shift position may be applied.

  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 rear camera 14 obtains a rear shot image by shooting the rear of the vehicle. The rear shot image obtained by the shooting is output to the control device 18 as a shooting result of the rear camera 14.

  The monitor 16 displays a rear side photographed image photographed by the rear side camera 12 during normal driving, and is generated by reverse interlock control when retreating (when the retreat switch 22 is turned on). Display an image.

  The steering angle sensor 24 is provided on a steering shaft or the like, detects the steering angle of the vehicle, and outputs the detection result to the control device 18.

  As described above, the center monitor device 20 generates and displays an overhead view image of the rear of the vehicle from the rear side captured image and the rear captured image. Further, the center monitor device 20 displays an operation panel of an in-vehicle device (for example, an air conditioner, a navigation device, audio, etc.). Although not shown, the center monitor device 20 may be configured to include a microcomputer in which a CPU, a ROM, a RAM, and an I / O are respectively connected to a bus, like the control device 18. However, it may be configured to be controlled by the control device 18.

  Then, the control device 18 detects the reverse of the vehicle from the signal of the reverse switch 22, and when reverse is detected, reverse interlock that changes the viewing range of the captured image displayed on the monitor 16 in conjunction with the reverse. Take control.

  In addition, the control apparatus 18 may perform display control of the left and right monitors 16 with one control apparatus 18, or a pair may be provided corresponding to the left and right of the vehicle. When a pair of control devices 18 are provided corresponding to the left and right, the other control device 18 may be connected to each I / O 18D so that they can communicate with each other.

  Here, the display method of the captured image of the rear side camera 12 on the monitor 16 by the control device 18 and the image displayed on the monitor 16 by the reverse interlock control will be described in detail. FIG. 3 is a diagram for explaining a visual image generated from a captured image.

  In the vehicular visual recognition device 10 according to the present embodiment, when an ignition switch (not shown) is turned on, as shown in FIG. 3, the rear side camera 12 photographs the rear side of the vehicle, and the photographing is obtained by photographing. A partial image 32 indicated by a dotted line in FIG. Then, the cut out partial image 32 is displayed on the monitor 16 as a visual image 34.

  That is, in the vehicular visual recognition device 10 according to the present embodiment, since the partial image 32 of the captured image 30 is displayed, the visual recognition range can be changed by changing the cutout position. The viewing range is changed by operating an operation unit such as a switch (not shown).

  In the vehicular visual recognition device 10 according to the present embodiment, the reverse interlock control described above is performed. In the reverse interlocking control, the backward movement of the vehicle is detected by the backward switch 22, and when the backward movement is detected, the position to cut out the partial image 32 is changed according to the positional relationship between the vehicle and the parking area.

  Specifically, an overhead view image of the rear of the vehicle is generated from the respective captured images of the rear side camera 12 and the rear camera 14 when reversing. Further, the parking area is detected using at least one of the rear side captured image, the rear captured image, and the overhead image, and the distance to the parking area is calculated from the captured image. More specifically, the positional relationship between the vehicle and the parking area is recognized from the generated overhead image, and the camera used for calculating the distance to the parking area is specified. Then, the distance to the parking area is calculated using the identified captured image of the camera.

  For example, as shown in FIG. 4A, when the white line 42 in the parking area and the vehicle 40 are substantially parallel, the left and right rear side cameras 12 can shoot the white line 42 together. Is determined as a camera to be used for calculating the distance to the parking area. Then, the distance to the parking area (for example, the center between the white lines 42 in FIG. 4) is calculated using the left and right rear side captured images. In the example of FIG. 4A, the distance X from the vehicle to the parking area is calculated as X = (A + B) / 2 by obtaining the distances A and B from the left and right rear ends of the vehicle to the white line 42. The distances A and B can be obtained by calculating the distance from the rear side camera 12 to the white line from the rear side photographed image and subtracting the distance from the known rear side camera 12 to the rear end of the vehicle. .

  Further, as shown in FIG. 4B, when the vehicle 40 is bent with respect to the white line 42 in the parking area and the white line 42 is reflected in the rear side images of the left and right rear side cameras 12. The left and right rear side cameras 12 are determined as the cameras used for calculating the distance to the parking area. Then, the distance to the parking area (for example, the center between the white lines 42 in FIG. 4) is calculated using the left and right rear side captured images. Also in this case, as in FIG. 4A, the distance X from the vehicle to the parking area is calculated as X = (A + B) / 2.

  In addition, as shown in FIG. 4C, the vehicle 40 is bent with respect to the white line 42 in the parking area, and the white line 42 is not reflected in one rear side image of the left and right rear side cameras 12. In this case, the rear side camera 12 and the rear camera 14 on which the white line 42 is reflected are determined as the cameras used for calculating the distance to the parking area. And the distance to a parking area | region (for example, the center between the white lines 42 of FIG. 4) is calculated using each picked-up image. In this case as well, the distance X from the vehicle to the parking area is calculated as X = (A + B) / 2. However, the rear end of the vehicle is calculated as the rear corner of the vehicle.

  Note that the method for calculating the distance from the captured image to the parking area such as the white line 42 can be calculated using various known techniques, and thus detailed description thereof is omitted. As an example, it can be calculated using an open source computer vision library developed and released such as OpenCV (Open Source Computer Vision Library). The parking area such as the white line 42 may be detected by using a technique such as AI (artificial intelligence) to recognize the white line pattern.

  And in this embodiment, by changing the range which the partial image 32 cuts out according to the distance to the calculated parking area, and the rudder angle detected by the rudder angle sensor 24, the rear side viewing range is changed. change. Specifically, at the time of reversing, as shown in FIG. 5, the area to be cut out of the partial image 32 is moved from the dotted line position to the vehicle lower side as indicated by the alternate long and short dash line position, and the viewing range is moved to the vehicle lower side. Let At this time, the amount of movement is changed according to the distance to the parking area and the steering angle. That is, in the present embodiment, a captured image for visual recognition determined in advance according to the distance to the parking area and the steering angle is displayed on the monitor 16.

  In this embodiment, the region of the partial image 32 cut out to the vehicle lower side is changed as the distance to the parking region is shorter, and the region of the partial image 32 cut out to the vehicle lower side is changed as the steering angle is smaller.

  Specifically, the cut-out angle level is determined in advance according to the distance to the parking area and the size of the rudder angle. Here, the cut-out angle level indicates the amount of movement of the cut-out partial image 32 in the vehicle lower side direction. It is assumed that the amount of movement of the partial image 32 in the vehicle lower direction increases as the cut-out angle level increases. For example, as shown in FIG. 6, the distance to the parking area is classified into large, medium, and small for each predetermined distance, and the steering angle is classified into large, medium, and small for each predetermined steering angle. To do. Then, the cut-out angle level is determined in advance according to the distance and the rudder angle and stored in the ROM 18B or the like, and the cut-out angle level is determined according to the distance and the rudder angle. In the example of FIG. 6, when the distance to the parking area is large, the cut position of the partial image 32 is not changed. Further, when the distance to the parking area is medium and the rudder angle is large, the cut angle level 1 is set. When the distance to the parking area is medium and the rudder angle is medium, the cut angle level 2 is set. The cut-out angle level 3 is set when the distance to the parking area is medium and the rudder angle is small. Further, when the distance to the parking area is small and the rudder angle is large, the cut-out angle level is 4, and when the distance to the parking area is small and the rudder angle is medium, the cut-out angle level is 5, The cut-off angle level 6 is set when the distance to the parking area is small and the rudder angle is small.

  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. 7 is a flowchart illustrating an example of a flow of processing performed by the control device 18 of the vehicle visual recognition device 10 according to the present embodiment. Note that the processing of FIG. 7 will be described as starting when an ignition switch (not shown) is turned on and ending when it is turned off. 7 is performed when the CPU 18A develops and executes the vehicle visual control program stored in the ROM 18B on the RAM 18C.

  First, in step 100, the CPU 18 </ b> A starts acquiring a captured image captured by the rear side camera 12 and proceeds to step 102. That is, the imaging results of the rear side camera 12 are sequentially acquired.

  In step 102, the CPU 18A cuts out the partial image 32 from the photographed image 30 as shown in FIG. Note that the partial image 32 at this time may be a partial image 32 at a predetermined default position in the captured image, or may be a partial image 32 at the position designated last time before the IG is turned off.

  In step 104, the CPU 18A performs mirror image conversion on the cut out partial image 32, and displays it on the monitor 16 as a visual image 34 as shown in FIG. Thus, by confirming the visual image 34 displayed on the monitor 16, the rear side can be made a corner, and the monitor 16 can be used in place of the optical mirror. In the present embodiment, the mirror image is converted after being cut out, but may be cut out after the mirror image conversion.

  In step 106, the CPU 18 </ b> A determines based on the detection result of the reverse switch 22 whether or not it is reverse. If the determination is affirmative, the process proceeds to step 108, and if the determination is negative, the process proceeds to step 124.

  In step 108, the CPU 18 </ b> A obtains a rear shot image taken by the rear camera 14 and proceeds to step 110.

  In step 110, the CPU 18 </ b> A generates a bird's-eye view image behind the vehicle and proceeds to step 112. That is, using a well-known technique, each of the rear side captured image and the rear captured image is subjected to viewpoint conversion to generate an overhead image of the rear portion of the vehicle.

  In step 112, the CPU 18A detects a parking area from the captured image, and proceeds to step 114. For example, a parking area such as the white line 42 is detected using at least one captured image of a rear side captured image, a rear captured image, and an overhead image. Further, the positional relationship between the vehicle and the parking area is recognized from the overhead image.

  In step 114, the CPU 18A determines a camera to be used for measuring the distance to the parking area based on the bird's-eye view image, and proceeds to step 116. Specifically, as shown in FIGS. 4A and 4B, when the white line 42 as the parking area is reflected in the left and right rear side shot images, the left and right rear side cameras are It is determined as the camera used for distance measurement. On the other hand, when the white line 42 as the parking area is not reflected on one of the left and right rear side cameras 12, as in the state of FIG. 4C, the rear side camera 12 on which the white line 42 is reflected and The rear camera 14 is determined as a camera used for distance measurement.

  In step 116, the CPU 18A calculates the distance to the parking area using the determined captured image of the camera, and proceeds to step 118.

  In step 118, the CPU 18A acquires the detection result of the steering angle sensor 24 to detect the steering angle, and proceeds to step 120.

  In step 120, the CPU 18A determines whether or not to change the cutout region of the partial image 32. The determination is made based on the distance to the parking area and the steering angle. In this embodiment, it is determined whether the distance to the parking area and the steering angle correspond to the cut-out angle levels 1 to 6 shown in FIG. If the determination is affirmative, the process proceeds to step 122. If the determination is negative, the process returns to step 106 and the above-described processing is repeated.

  In step 122, the CPU 18A changes the cutout area of the partial image 32 according to the distance to the parking area and the steering angle, returns to step 106, and repeats the above process. That is, the cutout area of the partial image 32 is changed so that the cutout angle level corresponding to the distance to the parking area and the steering angle is obtained. Thereby, the suitable visual recognition range according to the positional relationship of the vehicle 40 and a parking area | region can be displayed.

  On the other hand, in step 124, the CPU 18A determines whether or not the extraction range is being changed. In this determination, it is determined whether or not the region to be cut out of the partial image 32 is changed in step 122. If the determination is affirmative, the process proceeds to step 126. If the determination is negative, the process returns to step 106 and the above-described processing is repeated.

  In step 126, the CPU 18A restores the partial image 32 to the original cutout area, returns to step 106, and repeats the above processing.

  By performing the control by the control device 18 in this way, it is possible to change the viewing range in conjunction with the reverse, and to display an appropriate viewing range according to the positional relationship between the vehicle and the parking area.

  In the above embodiment, the example in which the viewing range is changed by changing the cut-out area of the partial image 32 cut out from the captured image 30 when changing the viewing range has been described. However, the present invention is not limited to this. . For example, a mode in which a driving unit such as a motor that changes the shooting direction of the rear side camera 12 is provided and the viewing range is changed by changing the shooting direction may be applied.

  Moreover, although said embodiment demonstrated the example which determines a cut-out angle level according to the distance from a vehicle to a parking area | region, and a steering angle, it does not restrict to this. For example, the cut-out angle level may be determined according to the distance from the vehicle to the parking area or the steering angle. When the cut-out angle level is determined according to the distance, the lower side of the vehicle is displayed as the distance from the vehicle to the parking area is shorter. On the other hand, when the cut-out angle level is determined according to the steering angle, the lower side of the vehicle is displayed as the steering angle is smaller.

  In the above embodiment, an example in which the rear camera 14 is provided in addition to the rear side camera 12 has been described. However, the present invention is not limited to this, and the rear camera 14 may be omitted. When the rear camera 14 is omitted, in the state as shown in FIG. 4C, the parking area cannot be recognized by one rear side camera 12, but from the rear side shot image of one rear side camera 12. Since the calculation of the distance A is possible, for example, the distance A may be used as a distance to the parking area, and processing may be performed in the same manner as in the above embodiment.

  Moreover, in said embodiment, although the white line 42 was demonstrated as an example of a parking area | region, a parking area | region is not limited to this. For example, a parking area with two white lines drawn on the left and right sides may be applied, or a rectangular white line parking area may be applied. Moreover, it is not limited to the white line 42, It is good also as a parking area | region of lines of other colors, such as a yellow line and a blue line.

  In the above-described embodiment, the example in which the region where the partial image 32 is cut out in the downward direction of the vehicle when reverse interlock control is performed has been described. However, the present invention is not limited to this. For example, the cutout range may be changed in the steering direction in addition to the downward direction. In this case, the movement amount may be further changed according to the steering angle.

  Moreover, in said embodiment, although the distance from the vehicle 40 to a parking area was calculated | required from the picked-up image, it is not restricted to this. For example, in a vehicle equipped with a positioning function such as GPS (Global Positioning System), the distance to the parking area may be obtained using the positioning information. Alternatively, in addition to the rear side camera 12 and the rear camera 14, a dedicated camera for distance measurement may be further provided. Alternatively, the distance to the wall surface of the parking area may be detected by an optical sensor, an ultrasonic sensor, or the like.

  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 Monitor 16 Rear camera 18 Control device 22 Reverse switch 24 Steering angle sensor 30 Captured image 32 Partial image 34 Visual image 40 Vehicle 42 White line

Claims (5)

A shooting section for shooting the rear side of the vehicle;
A display unit for displaying a photographed image photographed by the photographing unit;
A control unit that performs control to display a captured image for visual recognition determined in advance according to at least one of the distance from the vehicle to the parking area and the steering angle of the vehicle on the display unit when the vehicle moves backward;
A vehicular visual recognition device. It further includes a rear photographing unit that photographs the rear of the vehicle,
The vehicle visual recognition device according to claim 1, wherein the control unit calculates the distance based on at least one of the captured image and a rear captured image captured by the rear capturing unit.   The said control part determines the image used for calculation of the said distance based on the bird's-eye view image of the vehicle back produced | generated from each of the said picked-up image and the said back picked-up image, and calculates the said distance. Vehicle visual recognition device.   In the case where the control unit displays a predetermined captured image for viewing according to the distance, the control unit performs control to display a captured image that can be visually recognized on the lower side of the vehicle as the distance is shorter. The visual device for vehicles according to any one of claims 1 to 3. When the control unit displays a photographed image for visual recognition that is determined in advance according to the steering angle, the control unit displays a photographed image that allows the lower side of the vehicle to be visually recognized as the steering angle is smaller. The visual device for vehicles according to any one of claims 1 to 4 which performs.