JP2019101883A - Driving assist system and camera monitoring system - Google Patents

Abstract

To upgrade the visibility of a guide line, which is added to an image of a scene behind a vehicle, when footage showing the surroundings of the vehicle is displayed for a driver.SOLUTION: A driving assist system 18 acquires first footage which shows a scene behind a vehicle 10 and is taken by an imaging device 14 mounted on the vehicle 10. The driving assist system 18 produces second footage by adding a guide line, which is intended to alert for another vehicle running on an adjoining lane, to the first footage. The driving assist system 18 outputs the produced second footage to a display device 16. The driving assist system 18 produces the second footage by adding as the guide line, a distance line, which expresses a position at a predetermined distance from the vehicle 10, and a direction indication line which extends from an end of the distance line in a direction of receding from the vehicle 10.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technology for assisting the driving of a vehicle, and more particularly to a driving assistance apparatus and a camera monitoring system.

  Driving assistance that displays an image of the rear side of the host vehicle, generates a straight line indicating a predetermined distance from the host vehicle to the rear as a guide index, and superimposes a guide index on an image of the rear side of the host vehicle An apparatus is known (see, for example, Patent Document 1).

JP, 2010-39953, A

  The guide index of Patent Document 1 is similar in shape to the guide line displayed in the image for parking assistance when the host vehicle is moving backward, and is a line indicating the position of the host vehicle or other vehicle It was difficult to quickly determine whether it was a line indicating the position. In addition, it is difficult to quickly recognize whether another vehicle appears before or after the displayed image.

  The present invention has been made in view of these circumstances, and one object of the present invention is to improve the visibility of a guide line added to an image at the back of a vehicle when displaying an image of the periphery of the vehicle for the driver. It is.

  In order to solve the above problems, a driving assistance apparatus according to an aspect of the present invention is acquired by an acquiring unit that acquires a first image behind the vehicle captured by an imaging device mounted on the vehicle, and an acquiring unit A generation unit for generating a second image obtained by adding a guide line to another vehicle traveling in an adjacent lane to the first image, and an output unit for outputting the second image generated by the generation unit to the display device And. The generation unit generates a second image in which a distance line indicating a position of a predetermined distance from the vehicle and a direction indication line extended from the end of the distance line in a direction away from the vehicle are added as guide lines.

  Another aspect of the present invention is a camera monitoring system. This camera monitoring system is mounted on a vehicle and has an imaging unit for generating a first image behind the vehicle, and a guide line for another vehicle traveling in an adjacent lane with respect to the first image imaged by the imaging unit. A generation unit that generates the added second image, and a display unit that displays the second image generated by the generation unit. The generation unit generates a second image in which a distance line indicating a position of a predetermined distance from the vehicle and a direction indication line extended from the end of the distance line in a direction away from the vehicle are added as guide lines.

  It should be noted that any combination of the above components, the expression of the present invention, a method, a computer program, a recording medium storing a computer program, a device in which the present device or the present system is installed, etc. It is effective as an aspect of the invention.

  According to the present invention, when displaying an image around the vehicle for the driver, it is possible to improve the visibility of the guide line added to the image behind the vehicle.

Fig.1 (a)-(b) is a figure which shows typically the structure of the vehicle of 1st Example. It is a block diagram showing composition of a camera monitoring system of a 1st example. An example of a driving support video is shown. FIGS. 4A to 4C are diagrams showing an example of detection of the vanishing point in the second embodiment. FIGS. 5 (a) to 5 (c) are diagrams showing detection examples of the vanishing point in the second embodiment. It is a block diagram which shows the function structure of the camera monitoring system of 3rd Example. FIGS. 7 (a) and 7 (b) are diagrams showing examples of display positions of distance lines. FIGS. 8 (a) to 8 (f) are diagrams showing an aspect of the distance line, the emphasis line, and the other vehicle approach direction instruction line in the modification. It is a figure which shows typically another structure of a vehicle.

  Before concretely explaining the embodiments of the present invention, an outline will be given. Embodiments of the present invention relate to a camera monitoring system mounted on a vehicle. The camera monitoring system is a driving support system in which an imaging device installed in a vehicle captures an image of the periphery of the vehicle corresponding to the side mirror and causes the display device to display an image of the periphery of the vehicle. Specifically, the camera monitoring system according to the embodiment displays an image (hereinafter also referred to as “rear image”) indicating the rear of the host vehicle, and from the host vehicle as a guide line to another vehicle traveling in an adjacent lane. A distance line indicating a predetermined distance, and a direction indication line extending in a direction away from the host vehicle (a direction indication line indicating the approach direction of another vehicle traveling in an adjacent lane) starting from the distance line are displayed on the rear image Overlap on the display. Thereby, the visibility of the guide line on the rear image is improved, in other words, the driver can easily understand the meaning of the guide line indicating the distance to another vehicle.

(First embodiment)
Fig.1 (a)-(b) shows typically the structure of the vehicle 10 of 1st Example. 1 (a) shows the whole of the vehicle 10, and FIG. 1 (b) shows a part of the side mirror 12 of the vehicle 10. As shown in FIG. The vehicle 10 is equipped with a camera monitoring system described later. In the camera monitoring system, the imaging device 14, the display device 16, and the driving support device 18 provided in the side mirror 12 cooperate to present a driver assistance image of the vehicle 10 (driver or the like) described later.

  FIG. 2 is a block diagram showing the configuration of the camera monitoring system 20 of the first embodiment. The camera monitoring system 20 includes an imaging device 14, a display device 16, and a driving support device 18. These devices are connected via a known in-vehicle network such as MOST (Media Oriented Systems Transport). The driving support device 18 includes an acquisition unit 30, a speed detection unit 32, a vanishing point detection unit 34, a generation unit 36, and an output unit 38.

  Each block shown in the block diagram of the present specification can be realized by hardware as an element such as a CPU or memory of a computer or a mechanical device, and software can be realized by a computer program etc. Let's draw a functional block that is realized by those collaborations. It is understood by those skilled in the art that these functional blocks can be realized in various forms by a combination of hardware and software. For example, the driving support device 18 may be realized as an ECU (Electronic Control Unit). The ECU may exert the function of each functional block by executing a computer program including a plurality of modules corresponding to the plurality of functional blocks of the driving support device 18.

  The imaging device 14 is a video camera that generates a rear image which is an image showing the rear of the vehicle 10 as shown in FIG. 1. The rear image is an image including a lane adjacent to the left side of the lane in which the vehicle 10 travels. The imaging device 14 outputs the generated rear image data to the driving support device 18. The driving support device 18 generates a driving support image which is an image obtained by adding a guide line (guide line 58 described later) corresponding to another vehicle traveling in the adjacent lane to the rear image captured by the imaging device 14. The guide line is a distance line (a distance line 50 described later) indicating a predetermined distance from the vehicle, and a direction indication line (a direction indication line 54 described later) extending in a direction away from the vehicle starting from the distance line. At least The display device 16 acquires the driving assistance video generated by the driving assistance device 18 and displays the driving assistance video on a predetermined display. The display device 16 may be a car navigation device or a dedicated device for driving assistance video display.

  The configuration of the driving support device 18 will be described in detail. The acquisition unit 30 acquires data of a rear image output from the imaging device 14. The speed detection unit 32 detects the relative speed of the other vehicle with respect to the host vehicle when the other vehicle is displayed based on the rear image. The speed detection unit 32 detects the image of the other vehicle shown in the rear image by a known method (pattern matching etc.), and detects the relative speed of the other vehicle based on the change in size of the image of the other vehicle in time series. You may For example, the speed detection unit 32 may detect a higher relative speed as the rate of increase in the size of the image of another vehicle per unit time is higher. When a plurality of other vehicles are shown, the relative speed of the other vehicle closest to the host vehicle may be detected.

  The vanishing point detection unit 34 detects a vanishing point in the rear image based on a predetermined reference included in the rear image. The reference of the vanishing point in the embodiment is a dividing line (a white line or the like indicating the end of the road, which may also be referred to as a boundary line) that divides the road (also referred to as a lane) from the area other than the road. The vanishing point detection unit 34 of the embodiment extracts the left and right contours (division lines) of the roadway shown in the rear image, and detects an intersection point when the left and right contours are extended to infinity as the vanishing point. Further, the vanishing point detection unit 34 of the embodiment detects the vanishing point based on the contour of the roadway in the distance line closest to the host vehicle (for example, 10 meters behind the host vehicle).

  The generation unit 36 generates data of a driving support image obtained by adding a guide line (for example, three types of guidelines) to the rear image. The output unit 38 outputs the data of the driving support image generated by the generation unit 36 to the display device 16 for display.

  FIG. 3 shows an example of the driving support video. In fact, the vehicle body 46 of the own vehicle is displayed in the region where the own vehicle travels in the driving support image 40. The generation unit 36 sets a distance line 50 indicating a position of a predetermined distance from the vehicle 10 on the roadway 42 as the first guide line 58. The distance line in the embodiment is black. The generation unit 36 sets one or more distance lines 50 indicating one or more distances predetermined by the occupant of the vehicle 10. In FIG. 3, the distance line 50a is set at a position 10 meters behind the vehicle 10, the distance line 50b is set at a position 20 meters behind the vehicle 10, and the distance line 50c is set 30 meters behind the vehicle 10. Do.

  The generation unit 36 is a guideline for enhancing the visibility of the distance line 50 as the second guide line 58, and an emphasizing line 52 to which a color different from the distance line 50 (red in the embodiment) is assigned is placed along the distance line 50. Set up side by side. In FIG. 3, the generation unit 36 arranges the distance line 50a, the distance line 50b, and the emphasis line 52a, the emphasis line 52b, and the emphasis line 52c corresponding to the distance line 50c along each distance line. The width of the distance line 50 and the width of the emphasis line 52 may be the same length.

  From the end of the distance line 50, the generation unit 36 extends from the end of the distance line 50 in the direction away from the vehicle 10, in other words, the direction indication line 54 extended in the direction in which the other vehicle 48 approaches the vehicle 10. Set The generation unit 36 sets a direction indication line 54a, a direction indication line 54b, and a direction indication line 54c starting from each of the distance line 50a, the distance line 50b, and the distance line 50c. The direction indication line 54 in the embodiment is the same color (black) as the distance line 50.

  By providing the direction indication line 54, the attention of the occupant can be directed in the direction in which the direction indication line 54 extends, and the attention of the occupant to the other vehicle 48 approaching the host vehicle can be easily noticed. Further, by arranging the guide line 58 so as to surround the other vehicle 48 by the distance line 50 and the direction indication line 54, the occupant can quickly and easily understand that the distance line 50 indicates the position of the other vehicle 48. It can be done. Further, in the embodiment, the end of the distance line 50 which is the starting point of the direction indication line 54 is the end of the distance line 50 on the vehicle 10 side. As a result, it is possible to suppress that the direction indication line 54 overlaps the image of the other vehicle 48 and becomes difficult to see.

  The generation unit 36 sets the length in which the direction indication line 54 extends in the direction away from the vehicle 10 as the relative speed of the other vehicle 48 detected by the speed detection unit 32 is higher. When the relative speed of the other vehicle 48 is low (when the other vehicle approaches slowly), the generation unit 36 sets the length of the direction indication line 54 relatively short. On the other hand, when the relative speed of the other vehicle 48 is high (when the other vehicle rapidly approaches), the generation unit 36 sets the length of the direction indication line 54 relatively long. In addition, the generation unit 36 may make the length of the direction indication line 54 proportional to the relative speed of the other vehicle 48.

  Thereby, the approaching speed of the other vehicle 48 to the own vehicle (vehicle 10) can be presented to the occupant in an easy-to-understand manner. In addition, when the other vehicle 48 approaches the own vehicle rapidly, the other vehicle 48 is brought into contact with the direction indication line 54 at an early stage, and it becomes easy to draw the attention of the occupant.

  In addition, the generation unit 36 changes the direction of the direction indication line 54 in accordance with the degree of bending of the roadway 42 that appears in the rear image. The generation unit 36 tilts the direction indication line 54 from being perpendicular to the distance line 50 as the degree of curvature of the road 42 becomes tight, in other words, as the curvature radius of the road 42 decreases. Here, the degree of curvature of the roadway 42 is reflected on the position of the vanishing point of the roadway 42 detected by the vanishing point detection unit 34. The generation unit 36 of the embodiment uses the end of the distance line 50 as a starting point, and sets a direction indication line 54 extending toward the vanishing point of the vehicle body 46 detected by the vanishing point detection unit 34. As a result, the direction in which the other vehicle 48 approaches the own vehicle can be accurately presented to the occupant.

In the embodiment, the generation unit 36 sets the direction indication line 54a, the direction indication line 54b, and the direction indication line 54c so as to extend toward the vanishing point detected at the display position of the distance line 50a. As a modification, the generation unit 36 sets the direction of the direction indication line 54a closest to the host vehicle to the vanishing point, while the direction (distance line) of the other direction indication line 54 (that is, the direction indication line 54b, the direction indication line 54c) (The inclination from) may be the same as the direction indication line 54a. The direction of the direction indication line 54 will also be described in the second embodiment and the third embodiment.
In the embodiment, the form of the direction indication line 54 is changed using the information of the speed detection unit 32 or the information of the vanishing point detection unit 34. However, the form of the direction indication line 54 is not necessarily changed. It may be displayed as a distance line, a direction indication line, or an emphasis line). In this case, the speed detection unit 32 or the vanishing point detection unit 34 may be omitted.

  Based on the above configuration. The operation of the camera monitoring system 20 will be described. The imaging device 14 generates a rear image obtained by imaging the rear space of the vehicle 10. The acquisition unit 30 of the driving support device 18 acquires a rear image. The speed detection unit 32 of the driving support device 18 detects the relative speed of the other vehicle shown in the rear image, and the vanishing point detecting unit 34 detects a vanishing point based on the contour of the roadway on which the own vehicle is traveling. The generation unit 36 sets (1) one or more distance lines indicating one or more predetermined distances from the host vehicle to the rear image, and (2) an emphasizing line along each distance line. (3) A driving support image is generated in which a direction indication line extending toward the vanishing point detected by the vanishing point detection unit 34 is set from the end of each distance line.

  The display device 16 displays the driving assistance video generated by the driving assistance device 18 on the display. In addition, by installing the display device 16 in the vehicle, it is possible to view the image directly while suppressing the influence of raindrops even when it is raining. Also, the influence of sunlight can be suppressed. Furthermore, the influence of heat is reduced, so that the operation can be stabilized.

Second Embodiment
The camera monitoring system 20 according to the second embodiment sets the direction of the direction indication line 54 extending from each distance line according to the degree of curve of the roadway at the display position of each of the plurality of distance lines of the plurality of guide lines. And differ from the first embodiment. Hereinafter, the contents described in the first embodiment will be omitted from the description of the second embodiment as appropriate, and the points different from the first embodiment will be mainly described.

  The configurations of the vehicle 10 and the camera monitoring system 20 of the second embodiment are the same as those of the first embodiment (FIG. 1, FIG. 2). The vanishing point detection unit 34 of the second embodiment detects the outline of the roadway at the display position of each of the plurality of distance lines among the plurality of guide lines from the rear image, and extends the outline of the roadway for each distance line The intersection point of is detected as a vanishing point. According to this configuration, the direction in which the other vehicle approaches the own vehicle can be accurately presented to the occupant at each of the plurality of distance lines.

  FIGS. 4A to 4C show an example of detection of the vanishing point in the second embodiment. The road 60 is vertically curved from the back to the front. FIG. 4A shows an example of detection of the vanishing point in the first area 62 a of the road 60. The first area 62a corresponds to the display position of the distance line 50a in FIG. 3 (10 meters behind the vehicle 10). The vanishing point detection unit 34 detects, as a first vanishing point 68a, an intersection of a first left extension line 64a and a first right extension line 66a obtained by extending the contour of the roadway in the first area 62a. The generation unit 36 sets the distance line 50a in the first area 62a, and further sets the direction indication line 54a extended in the direction of the first vanishing point 68a from the end of the distance line 50a.

  FIG. 4B shows a detection example of the vanishing point in the second area 62b of the road 60. The second area 62b corresponds to the display position of the distance line 50b in FIG. 3 (20 meters behind the vehicle 10). The vanishing point detection unit 34 detects, as a second vanishing point 68 b, an intersection of a second left extension line 64 b and a second right extension line 66 b obtained by extending the contour of the roadway in the second area 62 b. The generation unit 36 sets the distance line 50b in the second area 62b, and further sets the direction indication line 54b extended in the direction of the second vanishing point 68b from the end of the distance line 50b.

  FIG. 4C shows a detection example of the vanishing point in the third area 62c of the road 60. The third area 62c corresponds to the display position of the distance line 50c in FIG. 3 (rearward 30 meters from the vehicle 10). The vanishing point detection unit 34 detects, as a third vanishing point 68c, an intersection of a third left extension line 64c and a third right extension line 66c in which the outline of the roadway in the third area 62c is extended. The generation unit 36 sets the distance line 50c in the third area 62c, and further sets the direction indication line 54c extended in the direction of the third vanishing point 68c from the end of the distance line 50c.

  FIGS. 5A-5C also show an example of detection of the vanishing point in the second embodiment. The roadway 60 curves laterally from the back to the front. FIG. 5A shows an example of detection of the vanishing point in the first area 62 a of the road 60. The first area 62a corresponds to the display position of the distance line 50a in FIG. The vanishing point detection unit 34 detects, as a first vanishing point 68a, an intersection of a first left extension line 64a and a first right extension line 66a obtained by extending the contour of the roadway in the first area 62a. The generation unit 36 sets the distance line 50a in the first area 62a, and further sets the direction indication line 54a extended in the direction of the first vanishing point 68a from the end of the distance line 50a.

  FIG. 5 (b) shows an example of detection of the vanishing point in the second area 62 b of the road 60. The second area 62b corresponds to the display position of the distance line 50b in FIG. The vanishing point detection unit 34 detects, as a second vanishing point 68 b, an intersection of a second left extension line 64 b and a second right extension line 66 b obtained by extending the contour of the roadway in the second area 62 b. The generation unit 36 sets the distance line 50b in the second area 62b, and further sets the direction indication line 54b extended in the direction of the second vanishing point 68b from the end of the distance line 50b.

  FIG. 5C shows a detection example of the vanishing point in the third area 62 c of the road 60. The third area 62c corresponds to the display position of the distance line 50c in FIG. The vanishing point detection unit 34 detects, as a third vanishing point 68c, an intersection of a third left extension line 64c and a third right extension line 66c in which the outline of the roadway in the third area 62c is extended. The generation unit 36 sets the distance line 50c in the third area 62c, and further sets the direction indication line 54c extended in the direction of the third vanishing point 68c from the end of the distance line 50c.

Third Embodiment
The camera monitoring system 20 of the third embodiment differs from the first embodiment in that the direction of the direction indication line 54 of the guide lines is changed according to the steering angle of the vehicle 10 at the past time point. Hereinafter, the contents described in the first embodiment will be omitted from the description of the second embodiment as appropriate, and the points different from the first embodiment will be mainly described.

  The configuration of the vehicle 10 of the third embodiment is the same as that of the first embodiment (FIG. 1). FIG. 6 is a block diagram showing a functional configuration of the camera monitoring system 20 of the third embodiment. The driving support device 18 includes a steering angle storage unit 70 and an instruction line angle storage unit 72 in place of the vanishing point detection unit 34.

  The steering angle storage unit 70 receives data (referred to as “steering angle data”) indicating the steering angle of the vehicle 10 repeatedly output from the steering ECU via a vehicle-mounted network such as CAN (Controller Area Network). The steering angle data performs time management of steering angle information at the timing received by the clock in the driving support device. The steering angle storage unit 70 stores the value of the steering angle and the setting time in association with each other.

  The instruction line angle storage unit 72 stores a predetermined correspondence relationship between the steering angle of the vehicle 10 and the angle of the direction indication line 54 with respect to the distance line 50. For example, 90 degrees is associated with the steering angle 0 degree of the vehicle 10 as the angle of the direction indication line 54. In addition, at the steering angle at which the vehicle 10 is steered to the left, as the angle of the direction indication line 54 with respect to the distance line 50, a value at which the tip of the direction indication line 54 falls from the vertical (90 degrees) to the left (counterclockwise) Are associated. Also, the degree of inclination from the vertical increases as the turning angle to the left increases. On the other hand, at the steering angle at which the vehicle 10 is steered to the right, as the angle of the direction indication line 54 with respect to the distance line 50, the value at which the tip of the direction indication line 54 falls from the vertical (90 degrees) to the right (clockwise) is It is matched. Also, the degree of inclination from the vertical increases as the steering angle to the right increases.

  The generation unit 36 specifies a date and time when the vehicle 10 passes a predetermined distance line display position (for example, 10 meters behind the vehicle 10) with the imaging date and time (or output date and time) of the rear image as a starting point, The calculated steering angle is acquired from the steering angle storage unit 70. The generation unit 36 acquires, from the indication line angle storage unit 72, the angle of the direction indication line 54 associated with the steering angle acquired from the steering angle storage unit 70. The generation unit 36 sets the angle of the direction indication line 54a with respect to the distance line 50a, the angle of the direction indication line 54b with respect to the distance line 50b, and the angle of the direction indication line 54c with respect to the distance line 50c as the angles acquired from the indication line angle storage unit 72. Set

  Thus, in the third embodiment, the direction of the direction indication line 54 starting from the distance line 50 among the guide lines is set based on the steering angle of the vehicle 10 at the display position of the distance line 50. As a result, as in the first embodiment, the direction in which the other vehicle approaches the vehicle 10 can be accurately presented to the occupant by the direction indication line 54. Note that, instead of the steering angle of the vehicle 10, the turning angle (the actual direction of the wheels) of the vehicle 10 may be used.

  Further, the generation unit 36 extends the direction indication line 54a, the direction indication line, extending from each distance line according to the steering angle of the vehicle 10 at the display position of each of the distance line 50a, the distance line 50b, and the distance line 50c among the guide lines. The directions of 54b and the direction indication line 54c may be set individually. Specifically, the generation unit 36 specifies the date and time when the vehicle 10 passes the display position of each of the distance line 50a, the distance line 50b, and the distance line 50c from the imaging date and time (or output date and time) of the rear image as a starting point The steering angle associated with each date and time may be acquired from the steering angle storage unit 70. The steering angle at the distance line 50a is called a first steering angle, the steering angle at the distance line 50b is called a second steering angle, and the steering angle at the distance line 50c is called a third steering angle.

  The generation unit 36 refers to the instruction line angle storage unit 72, identifies the angle of the direction indication line 54 associated with the first steering angle as the first indication line angle, and associates the angle with the second steering angle. The angle of the direction indication line 54 is specified as a second indication line angle, and the angle of the direction indication line 54 associated with the third steering angle is specified as a third indication line angle. The generation unit 36 sets the angle of the direction indication line 54a to the distance line 50a as the first indication line angle, sets the angle of the direction indication line 54b to the distance line 50b as the second indication line angle, and the direction to the distance line 50c. The angle of the command line 54c is set to the third command line angle.

  As described above, the direction of the direction indication line 54 starting from each of the plurality of distance lines 50 is set based on the steering angle of the vehicle 10 at the display position of each distance line 50. As a result, as in the second embodiment, the direction in which the other vehicle approaches the own vehicle can be accurately presented to the occupant at each of the plurality of distance lines.

  The present invention has been described above based on the first to third embodiments. It is understood by those skilled in the art that these embodiments are exemplifications, and that various modifications can be made to their respective components or combinations of processing processes, and such modifications are also within the scope of the present invention. is there.

  A first modification will be described. FIGS. 7A and 7B show examples of display positions of distance lines. As shown in FIG. 7A, the generation unit 36 may arrange a plurality of distance lines 50 with reference to the side surface of the vehicle 10. In this case, the generation unit 36 may align the vertical positions of the distance line 50a, the distance line 50b, and the distance line 50c in the driving support image. Further, as shown in FIG. 7B, the generation unit 36 may arrange a plurality of distance lines 50 on the basis of the lane on the road 60 (for example, the lane next to the traveling lane of the vehicle 10). In this case, the generation unit 36 extracts the demarcation line at the end of the road 60 and the center line of the road 60 as outlines from the rear image, and between the demarcation line at the end of the road 60 and the central line of the road 60 A plurality of distance lines 50 may be arranged.

  A second modification will be described. FIGS. 8A to 8F show aspects of the distance line 50, the emphasis line 52, and the direction indication line 54 in the modification. As shown in FIG. 8A, the generation unit 36 may make the ends of the distance line 50 and the emphasis line 52 oblique according to the inclination of the direction indication line 54. Thus, the distance line 50, the emphasis line 52, and the direction indication line 54 can be made more intuitive to the occupant. Further, as shown in FIG. 8B, the generation unit 36 adds and sets one or more direction indication lines 56 in the distance line 50 (or both of the distance line 50 and the emphasis line 52). May be Thereby, the sense of distance by the distance line 50 can be improved, and a mark can be provided on the distance line 50.

  Further, as shown in FIG. 8C, when the direction indication line 54 overlaps the distance line 50 (and the emphasis line 52) as shown in FIG. 8C, the distance line 50 (and the emphasis line 52) of the direction indication line 54 The overlapping portion may be set in a manner different from normal. For example, it may be set to a color different from normal, gray not noticeable, or the like. According to this aspect, it is possible to avoid reducing the visibility of the distance line 50 by the direction indication line 54. Further, as illustrated in FIG. 8D, the generation unit 36 may extend the direction indication line 54 to the near side of the distance line 50. However, the length extending from the end of the distance line 50 to the front side (closer to the vehicle 10) is set shorter than the length extending from the end of the distance line 50 to the back side (away from the vehicle 10).

  In addition, as illustrated in FIG. 8E, the generation unit 36 may extend the distance line 50 laterally beyond the starting point of the direction indication line 54. Further, as shown in FIG. 8 (f), the generation unit 36 determines the curve of the road or the steering angle of the vehicle 10 separately from the direction indication line 54 which is inclined according to the curve of the road or the steering angle of the vehicle 10. Regardless of the above, a direction indication line 54 perpendicular to the distance line 50 may be provided.

  A third modification will be described. In the above embodiment, the direction indication line 54 is set at the end of the distance line 50 on the vehicle 10 side. As a modification, in place of the end of the distance line 50 on the vehicle 10 side, the direction indication line 54 may be set at the end of the distance line 50 opposite to the vehicle 10. In addition, direction indication lines 54 may be set at both ends of the distance line 50. In either of the embodiment and the modification, when the direction indication line 54 overlaps the image of the other vehicle 48, the direction indication line 54 may be hidden. In addition, the color of the direction indication line 54 may be changed to a color different from a normal color, such as inconspicuous gray.

  A fourth modification will be described. When detecting that another vehicle has passed a specific distance line 50 based on the rear image, the generation unit 36 may hide the emphasis line 52 added to the specific distance line 50. For example, when another vehicle passes the distance line 50c, the generation unit 36 may display the driving support image in which only the distance line 50c and the direction indication line 54c are added to the rear image, with the highlight line 52c not displayed. . In addition, when the generation unit 36 detects that another vehicle has passed a specific distance line 50 based on the rear image, the entire guide line related to the specific distance line 50 may be hidden. For example, when another vehicle passes the distance line 50c, the generation unit 36 may hide all the guide lines of the distance line 50c, the emphasis line 52c, and the direction indication line 54c.

  A fifth modification will be described. When the image of the other vehicle 48 overlaps the distance line 50, the emphasis line 52, and the direction indication line 54, the generation unit 36 at least the aspect of the portion overlapping the other vehicle 48 in the distance line 50, the emphasis line 52, and the direction indication line 54 You may set it in the aspect different from normal. For example, it may be hidden or may be set to a color different from normal.

  A sixth modification will be described. In the above embodiment, the driving support image is generated using the rear image captured by the imaging device 14 attached to the left side mirror 12 of the vehicle 10. As a modification, an imaging device attached to the right side mirror of the vehicle 10 or a rear image captured by an imaging device attached to a back door at the rear of the vehicle 10 may be used. In addition, as the display device 16 of the camera monitoring system 20, an electronic mirror display unit provided in a side mirror may be used.

  FIG. 9 schematically shows another configuration of the vehicle 10. According to the aspect shown in FIG. 9, the imaging device 14 outside the vehicle can be made as small as possible. Thereby, the design of the vehicle 10 can be enhanced. In addition, air resistance can be reduced, and fuel consumption can be improved.

The techniques described in the embodiments and variations may be identified by the following items.
[Item 1]
An acquisition unit configured to acquire a first image behind the vehicle, which is imaged by an imaging device mounted on the vehicle;
A generation unit configured to generate a second image obtained by adding a guide line for another vehicle traveling in an adjacent lane to the first image acquired by the acquisition unit;
An output unit that outputs the second image generated by the generation unit to a display device;
Equipped with
The generation unit generates a second image in which a distance line indicating a position at a predetermined distance from the vehicle and a direction indication line extended from the end of the distance line in a direction away from the vehicle are added as the guide line. A driving support device characterized by having.
According to this driving support device, the visibility of the distance line can be enhanced by adding the indication line extended in the direction away from the host vehicle to the distance line. For example, it can be shown in an easy-to-understand manner to a passenger (driver or the like) that the distance line is an index indicating the position of another vehicle approaching the host vehicle.
[Item 2]
The driving support device according to Item 1, wherein the generation unit generates a second image in which emphasizing lines of colors different from the distance line are arranged in the distance line and further added to the first image.
According to this driving support device, it becomes easy for the occupant to recognize the information indicated by the distance line. For example, even a person with color vision abnormality can easily recognize at least one of the distance line and the emphasis line, and easily recognize the approach of another vehicle from the vehicle to a predetermined distance.
[Item 3]
It further comprises a detection unit for detecting the relative speed of the other vehicle shown in the first image to the vehicle,
The driving support device according to Item 1 or 2, wherein the generation unit sets the direction indication line longer as the relative speed detected by the detection unit is higher.
According to this driving support device, the other vehicle approach direction indication line is made longer as the speed at which the other vehicle approaches the host vehicle is higher. As a result, the other vehicle is brought into contact with the other vehicle approach direction indication line on the second image at an early stage, and it becomes easier to call attention of the passenger early. In addition, as the speed at which another vehicle approaches the host vehicle increases, the attention of the occupant can be directed to a wider range.
[Item 4]
The driving support device according to any one of Items 1 to 3, wherein the generation unit changes the direction of the direction indication line according to the degree of curvature of the roadway shown in the first image.
According to this driving support device, the other vehicle approaching direction indication line can easily indicate the direction in which the other vehicle approaches to the own vehicle, and the driver can accurately present the direction in which the other vehicle approaches to the passenger. it can.
[Item 5]
The generation unit generates a second image to which a plurality of distance lines having different distances from the vehicle are added, and a direction indication line extending from each distance line according to how curved the road is at the display position of each distance line. The driving assistance device according to Item 4 for setting the direction of.
According to this driving support device, it is possible to accurately present the occupant in the direction in which the other vehicle approaches the own vehicle at each position of the plurality of distance lines.
[Item 6]
3. The driving support device according to any one of items 1 to 3, wherein the generation unit changes the direction of the direction indication line according to a steering angle of the vehicle at a past time point.
According to this driving support device, the other vehicle approaching direction indication line can easily indicate the direction in which the other vehicle approaches to the own vehicle, and the driver can accurately present the direction in which the other vehicle approaches to the passenger. it can.
[Item 7]
The generation unit generates a second image to which a plurality of distance lines having different distances from the vehicle are added, and instructs the direction to extend from each distance line according to the steering angle of the vehicle at the display position of each distance line. The driving assistance device according to Item 6, which sets the direction of the line.
According to this driving support device, it is possible to accurately present the occupant in the direction in which the other vehicle approaches the own vehicle at each position of the plurality of distance lines.
[Item 8]
An imaging unit mounted on a vehicle and generating a first image behind the vehicle;
A generation unit configured to generate a second image obtained by adding a guide line for another vehicle traveling in an adjacent lane to the first image captured by the imaging unit;
A display unit for displaying the second image generated by the generation unit;
Equipped with
The generation unit generates a second image in which a distance line indicating a position at a predetermined distance from the vehicle and a direction indication line extended from the end of the distance line in a direction away from the vehicle are added as the guide line. Camera monitoring system characterized by having.
According to this camera monitoring system, the visibility of the distance line can be enhanced by adding the instruction line extended in the direction away from the host vehicle to the distance line. Specifically, it can be shown in an easy-to-understand manner to a passenger (driver or the like) that the distance line is an index indicating the position of another vehicle approaching the host vehicle.

  Any combination of the above-described embodiments and variations is also useful as an embodiment of the present invention. The new embodiments resulting from the combination combine the effects of each of the combined embodiments and variations. Further, it is understood by those skilled in the art that the functions to be performed by the respective constituent elements described in the claims can be realized by a single member of each constituent shown in the embodiment and the modification or a combination thereof.

  10 vehicles, 14 imaging devices, 16 display devices, 18 driving support devices, 20 camera monitoring systems, 30 acquisition units, 32 speed detection units, 34 vanishing point detection units, 36 generation units, 38 output units.

Claims (8)

An acquisition unit configured to acquire a first image behind the vehicle, which is imaged by an imaging device mounted on the vehicle;
A generation unit configured to generate a second image obtained by adding a guide line for another vehicle traveling in an adjacent lane to the first image acquired by the acquisition unit;
An output unit that outputs the second image generated by the generation unit to a display device;
Equipped with
The generation unit generates a second image in which a distance line indicating a position at a predetermined distance from the vehicle and a direction indication line extended from the end of the distance line in a direction away from the vehicle are added as the guide line. A driving support device characterized by having.   The driving support device according to claim 1, wherein the generation unit generates a second image in which emphasizing lines of colors different from the distance line are arranged on the distance line and further added to the first image. It further comprises a detection unit for detecting the relative speed of the other vehicle shown in the first image to the vehicle,
The driving support device according to claim 1, wherein the generation unit sets the direction indication line longer as the relative speed detected by the detection unit is higher.   The driving support device according to any one of claims 1 to 3, wherein the generation unit changes the direction of the direction indication line according to the degree of curvature of the roadway shown in the first image.   The generation unit generates a second image to which a plurality of distance lines having different distances from the vehicle are added, and a direction indication line extending from each distance line according to how curved the road is at the display position of each distance line. The driving support device according to claim 4, wherein the direction of is set.   The driving support device according to any one of claims 1 to 3, wherein the generation unit changes the direction of the direction indication line according to a steering angle of the vehicle at a past time point.   The generation unit generates a second image to which a plurality of distance lines having different distances from the vehicle are added, and instructs the direction to extend from each distance line according to the steering angle of the vehicle at the display position of each distance line. The driving support device according to claim 6, wherein the direction of the line is set. An imaging unit mounted on a vehicle and generating a first image behind the vehicle;
A generation unit configured to generate a second image obtained by adding a guide line for another vehicle traveling in an adjacent lane to the first image captured by the imaging unit;
A display unit for displaying the second image generated by the generation unit;
Equipped with
The generation unit generates a second image in which a distance line indicating a position at a predetermined distance from the vehicle and a direction indication line extended from the end of the distance line in a direction away from the vehicle are added as the guide line. Camera monitoring system characterized by having.

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