JP3395393B2 - Vehicle periphery display device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention provides a driver with easy-to-understand movements and surroundings of a vehicle on a general road or a garage, so that the driver can easily grasp the surroundings and perform an accurate operation. The present invention relates to a vehicle surrounding display device capable of performing.

[0002]

2. Description of the Related Art Conventionally, a display device of this type is disclosed in Japanese Patent Laid-Open No. 4-123945.
This is to install a TV camera in the parking lot to capture an image of the parking space and its surroundings, transmit the condition of the vehicle and its surroundings to the vehicle, and display the position of the vehicle in the parking space and the relationship with surrounding objects in the car. It was done like this.

[0003]

However, in such a conventional device, a display in which the image of the own vehicle in the displayed image is fixed and the vehicle is moved or rotated is especially displayed near the vehicle. If a characteristic object is not displayed on the screen, the driver cannot recognize that the vehicle is moving, the moving direction, etc., simply by looking at the display.

Therefore, in view of the above-mentioned problems, the present invention determines the moving condition of the vehicle by the moving distance of the vehicle on a reference line fixed to the road.
An object of the present invention is to provide a vehicle surrounding display device in which directions and the like are displayed on a screen, and the display can be easily perceptually recognized by a driver according to the relationship between the movement of the vehicle and the surrounding conditions.

[0005]

Therefore, the invention according to claim 1 is a vehicle surrounding display device for displaying the surroundings of a vehicle and recognizing the movement of the own vehicle, wherein the moving distance and the moving direction of the vehicle are displayed. Vehicle movement detection means for detecting, reference line drawing means for calculating and drawing a reference line reflecting the movement of the own vehicle by the output of the vehicle movement detection means, and storage for storing parameters such as the position and direction of the reference line And a display unit that displays the reference line on the image and displays the host vehicle at the center of the image .

According to a second aspect of the present invention, there is provided a vehicle surrounding display device for displaying the surroundings of the vehicle and recognizing the movement of the own vehicle.
Vehicle movement detection means for detecting the movement distance and movement direction of the vehicle, reference line drawing means for calculating and drawing a reference line reflecting the movement of the own vehicle by the output of the vehicle movement detection means, and position of the reference line , Storage means for storing parameters such as direction, vehicle surroundings detecting means for detecting the surroundings of the vehicle, and the reference line and the surrounding image detected and created by the vehicle surroundings detecting means. Then, the display image creating means for making one image and the display means for displaying the image created by the display image creating means and displaying the own vehicle at the center of the image are provided.

The invention according to claim 3 displays the surroundings of the vehicle.
A vehicle surrounding display device for recognizing the movement of the own vehicle,
Vehicle movement detection for detecting the movement distance and movement direction of the vehicle
Means and the output of the vehicle movement detection means
A reference line drawing means for calculating and drawing the reference line to be reflected, and
Memory to store parameters such as reference line position and direction
Means and vehicle surrounding detection for detecting a situation around the vehicle
Created by the means, the reference line and the vehicle surroundings detection means
Create a display image that combines the surrounding images with one another
Means and the image created by the display image creating means is displayed.
And a display means, wherein the display image creating means is
In the area within a certain distance from the position coordinates of the object in the image,
Image composition was performed so that the reference line was not placed.

According to a fourth aspect of the present invention, the vehicle surroundings detecting means detects a distance to an object around the vehicle.
The device and the distance information detected by the distance detection device
A calculation device for converting into a mark and the position coordinates of the object resulting from the calculation
And a position coordinate of the position storage device for storing
With a map synthesizer that converts the vehicle coordinates into vehicle coordinates for display.
To be made . The invention according to claim 5 is the vehicle
Surrounding detection means is installed in the vehicle and images the surroundings of the vehicle
A plurality of cameras and the surrounding image of the vehicle are seated by perspective transformation.
The image of the vehicle surroundings is converted into a single image in relation to the vehicle.
It is assumed to be configured by a road surface image creating unit that synthesizes the image . In the invention according to claim 6, the reference line has a plurality of flat surfaces.
It consists of a straight line and the moving speed depends on the moving speed of the vehicle.
Is larger, the distance between the straight lines in the moving direction is larger.
Shall be set as follows.

[0009]

In the invention according to claim 1, when the vehicle moves,
A reference line position and direction fixed to the road are calculated and plotted according to the moving distance and direction of the vehicle. And the center of the image
In addition to displaying the own vehicle on the display, the position and direction of the reference line are moved in accordance with the movement of the vehicle, so that the movement of the vehicle can be recognized from the display even when there is no characteristic object in the vicinity of the vehicle. According to the second aspect of the invention, the surrounding image of the vehicle and the reference line are displayed together on the same screen. With this, when there is a characteristic object in the vicinity of the vehicle, the movement of the vehicle can be recognized, and when there is no characteristic object, the movement can be recognized by the reference line, so that the movement of the vehicle can be reliably recognized.

According to the third aspect of the present invention, the surrounding image of the vehicle
Together with the reference line and display on the same screen,
A certain distance from the object when the object is detected around the vehicle
Since the reference line is not displayed in the area of,
Movement recognition is easily performed. In the invention according to claim 4, the distance detection device measures the distance of an object around the vehicle.
Then, a map around the vehicle is created from the distance value. Of the vehicle
You can recognize the surrounding situation in an easy-to-understand manner . In the invention according to claim 5 , the surroundings of the vehicle are captured by the camera and obtained.
The image is changed to road coordinates by perspective transformation,
Combined into one image in relation to the own vehicle. Vehicle circumference
The surrounding situation can be easily recognized. In the invention according to claim 6, the width between the reference lines becomes larger as the moving speed of the vehicle increases,
Because it is set to a large size, the frame is warmed even when moving at high speed
The amount of movement of the reference lines exceeds one half of the width between the reference lines.
Instead, the movement direction recognized by the reference line is the actual vehicle movement direction.
Therefore, the movement of the vehicle can be correctly recognized.

[0011]

1 and 2 show a first embodiment of the present invention. The distance detection device 11 is composed of a plurality of laser radars 11a to 11m provided around the vehicle body of the vehicle, and based on the reflected waves of the respective beams B (Ba to Bm) emitted from the laser radars 11a to 11m, the distance detection device 11 detects an object including a road surface shape around the vehicle. Detect the distance. FIG. 2 shows an installation layout of the laser radars 11a to 11m and a detection direction (measurement line) thereof. The beam directivity of each of the laser radars 11a to 11m is high, the detection angle is set narrow, and the direction is fixed so that the direction of the object whose distance is detected can be specified.

The direction and distance data detected by the distance detecting device 11 are input to the computing device 19, where the relationship between the vehicle and the detected object or road surface is calculated. A position storage device 20 and a vehicle movement detection device 14 are further connected to the arithmetic device 19, and ambient data composed of the calculated position data is held in the position storage device 20 and stored in the position storage device 20. The previous surrounding data is corrected according to the vehicle movement amount. A map synthesizer 21 is connected to the position storage device 20. The surrounding data is combined as the surrounding environment map data around the vehicle by the map synthesizing device 21 and output to the display image creating device 17.

On the other hand, the rotation speed sensors 13 for the left and right rear wheels of the vehicle
The amount of movement of the host vehicle detected by the vehicle movement detection device 14 based on the signals of R and 13L is further output to the reference line drawing device 15, where the movement amount which is the movement amount of the vehicle and the rotation angle are determined. The current reference line is calculated based on the position and direction of the previous reference line stored in the storage device 16. The storage device 16 holds data such as position and direction by the components of the reference line. The reference line is overlapped with the surrounding environment map data synthesized by the map synthesizing device 21 in the display image creating device 17 and output as one image signal, and the display device 18 displays an image of the surrounding environment map including the reference line. Be done.

Next, the calculation of the reference line in this embodiment will be described. FIG. 3 shows how the calculation is performed. That is, the vehicle a is provided with a fixed coordinate system, and the y-axis of this coordinate is set in the front-rear direction of the vehicle, and the x-axis is passed through the vehicle and orthogonal to the y-axis. The angle is set with the x-axis coordinate direction set to zero. L is the moving distance of the vehicle, and γ is the moving direction of the vehicle. Note that γ is positive in the clockwise direction.

Here, the position of the reference line obtained last time is (x
1, y1) and the inclination is φ1, the drawing position (x
2, y2) and the gradient φ2 are as follows: x2 = (x1-L · sinγ) · cosγ- (y1-L
・ Cosγ) ・ sinγ y2 = (x1-L ・ sinγ) ・ sinγ- (y1-L
-Cosγ) -cosγ φ2 = φ1-γ is calculated. Inclination φ passing through this position (x2, y2)
2, and two orthogonal straight lines with a slope of φ2 + π / 2 are calculated.

After that, further reference lines are obtained at intervals of a constant reference line width w. The coordinates passing through the n-th reference line parallel to the inclination φ2 are xn1 = x2 + n · w · sin (φ2), yn1 = y2-n · w · cos (φ2), and the inclination is φ2.

The coordinates through which the nth reference line perpendicular to the inclination φ2 passes are xn2 = x2-n · w · cos (φ2), yn2 = y2-n · w · sin (φ2), and the inclination is φ2 + π / 2. is there.

The above processing is repeated to calculate n reference lines. Then, of the coordinates that the calculated reference line passes,
The coordinates (x2, y2) closest to the position coordinates of the vehicle are stored as the position of the reference line, and the inclination φ2 thereof is stored as the inclination of the reference line.

Next, the operation of the vehicle surroundings display device shown in FIG. 1 will be described with reference to the flowchart of FIG. First, in step 100, each laser radar 11a-1
The measurement data of the distance to the object around the vehicle or the road surface shape at 1 m is input to the arithmetic unit 19, and the position data of the detected object and the road surface with respect to the vehicle is calculated. In step 101, signals from the right rear wheel rotation speed sensor 13R and the left rear wheel rotation speed sensor 13L are sent to the vehicle movement detection device 14.
Is read, and the moving distance L and the rotation angle θ, which are the moving amount of the vehicle from the time when the object around the vehicle was previously detected, are calculated based on these values. Then, in step 102, the position storage device 20 is determined based on the moving amount of the vehicle as the moving state.
The position coordinates of the surrounding data of the detected object held in the vehicle with respect to the vehicle are corrected, and the newly detected position data is written and added to the surrounding data.

FIG. 5 shows how the above data is corrected and accumulated. First, when the vehicle 1 is at the position shown in FIG. 5A, the laser radars 11a to 11m detect the distance to an object around the vehicle, here, the side walls M1 and M2 of the traveling road. Here, in the position storage device 20, the center of the data frame is set as the position of the host vehicle. Therefore, the position data relating to the detected object is stored at the corresponding distance position of the object from the center of the data frame.

When the host vehicle moves and reaches the position shown in FIG. 5B, some position data is obtained during the movement. For each measurement of each data, the amount of movement of the vehicle including the movement distance and the movement direction is calculated in step 101. And compared to the position of the vehicle at the time of the previous measurement, the distance L
When the vehicle is moving straight in parallel with the traveling path, the previously stored ambient data stored in the position storage device 20 is reversed in the opposite direction by a distance corresponding to L on the coordinates of the storage device 20. By moving, the relative position of the data is corrected.

Then, the position data obtained this time is newly written in the position on the position storage device 20 corresponding to the detected position. By repeating this process, FIG.
As shown in (c), the point data string D relating to the object around the vehicle 1 is collected. Further, when the direction of the vehicle 1 changes from the state shown in FIG. 6D to the state shown in FIG. 6E, the vehicle movement distance L and rotation calculated by the vehicle movement detection device 14 are also calculated. Correction of the data position with respect to the vehicle is performed based on the angle θ. FIG. 7 shows the correction principle. First, assuming that the traveling distances detected by the left and right rear wheel rotation speed sensors 13R and 13L are Δl and Δr, the moving distance L of the vehicle can be expressed by L = (Δl + Δr) / 2 (1). The rotation angle θ of the vehicle can be approximated to θ = (Δl−Δr) / h (2) assuming that θ is small. Therefore, the moving direction γ of the vehicle is θ
The moving distance of the center position is Sx = L · sin (θ / 2) (3) in the horizontal direction and Sy = L · cos (θ / 2) (4) in the vertical direction. However, h is the tread of the rear wheel, θ is the positive rotation in the clockwise direction, and is positive in the front and right directions of the vehicle.

The data obtained by the laser radars 11a to 11m is obtained by calculating the relative position on the xy coordinates with respect to the center of the vehicle from the position, the detection direction and the detection distance of the detected laser radar, and the identification code and detection of the detected laser radar. It is stored in the position storage device 20 along with the time. The position of each data is corrected by performing the reverse operation on the position information of the data around the vehicle obtained up to the previous time by the amount of movement and rotation of the obtained center position of the vehicle. That is, it is moved by an amount of −L · sin (θ / 2) in the lateral direction with respect to the vehicle center and −L · cos (θ / 2) in the longitudinal direction, and is also rotated by (−θ) with respect to the vehicle center. The data position of the xy coordinates is calculated, and the calculated value is newly written in the position storage device as corrected data.

The above operation is performed for all the surrounding data, and the newly detected position data is also written in the position storage device 15. By repeating this step by step and accumulating the position data successively, the corrected point data string for the entire shape around the vehicle is obtained in the position storage device 20 as the surrounding data. In this way, as in the case of FIG. 5C described above, the surrounding data around the vehicle as shown in FIG. 6F is obtained.

Next, in step 103, the map synthesizer 2
In step 1, the shape of the vehicle surroundings is estimated using the surrounding data stored in the position storage device 20, and the surrounding environment map data for display around the vehicle as shown in FIG. Input to the device 17.

The above-mentioned surrounding environment map is created, and then the reference line is created. First, in step 104, the position of the previous reference line (x1, y
1) and the direction φ1 are read, the moving direction γ is calculated by the reference line drawing device 15 based on the moving distance L and the rotation angle θ of the vehicle detected in step 101, and the current reference line position (x2, y2) is calculated. ), The direction φ2 is calculated. Two reference lines of inclination φ2 passing through the position (x2, y2) and φ2 + π / 2 are drawn in the drawing memory in the reference line drawing device 15. Then, in the memory, a reference line parallel to the inclination φ2 and a vertical reference line with the reference line width w stored in the storage device 16 are drawn. Of the coordinates passing through the reference line, the coordinates (x2, y2) closest to the vehicle position coordinates are stored in the storage device 1.
6 is stored as the position of the reference line, and the number of reference lines included in the display range is stored in the storage device.

In step 105, the reference line calculated and drawn by the reference line drawing device 15 and the surrounding environment map data are written together and combined into one image. As a synthesizing method, a reference line is placed where there is a reference line, and a surrounding environment map is placed where there is no reference line. Step 1
At 06, the combined image is displayed on the display device 18.

This embodiment is configured as described above, and when displaying the surroundings of the vehicle, a fixed reference line is calculated on the road and displayed according to the movement of the vehicle. Therefore, even in the vicinity of the vehicle as shown in FIG. Even when there is no characteristic object, the vertical reference line position at time t0 shown in FIG. 10, the reference line position at time t1 shown by the solid line in FIG. 11, and the reference line position at time t2 shown by the solid line in FIG. 12 are different. Therefore, the driver can recognize the movement of the vehicle from the movement of the reference line by looking at the image. The dotted line in the figure indicates the reference line position at time t0.

Next, FIG. 13 shows a modification of the surrounding environment map creation as a second embodiment of the present invention. In this embodiment, an image is created by using a TV camera instead of creating the surrounding environment map by the laser radar of the first embodiment. To be able to monitor the environment on both sides of the vehicle
V cameras 10L and 10R are provided. Each of the video signals is input to the road surface image creating device 12, is perspective-transformed, and is sent to the display image creating device 17 as an image of the surroundings of the vehicle. The surrounding image is displayed on the display device 18 by being superimposed on the reference line from the reference line drawing device 15 in the display image creating device 17. The other structure is the same as that of the first embodiment, and the description thereof is omitted here.

Next, the operation of the vehicle surroundings display device having the above structure will be described with reference to the flowchart of FIG. First, in step 200, the TV camera 10
Both sides of the vehicle are imaged using L and 10R, and the images are input to the road surface image creating device 12. The road surface image creation device performs perspective conversion of the left and right images to convert the screen coordinates of the camera into road surface coordinates. The condition around the vehicle is displayed in one image, and a road surface image indicating a specific direction and distance between the vehicle and an obstacle is created. After that, in step 201, the vehicle movement detection device 14 uses the rotation speed sensors 13R and 13R.
The moving distance L and the rotation angle θ of the vehicle are detected based on the signal of L. In step 202, the position and direction of the reference line are calculated by the reference line drawing device 15 based on the detected value, and the drawing is performed in the drawing memory. In step 203, the reference line drawn by the display image creating device 17 is set in step 200.
The image is output as a single image by superimposing it on the road surface image obtained in. In step 204, the display device 18 displays the image.

In this embodiment, the TV camera captures an image of the surroundings of the vehicle through the above-described processing, the surrounding image is perspective-transformed to be displayed as a vehicle surroundings image, and the image is adapted to the movement of the vehicle. Since the reference line is inserted, the reference line is moved and displayed even when an image is not captured as in the first embodiment. Therefore, the movement of the vehicle can be recognized even when there is no characteristic object near the vehicle. You can

Next, a third embodiment of the present invention will be described. In the first and second embodiments, FIG.
Although the reference line interval w shown by is processed as a constant, the movement amount of the reference line reflecting the movement of the vehicle during high speed movement is large. However, when the variation amount per frame exceeds 1/2 of the reference line interval w, the moving direction of the vehicle seems to go backward, and the accurate moving direction of the vehicle cannot be read. Therefore, in the present embodiment, the display interval w of the reference line is not used as a constant, but w is changed according to the detected moving distance L of the vehicle. That is, w is set to a large value in the storage device 16 from the initial setting value so that the vehicle movement amount L does not exceed w / 2. In the reference line drawing device 15, the position (x
2 and y2), the inclination φ2 and the two orthogonal straight lines of the inclination φ2 + π / 2 are calculated, and then the input vehicle movement amount L is input.
W is determined according to the magnitude of, and if L is small, w is reduced to the set value. Subsequent calculation of the reference line is performed with the determined reference line width w. Then, the display image creation device 17 inputs the detected value of the vehicle movement amount of the vehicle movement detection device 14 and changes the display area according to the movement amount. That is, when the reference line width w is large, the display image is reduced to display a large display area. Other processes are performed in the same manner as in the first and second embodiments.

By the above process, when the reference line is displayed, the interval between the reference lines and the size of the display area are changed according to the speed of the vehicle. The movement of the vehicle can be accurately read without doing so.

Next, how to match the vehicle surroundings image with the reference line will be described as a fourth embodiment of the present invention. In this embodiment,
In the display image creating device 17, when the vehicle surrounding image and the reference line are superimposed, the reference line is not displayed within a circle having a predetermined radius centered on the object position coordinate in the vehicle surrounding image as shown in FIG. Processing, and this processing is performed on the position coordinates of all objects in the surrounding image. As a result, the movement of the vehicle can be accurately read without the illusion that the variation of the reference line due to the change of the reference line interval w shown in the third embodiment is the movement of the vehicle.

[0035]

As described above, according to the present invention, a reference line fixed on the road is calculated when displaying, and the vehicle is centered on the center of the image.
In addition to displaying, the reference line is moved according to the movement of the vehicle and displayed, so that the movement of the vehicle can be recognized because the relative movement index is displayed even when there is no characteristic object in the vicinity of the vehicle. it can. Further, by changing the interval between the reference lines fixed to the road and the size of the display area according to the speed of the vehicle, it is possible to accurately recognize the moving direction of the vehicle even when traveling at high speed. When a characteristic object near the vehicle is recognized, the reference line in the vicinity of the vehicle is not displayed so that the movement of the vehicle can be recognized even when the distance between the reference lines is changed. You can get the effect.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a first exemplary embodiment of the present invention.

FIG. 2 is a diagram showing an installation layout of a distance detection device.

FIG. 3 is an explanatory diagram of creating a reference line.

FIG. 4 is a flowchart showing a processing flow in the first embodiment.

FIG. 5 is an explanatory diagram of data processing accompanying movement of a vehicle.

FIG. 6 is an explanatory diagram of data processing associated with movement including rotation of the vehicle.

FIG. 7 is an explanatory diagram of a correction principle.

FIG. 8 is a diagram showing a display example of a surrounding environment map.

FIG. 9 is a diagram showing a state when a surrounding object is not detected.

FIG. 10 is a diagram showing an image when a reference line is inserted.

FIG. 11 is a diagram showing a reference line whose position has changed as the vehicle moves.

FIG. 12 is a diagram showing a reference line whose position has changed as the vehicle moves.

FIG. 13 is a diagram showing a configuration of a second exemplary embodiment of the present invention.

FIG. 14 is a flowchart showing the flow of processing in the second embodiment.

FIG. 15 is a diagram showing a reference line width.

FIG. 16 is a diagram showing an image provided with a non-display area.

[Explanation of symbols]

11 Distance detection device 10R, 10L TV camera 12 Road surface image creation device 13R, 13L speed sensor 14 Vehicle movement detection device 15 Reference line plotter 16 storage 17 Display image creation device 18 Display 19 arithmetic unit 20 Position storage device 21 Map synthesizer

─────────────────────────────────────────────────── --- Continuation of the front page (56) References JP-A 5-101299 (JP, A) JP-A 7-262490 (JP, A) JP-A 58-185352 (JP, A) JP-A 61- 48098 (JP, A) JP 58-221111 (JP, A) Actual development 60-180100 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) G08G 1/16 B60R 21 / 00 630 G01S 17/93

Claims (6)

(57) [Claims] 1. A vehicle periphery display device for displaying the periphery of a vehicle and recognizing the movement of the vehicle, the vehicle movement detecting means for detecting a movement distance and a movement direction of the vehicle, and an output of the vehicle movement detecting means. A reference line drawing means for calculating and drawing a reference line reflecting the movement of the own vehicle by means of, a storage means for storing parameters such as the position and direction of the reference line, and displaying the reference line in the image, and Self in the center
A vehicle surroundings display device comprising: a display unit that displays a vehicle. 2. A vehicle periphery display device for displaying the periphery of a vehicle and recognizing the movement of the vehicle, the vehicle movement detecting means for detecting a movement distance and a movement direction of the vehicle, and an output of the vehicle movement detecting means. A reference line drawing unit that calculates and draws a reference line that reflects the movement of the own vehicle by means of, a storage unit that stores parameters such as the position and direction of the reference line, and a vehicle surroundings detection that detects the situation around the vehicle means, a display image generating means for a single image by synthesizing the surrounding image created detected by the reference line and the vehicle surroundings detecting means, when displaying the image created by the display image generation unit together
And a display means for displaying the host vehicle at the center of the image . 3. Displaying the surroundings of a vehicle to recognize the movement of the vehicle.
Vehicle surroundings display device for detecting the movement distance and the movement direction of the vehicle
Means and the output of the vehicle movement detection means to reflect the movement of the own vehicle
A reference line drawing means for calculating and drawing a reference line, and a storage for storing parameters such as the position and direction of the reference line.
Storage means, vehicle surroundings detecting means for detecting the surroundings of the vehicle, and the reference line and the surroundings created by the vehicle surroundings detecting means.
Display image creating means for synthesizing a surrounding image into one image
And display means for displaying the image created by the display image creating means
And the display image creating means is configured to position the object of the surrounding image.
The reference line should be displayed in the area within a certain distance from the mark.
The vehicle circumference is characterized by performing image synthesis so that
Surround display device. 4. The vehicle surroundings detection means is an object around the vehicle.
Distance detection device for detecting the distance to the body and distance information detected by the distance detection device is converted into map coordinates
And a position storage device for storing the position coordinates of the object resulting from the calculation
And the position coordinates of the position storage device are converted into vehicle coordinates for display.
And a map synthesizer
The vehicle surroundings display device according to claim 2 or 3 . 5. The vehicle surroundings detecting means includes a plurality of cameras installed in the vehicle for imaging the surroundings of the vehicle, and the vehicle surroundings by performing coordinate transformation of the vehicle surroundings image by perspective transformation.
Road surface that combines images into one image in relation to the vehicle
Claims characterized by being configured by image creating means
Item 3. A vehicle surrounding display device according to item 2 or 3 . 6. The reference line comprises a plurality of parallel straight lines.
Depending on the moving speed of the vehicle, the higher the moving speed,
Set so that the distance between straight lines in the moving direction is large.
The vehicle surroundings display device according to claim 1, 2, 3, 4, or 5.