JP2020042355A - 周辺監視装置 - Google Patents
周辺監視装置 Download PDFInfo
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- JP2020042355A JP2020042355A JP2018167140A JP2018167140A JP2020042355A JP 2020042355 A JP2020042355 A JP 2020042355A JP 2018167140 A JP2018167140 A JP 2018167140A JP 2018167140 A JP2018167140 A JP 2018167140A JP 2020042355 A JP2020042355 A JP 2020042355A
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- 238000012806 monitoring device Methods 0.000 title claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 71
- 239000002131 composite material Substances 0.000 claims abstract description 29
- 230000002093 peripheral effect Effects 0.000 claims description 35
- 238000003384 imaging method Methods 0.000 claims description 33
- 238000013459 approach Methods 0.000 claims description 8
- 238000002834 transmittance Methods 0.000 claims description 5
- 240000004050 Pentaglottis sempervirens Species 0.000 claims description 4
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 24
- 238000000034 method Methods 0.000 description 12
- 230000008859 change Effects 0.000 description 10
- 239000003086 colorant Substances 0.000 description 9
- 230000008569 process Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 230000007423 decrease Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 230000004397 blinking Effects 0.000 description 4
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- 238000002485 combustion reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/24—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
- B62D15/0295—Steering assistants using warnings or proposing actions to the driver without influencing the steering system by overlaying a vehicle path based on present steering angle over an image without processing that image
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/272—Means for inserting a foreground image in a background image, i.e. inlay, outlay
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
- B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/307—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing virtually distinguishing relevant parts of a scene from the background of the scene
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
Abstract
Description
図1は、第1の実施形態にかかる周辺監視装置を搭載する車両の車室の一部が透視された状態の一例が示された斜視図である。図1に示すように、車両1は、車体2と、操舵部4と、加速操作部5と、制動操作部6と、変速操作部7と、モニタ装置11と、を備える。車体2は、乗員が乗車する車室2aを有する。車室2a内には、乗員としての運転手が座席2bに臨む状態で、操舵部4や、加速操作部5、制動操作部6、変速操作部7等が設けられている。操舵部4は、例えば、ダッシュボード24から突出したステアリングホイールである。加速操作部5は、例えば、運転手の足下に位置されたアクセルペダルである。制動操作部6は、例えば、運転手の足下に位置されたブレーキペダルである。変速操作部7は、例えば、センターコンソールから突出したシフトレバーである。
本実施形態は、撮像部によって車両の進行方向を撮像して得られる撮像画像に代えて、車両の周辺の三次元画像を含む表示画面を表示装置に表示させる例である。以下の説明では、第1の実施形態と同様の構成については説明を省略する。
Claims (11)
- 車両の現在の舵角を取得する取得部と、
前記車両の周辺を撮像する撮像部から撮像画像を取得する画像取得部と、
前記車両を示す車両画像と、前記撮像画像に基づいた前記車両の周辺を表した周辺画像と、を含む合成画像を表示部に表示させ、前記車両に接触する物体を検知可能な検知部が動作状態にある場合、前記合成画像内において前記車両画像で示された前記車両の位置を基準として、前記取得部が取得した前記現在の舵角で前記車両が所定距離進んだ場合の位置に、前記車両の形状を示す仮想的な仮想車両画像を重畳表示させる制御部と、
を備える周辺監視装置。 - 前記制御部は、前記検知部によって前記物体が検知された場合、前記仮想車両画像内において前記物体と接触する部分画像の表示態様を変化させ、かつ前記合成画像内において、前記車両が前記物体に接触する接触位置において前記仮想車両画像の移動を停止させる請求項1に記載の周辺監視装置。
- 前記仮想車両画像は、ポリゴンで構成される前記車両の形状を示す画像であり、
前記部分画像は、前記仮想車両画像を構成する前記ポリゴンのうち、前記物体と接触する部分の前記ポリゴンである請求項2に記載の周辺監視装置。 - 前記制御部は、前記物体の位置と前記仮想車両画像で示された前記車両の位置の間の距離に応じて前記部分画像の表示態様を変更する請求項2または3に記載の周辺監視装置。
- 前記制御部は、前記検知部が動作状態にある場合、前記合成画像内の前記車両画像で示された前記車両の進行方向に対して、前記車両に対して前記物体が接近してくる方向を識別可能とする指標を表示させ、前記検知部によって前記車両に接近する前記物体が検知された場合、前記指標の表示態様を変更する請求項1から4のいずれか一に記載の周辺監視装置。
- 前記制御部は、前記車両が前記所定距離進んだ場合の位置として、前記車両が前記物体と接触する接触位置、または接触前の位置まで進んだ場合の位置に、前記仮想車両画像を重畳表示する請求項1から5のいずれか一に記載の周辺監視装置。
- 前記車両画像は、前記車両の俯瞰画像である請求項1から6のいずれか一に記載の周辺監視装置。
- 前記仮想車両画像は、前記車両の三次元の形状を示す画像である請求項1から6のいずれか一に記載の周辺監視装置。
- 前記仮想車両画像は、前記車両の形状を示す半透明の画像である請求項1から8のいずれか一に記載の周辺監視装置。
- 前記仮想車両画像は、前記車両の輪郭を強調表示した画像である請求項1から7のいずれか一に記載の周辺監視装置。
- 前記仮想車両画像は、前記車両の輪郭から内側に向かうに従って透過率を高くした画像である請求項1から10のいずれか一に記載の周辺監視装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018167140A JP7172309B2 (ja) | 2018-09-06 | 2018-09-06 | 周辺監視装置 |
CN201910836583.4A CN110877575A (zh) | 2018-09-06 | 2019-09-05 | 周边监视装置 |
US16/561,216 US20200084395A1 (en) | 2018-09-06 | 2019-09-05 | Periphery monitoring device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018167140A JP7172309B2 (ja) | 2018-09-06 | 2018-09-06 | 周辺監視装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020042355A true JP2020042355A (ja) | 2020-03-19 |
JP7172309B2 JP7172309B2 (ja) | 2022-11-16 |
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Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018167140A Active JP7172309B2 (ja) | 2018-09-06 | 2018-09-06 | 周辺監視装置 |
Country Status (3)
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US (1) | US20200084395A1 (ja) |
JP (1) | JP7172309B2 (ja) |
CN (1) | CN110877575A (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3800111A1 (en) * | 2019-09-12 | 2021-04-07 | Aisin Seiki Kabushiki Kaisha | Periphery monitoring device |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2022082487A (ja) * | 2020-11-23 | 2022-06-02 | 株式会社デンソー | 周辺画像生成装置、表示制御方法 |
US20230256985A1 (en) * | 2022-02-14 | 2023-08-17 | Continental Advanced Lidar Solutions Us, Llc | Method and system for avoiding vehicle undercarriage collisions |
Citations (3)
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JP2002240662A (ja) * | 2000-12-15 | 2002-08-28 | Honda Motor Co Ltd | 駐車支援装置 |
JP2005186758A (ja) * | 2003-12-25 | 2005-07-14 | Equos Research Co Ltd | 駐車支援装置 |
JP2012023505A (ja) * | 2010-07-13 | 2012-02-02 | Denso Corp | 運転支援装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
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JP5439890B2 (ja) * | 2009-03-25 | 2014-03-12 | 富士通株式会社 | 画像処理方法、画像処理装置及びプログラム |
KR101558586B1 (ko) * | 2009-06-15 | 2015-10-07 | 현대자동차일본기술연구소 | 차량 주위 영상 표시장치 및 방법 |
JP5479956B2 (ja) * | 2010-03-10 | 2014-04-23 | クラリオン株式会社 | 車両用周囲監視装置 |
CN103237685B (zh) * | 2010-12-30 | 2017-06-13 | 明智汽车公司 | 盲区显示装置及方法 |
JP5459560B2 (ja) * | 2011-06-27 | 2014-04-02 | アイシン精機株式会社 | 周辺監視装置 |
JP6642972B2 (ja) * | 2015-03-26 | 2020-02-12 | 修一 田山 | 車輌用画像表示システム及び方法 |
MY182014A (en) * | 2015-05-29 | 2021-01-18 | Nissan Motor | Information presentation system |
JP6699427B2 (ja) * | 2015-11-17 | 2020-05-27 | 株式会社Jvcケンウッド | 車両用表示装置および車両用表示方法 |
-
2018
- 2018-09-06 JP JP2018167140A patent/JP7172309B2/ja active Active
-
2019
- 2019-09-05 CN CN201910836583.4A patent/CN110877575A/zh active Pending
- 2019-09-05 US US16/561,216 patent/US20200084395A1/en not_active Abandoned
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002240662A (ja) * | 2000-12-15 | 2002-08-28 | Honda Motor Co Ltd | 駐車支援装置 |
JP2005186758A (ja) * | 2003-12-25 | 2005-07-14 | Equos Research Co Ltd | 駐車支援装置 |
JP2012023505A (ja) * | 2010-07-13 | 2012-02-02 | Denso Corp | 運転支援装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3800111A1 (en) * | 2019-09-12 | 2021-04-07 | Aisin Seiki Kabushiki Kaisha | Periphery monitoring device |
US11620834B2 (en) | 2019-09-12 | 2023-04-04 | Aisin Corporation | Periphery monitoring device |
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Publication number | Publication date |
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US20200084395A1 (en) | 2020-03-12 |
JP7172309B2 (ja) | 2022-11-16 |
CN110877575A (zh) | 2020-03-13 |
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