JP2021111853A - In-car periphery display device - Google Patents

Abstract

To enable a sense of distance between an its own car and a peripheral target to be effectively obtained.SOLUTION: An in-car periphery display device comprises an auxiliary image generating unit and a control unit. The auxiliary image generating unit generates: first auxiliary images 50, 56 extending from right and left end outer edge positions of a car body or positions separated from the positions by a first distance to rear end outer edge positions of the car body or positions separated from the outer edge positions by a second distance in parallel with a front and rear direction of the car body; second auxiliary images 52, 58 extending to the positions of the first auxiliary images 50, 56 at the rear end outer edge positions of the car body or positions separated from the positions by a third distance in parallel with a direction orthogonal to the front and rear direction of the car body. The control unit causes; a display 20 to display, in an upper display area 20A of the display 20, a first composite image 62 in which the auxiliary images 50, 52, 56, 58 are superimposed on an image of a rear side of the car; and causes the display 20 to display, in a lower display area 20 B of the display 20, a second composite image 64 in which the auxiliary images 50, 52, 56, 58 are superimposed on horizontally arranged rear side images, in such a manner that sizes and lateral positions of the second auxiliary images 52, 58 are synchronized between the first composite image 62 and the second composite image 64.SELECTED DRAWING: Figure 6

Description

The present invention relates to an in-vehicle peripheral display device.

In Patent Document 1, images taken by a plurality of cameras having different imaging ranges are three-dimensionally converted from a virtual viewpoint in the own vehicle or its surroundings so as to be an image overlooking the surrounding rear, and adjacent to each other. A technique for generating and displaying an image of the surroundings of the own vehicle by seamlessly integrating them in the circumferential direction behind the surroundings of the own vehicle in consideration of overlapping of images is described.

Japanese Unexamined Patent Publication No. 2008-230558

As in the technique described in Patent Document 1, a method of generating and displaying a single high angle of view image by connecting and synthesizing a common imaging range between a plurality of images having different imaging ranges is performed by a vehicle occupant. It is useful for checking multiple images in a short time and understanding the positional relationship between the images.

However, with the above image generation display method, it is difficult to display objects such as vehicles existing at various positions with respect to the own vehicle so that they can be accurately grasped including a sense of distance. For example, in order to foster a sense of distance from a target existing on the side of the own vehicle, it is useful to simultaneously image and display a reference that is useful for grasping the sense of distance, such as the vehicle body of the own vehicle. It is difficult to display an effective reference with the image generation display method of.

The present invention has been made in consideration of the above facts, and when displaying a plurality of images having different imaging ranges on the display unit, it is possible to make the occupant effectively grasp the sense of distance between the own vehicle and the surrounding target. The purpose is to obtain a possible in-vehicle peripheral display device.

The vehicle-mounted peripheral display device according to the invention according to claim 1 is located in the front-rear direction of the vehicle body or from a position one distance away from the position corresponding to the outer edge of the left and right side ends of the vehicle body or the position corresponding to the outer edge of the left and right side ends of the vehicle body. A pair of left and right first auxiliary images, which are lines extending parallel to the traveling direction to a position corresponding to the rear end outer edge of the vehicle body or a position separated by a second distance from the position corresponding to the rear end outer edge of the vehicle body, and the vehicle body. The position of the pair of left and right first auxiliary images or a position thereof parallel to the front-rear direction or a direction orthogonal to the traveling direction and at a position corresponding to the rear end outer edge of the vehicle body or a position three distances away from the position corresponding to the rear end outer edge of the vehicle body. The first display area of the two display areas, that is, an auxiliary image generation unit that generates a second auxiliary image that is a line segment extending to the vicinity, and an image display unit that is vertically arranged in the vehicle interior of the vehicle. A first composite image in which the pair of left and right first auxiliary images and the second auxiliary image are superimposed on the rear image captured by the rear imaging unit capable of capturing the rear of the vehicle is displayed, and the two displays are displayed. In the second display area of the area, the pair of left and right rear side images captured by the pair of left and right rear side imaging units capable of capturing the left and right rear sides of the vehicle are arranged side by side, and the pair of left and right rear side images are arranged side by side. The first composite image is obtained by superimposing one auxiliary image on the corresponding rear side image and superimposing the second auxiliary image across the pair of left and right rear side images arranged side by side. 1 A composite image display control unit that displays the size and horizontal position of the second auxiliary image in the composite image so as to be synchronized with the size and horizontal position of the second auxiliary image in the second composite image. Includes.

In the invention according to claim 1, the pair of left and right first auxiliary images generated by the auxiliary image generation unit and superimposed on the rear image and the pair of left and right rear side images are existing in the vehicle body and the periphery of the vehicle. It serves as a guide for the sense of distance from the target in the front-rear direction of the vehicle body or in the direction orthogonal to the traveling direction. Further, the second auxiliary image generated by the auxiliary image generation unit and superimposed on the rear image and the pair of left and right rear side images is the front-rear direction or the progress of the vehicle body between the vehicle body and the target existing around the vehicle. It serves as a guide for the sense of distance in the direction.

Then, the pair of left and right rear side images are arranged side by side, and the pair of left and right first auxiliary images and the second auxiliary image are superimposed on the second composite image. 2 The size and lateral position of the second auxiliary image in the first composite image on which the auxiliary image is superimposed are displayed so as to be synchronized with the size and horizontal position of the second auxiliary image in the second composite image. As a result, the occupant can intuitively grasp the positional relationship of the imaging range between the first composite image and the second composite image, and the occupant can grasp the situation behind and behind the vehicle in a short time. Therefore, according to the invention of claim 1, when displaying a plurality of images having different imaging ranges on the display unit, it is possible to make the occupant effectively grasp the sense of distance between the own vehicle and the surrounding object. ..

The present invention has an effect that when displaying a plurality of images having different imaging ranges on the display unit, it is possible for the occupant to effectively grasp the sense of distance between the own vehicle and the surrounding object.

It is a block diagram which shows the schematic structure of the peripheral display system for a vehicle. It is an image diagram which shows the imaging range of the rear camera, the left rear side camera, and the right rear side camera. It is a functional block diagram of a display ECU. It is a flowchart which shows the peripheral display processing. It is a top view which shows the auxiliary image set for the body of a vehicle. It is an image diagram which shows the state which the 1st composite image and the 2nd composite image are displayed on the display. It is a top view which shows the other example of the auxiliary image set for the body of a vehicle.

Hereinafter, an example of the embodiment of the present invention will be described in detail with reference to the drawings. The vehicle peripheral display system 10 shown in FIG. 1 includes a rear camera 12, a left rear side camera 14, a right rear side camera 16, a display ECU (Electronic Control Unit) 18, and a display 20. The rear camera 12, the left rear side camera 14, the right rear side camera 16, and the display 20 are connected to the display ECU 18.

The rear camera 12 is attached to the rear portion of the vehicle 36 (see FIG. 2) so that the rear of the vehicle 36 can be imaged, and the imaging range 40 of the rear camera 12 shown in FIG. 2 is imaged as a rear image. The rear camera 12 is an example of a rear photographing unit.

The left rear side camera 14 is attached to the left side of the vehicle 36 so that the left rear side of the vehicle 36 can be imaged, and the image range 42 of the left rear side camera 14 shown in FIG. 2 is on the left rear side. Image as a square image. The left rear side camera 14 has an imaging range 42 adjusted so as to image a part of the body of the vehicle 36.

The right rear side camera 16 is attached to the right side of the vehicle 36 so that the right rear side of the vehicle 36 can be imaged, and the imaging range 44 of the right rear side camera 16 shown in FIG. 2 is on the right rear side. Image as a square image. The right rear side camera 16 has an imaging range 44 adjusted so as to image a part of the body of the vehicle 36. The left rear side camera 14 and the right rear side camera 16 are examples of a pair of left and right rear side imaging units.

The display 20 is provided, for example, in the central portion of the instrument panel of the vehicle 36. As shown in FIG. 6 as an example, the display area of the display 20 is divided into two upper and lower areas (upper display area 20A and lower display area 20B). The display 20 is an example of an image display unit, the upper display area 20A is an example of a first display area, and the lower display area 20B is an example of a second display area.

The display ECU 18 has a CPU (Central Processing Unit) 22, a memory 24 such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and a non-volatile memory such as an HDD (Hard Disk Drive) and an SSD (Solid State Drive). A storage unit 26 and a communication unit 28 are included. The CPU 22, the memory 24, the storage unit 26, and the communication unit 28 are connected to each other so as to be able to communicate with each other via the internal bus 30.

The peripheral display program 32 is stored in the storage unit 26 of the display ECU 18. In the display ECU 18, the peripheral display program 32 is read from the storage unit 26 and expanded in the memory 24, and the peripheral display program 32 expanded in the memory 24 is executed by the CPU 22. As a result, the auxiliary image generation unit shown in FIG. It functions as 46 and the composite image display control unit 48, and performs peripheral display processing described later. The display ECU 18 is an example of an in-vehicle peripheral display device.

Next, as the operation of the present embodiment, the peripheral display process executed by the display ECU 18 while the ignition switch of the vehicle 36 is turned on will be described with reference to FIG.

In step 100 of the peripheral display process, the composite image display control unit 48 acquires a rear image from the rear camera 12, acquires a left rear side image from the left rear side camera 14, and right from the right rear side camera 16. Acquire a rear side image.

In step 102, as shown in FIG. 5, the auxiliary image generation unit 46 generates an auxiliary image 54 including a pair of left and right first auxiliary images 50 and a second auxiliary image 52. The pair of left and right first auxiliary images 50 included in the auxiliary image 54 extends from the position corresponding to the outer edge of the left and right side ends of the vehicle body 36A of the vehicle 36 to the position corresponding to the outer edge of the rear end of the vehicle body 36A in parallel with the front-rear direction of the vehicle body 36A. It is an existing line segment. Further, the second auxiliary image 52 included in the auxiliary image 54 extends to the position of the pair of left and right first auxiliary images 50 at the position corresponding to the outer edge of the rear end of the vehicle body 36A in parallel with the direction orthogonal to the front-rear direction of the vehicle body 36A. It is a line segment connecting a pair of left and right first auxiliary images 50. Further, the height position of the auxiliary image 54 including the pair of left and right first auxiliary images 50 and the second auxiliary image 52 is the ground position in the present embodiment.

In step 104, the auxiliary image generation unit 46 generates an auxiliary image 60 including a pair of left and right first auxiliary images 56 and a second auxiliary image 58, as shown in FIG. The pair of left and right first auxiliary images 56 included in the auxiliary image 60 are rearward of the vehicle body 36A in parallel with the front-rear direction of the vehicle body 36A from a position separated by a first distance L1 from the position corresponding to the outer edge of the left and right side ends of the vehicle body 36A. It is a line segment extending from the position corresponding to the outer edge of the edge to the position separated by the second distance L2. Further, the second auxiliary image 58 included in the auxiliary image 60 is a third distance L3 (L3 = L2 in the present embodiment) from the position corresponding to the outer edge of the rear end of the vehicle body 36A in parallel with the direction orthogonal to the front-rear direction of the vehicle body 36A. It is a line segment extending to the position of the pair of left and right first auxiliary images 56 at a separated position and connecting the pair of left and right first auxiliary images 56. Further, the height position of the auxiliary image 60 including the pair of left and right auxiliary images 56 and the second auxiliary image 58 is the ground position in the present embodiment.

In step 106, the composite image display control unit 48 superimposes the auxiliary images 54 and 60 on the rear image captured by the rear camera 12. The auxiliary images 54 and 60 are superimposed on the rear image captured by the rear camera 12 in the same manner as that captured by the rear camera 12. As a result, the composite image display control unit 48 generates the first composite image 62 shown in FIG.

Further, in step 108, the composite image display control unit 48 arranges the pair of left and right rear side images captured by the left rear side camera 14 and the right rear side camera 16 side by side, and arranges the pair of left and right rear side images side by side, and the pair of left and right first auxiliary. The images 50 and 56 are superimposed on the corresponding rear side images, and the second auxiliary images 52 and 58 are superimposed across the pair of left and right rear side images arranged side by side. The first auxiliary images 50, 56 and the second auxiliary images 52, 58 are made in the same manner as those captured by the left rear side camera 14 and the right rear side camera, and the left rear side camera 14 and the right rear side. It is superimposed on the pair of left and right posterior images captured by the square camera 16. As a result, the composite image display control unit 48 generates the second composite image 64 shown in FIG.

In step 110, the composite image display control unit 48 sets the size of the second auxiliary image 52, 58 in the second composite image 64 to match the size of the second auxiliary image 52, 58 in the first composite image 62. The sizes of the first composite image 62 and the second composite image 64 are set.

In step 112, the composite image display control unit 48 matches the lateral positions of the second auxiliary images 52 and 58 in the second composite image 64 with the lateral positions of the second auxiliary images 52 and 58 in the first composite image 62. As such, the drawing positions of the first composite image 62 and the second composite image 64 are set.

In step 114, the composite image display control unit 48 draws the first composite image 62 in the upper display area 20A of the display 20 and draws the first composite image 62 in accordance with the size set in step 110 and the drawing position set in step 112, and the lower display area. The second composite image 64 is drawn on 20B. When the process of step 114 is performed, the process returns to step 100, and the processes after step 100 are repeated.

As described above, in the present embodiment, the auxiliary image generation unit 46 is separated from the position corresponding to the outer edge of the left and right side ends of the vehicle body 36A of the vehicle body 36 or the position corresponding to the outer edge of the left and right side ends of the vehicle body 36A by the first distance L1. A pair of left and right first auxiliary images 50, 56 which are line segments extending parallel to the front-rear direction of the vehicle body 36A to a position corresponding to the rear end outer edge of the vehicle body 36A or a position separated by a second distance L2 from the position corresponding to the rear end outer edge of the vehicle body 36A. To generate. Further, the auxiliary image generation unit 46 is a pair of left and right at a position parallel to the direction orthogonal to the front-rear direction of the vehicle body 36A and a third distance L3 away from the position corresponding to the rear end outer edge of the vehicle body 36A or the position corresponding to the rear end outer edge of the vehicle body 36A. The second auxiliary images 52 and 58, which are line segments extending to the positions of the first auxiliary images 50 and 56 of the above, are generated.

Further, the composite image display control unit 48 captures an image of the rear of the vehicle 36 in the upper display area 20A of the two display areas of the displays 20 arranged vertically in the vehicle interior of the vehicle 36 by a rear camera 12 capable of capturing the rear of the vehicle 36. A first composite image 62 in which a pair of left and right first auxiliary images 50 and 56 and second auxiliary images 52 and 58 are superimposed on the rear image is displayed. Further, the composite image display control unit 48 has a pair of left and right rear side cameras 14 and a right rear side capable of photographing the left and right rear sides of the vehicle 36 in the lower display area 20B of the two display areas of the display 20. The pair of left and right rear side images captured by the side camera 16 are arranged side by side, and the pair of left and right first auxiliary images 50 and 56 are superimposed on the corresponding rear side images, respectively, and the second auxiliary image 52. The second composite image 64, which is a superposition of a pair of left and right rear side images in which 58 and 58 are arranged side by side, is placed at the size and lateral position of the second auxiliary images 52 and 58 in the first composite image 62. The sizes of the second auxiliary images 52 and 58 in the composite image 64 are displayed so as to be synchronized with the lateral position.

As a result, the pair of left and right first auxiliary images 50 and 56 in the first composite image 62 and the second composite image 64 are in front of and behind the vehicle body 36A of the vehicle body 36A of the vehicle 36 and the target existing around the vehicle 36. It serves as a guide for the sense of distance in the direction orthogonal to the direction. Further, the second auxiliary images 52 and 58 in the first composite image 62 and the second composite image 64 serve as a guideline for the sense of distance between the vehicle body and the target existing around the vehicle in the front-rear direction of the vehicle body. .. Further, the occupant can intuitively grasp the positional relationship of the imaging range between the first composite image 62 and the second composite image 64, and the occupant can grasp the rear and rear side situations of the vehicle in a short time. Therefore, when displaying a plurality of images having different imaging ranges on the display unit, it is possible for the occupant to effectively grasp the sense of distance between the own vehicle and the surrounding target.

In the above description, the rear camera 12 is provided as the rear image pickup unit for imaging the rear of the vehicle 36. However, the rear image pickup unit is a back camera in which the optical axis of the image is tilted toward the ground side with respect to the rear camera 12. You may. Further, a rear camera 12 and a back camera may be provided as rear imaging units, respectively, and an image obtained by combining the image captured by the rear camera 12 and the image captured by the back camera may be used as the rear image.

Further, in the above, the first auxiliary images 50 and 56 are line segments parallel to the front-rear direction of the vehicle body 36A, and the second auxiliary images 52 and 58 are line segments parallel to the direction orthogonal to the front-rear direction of the vehicle body 36A. As described above, the present invention is not limited to this. For example, the first auxiliary images 50 and 56 may be line segments parallel to the traveling direction of the vehicle body 36A, and the second auxiliary images 52 and 58 may be line segments parallel to the traveling direction of the vehicle body 36A. In this case, the auxiliary images 54 and 60 change in conjunction with the steering angle, and are displayed as a travel prediction line when the vehicle is moving backward and as a traveling locus when the vehicle is moving forward.

Further, the layout and compression ratio of the first composite image 62 and the second composite image 64 displayed on the display 20 are not limited to the example shown in FIG. For example, when the display area of the image display unit is horizontally longer than the aspect ratio shown in FIG. 6, the layout may be changed so that the distance between the first composite image 62 and the second composite image 64 becomes smaller, or the first composite may be changed. The image 62 and the second composite image 64 may be compressed and displayed in the height direction. Further, in addition to the first composite image 62 and the second composite image 64, an image representing a bird's-eye view as shown in FIG. 5, for example, may be displayed at the same time.

Further, although the mode in which the auxiliary images 54 and 60 are displayed on the rear image and the rear side image over the entire length thereof has been described above, the present invention is not limited thereto. For example, in the present embodiment, the height positions of the auxiliary images 54 and 60 are set as the ground positions. Therefore, of the auxiliary images 54 and 60, the portion of the auxiliary images 54 and 60 that is superimposed on an object other than the ground on the rear image or the rear side image (height position is the ground position) by interlocking with image recognition processing or object detection processing. You may perform processing such as turning off the display of (the part different from).

Further, although the embodiment in which the auxiliary image 54 and the auxiliary image 60 are superimposed on the rear image and the rear side image, respectively, is described above, the present invention is not limited to this, and the auxiliary image 54 and the auxiliary image 60 are not limited to this. Only one of them may be superimposed and displayed.

Further, in the above, the first composite image 62 is displayed in the upper display area 20A of the display area of the display 20, and the second composite image 64 is displayed in the lower display area 20B of the display area of the display 20. As described above, the present invention is not limited to this. For example, the first display and the second display are arranged vertically in the passenger compartment of the vehicle 36, the first composite image 62 is displayed in the display area of the first display, and the second composite image 64 is displayed in the second display area. It may be displayed in the display area of the display.

Further, in the above, the third distance L3 = the second distance L2, and the second auxiliary image 58 is separated from the end position of the pair of left and right first auxiliary images 56 (the position corresponding to the rear end outer edge of the vehicle body 36A by the second distance L2). Position), the mode of generating so as to connect the pair of left and right first auxiliary images 56 has been described, but the present invention is not limited to this. For example, as shown in FIG. 7A, the third distance L3 <the second distance L2, and the second auxiliary image 58 is set to the intermediate position of the pair of left and right first auxiliary images 56 (from the position corresponding to the outer edge of the rear end of the vehicle body 36A). It may be generated so as to connect a pair of left and right first auxiliary images 56 at a third distance (position separated by L3).

Further, for example, as shown in FIG. 7B, the third distance L3> the second distance L2 is set, and the second auxiliary image 58 is placed near the end position of the pair of left and right first auxiliary images 56 (after the vehicle body 36A). It may be generated so as to extend to the vicinity of the position of the pair of left and right first auxiliary images 56 at a position (a position separated by a third distance L3 from the position corresponding to the outer edge of the edge). Further, as shown in FIG. 7B, the length of the second auxiliary image 58 may be longer than the interval D of the pair of left and right first auxiliary images 56.

Further, for example, as shown in FIG. 7C, the third distance L3 = the second distance L2, and the second auxiliary image 58 is the end position of the pair of left and right first auxiliary images 56 (the rear end outer edge of the vehicle body 36A). It may be generated so as to extend to the vicinity of the position of the pair of left and right first auxiliary images 56 at a position (position separated by a second distance L2 from the corresponding position). Further, as shown in FIG. 7C, the length of the second auxiliary image 58 may be shorter than the distance D between the pair of left and right first auxiliary images 56.

12 Rear camera (rear imaging unit)
14 Left posterior camera (posterior imaging unit)
16 Right rear side camera (rear side imaging unit)
18 Display ECU (In-vehicle peripheral display device)
20 Display (image display)
20A Upper display area 20B Lower display area 36 Vehicle 36A Body 46 Auxiliary image generation unit 48 Composite image display control unit 50, 60 Auxiliary image 52, 56 First auxiliary image 54, 58 Second auxiliary image 62 First composite image 64 First 2 Composite image

Claims (1)

The position corresponding to the outer edge of the rear end of the vehicle body or the position corresponding to the outer edge of the rear end of the vehicle body parallel to the front-rear direction or the traveling direction of the vehicle body from a position corresponding to the outer edge of the left and right side ends of the vehicle body or a position separated by a first distance from the position corresponding to the outer edge of the left and right side ends of the vehicle body. The vehicle body is parallel to the pair of left and right first auxiliary images, which are line segments extending from the position corresponding to the outer edge of the rear end of the vehicle body to a position separated by a second distance, in the front-rear direction or the direction orthogonal to the traveling direction of the vehicle body. A second auxiliary image which is a line segment extending to or near the position of the pair of left and right first auxiliary images at a position corresponding to the outer edge of the rear end or a position three distances away from the position corresponding to the outer edge of the rear end of the vehicle body. Auxiliary image generator to generate
The pair of left and right rear images captured by a rear imaging unit capable of capturing the rear of the vehicle in the first display area of the two display areas of the image display units arranged vertically in the vehicle interior of the vehicle. A first composite image in which one auxiliary image and the second auxiliary image are superimposed is displayed, and a pair of left and right rear images capable of capturing the left and right rear sides of the vehicle in the second display area of the two display areas. The pair of left and right rear side images captured by the side imaging unit are arranged side by side, the pair of left and right first auxiliary images are superimposed on the corresponding rear side images, and the second auxiliary image is superimposed on the corresponding rear side image. The second composite image obtained by superimposing the pair of left and right rear side images arranged side by side across the pair of left and right composite images is shown in the size and lateral position of the second auxiliary image in the first composite image and in the second composite image. A composite image display control unit that displays the second auxiliary image so that the size and the horizontal position are synchronized with each other.
In-vehicle peripheral display device including.

Images