JP3805702B2 - Vehicle periphery monitoring device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle periphery monitoring device that captures the rear of a vehicle with a camera installed at the rear of the vehicle, transmits the captured image as a digital signal, and displays it on a display means (display) installed on a console of the vehicle. In particular, the present invention relates to a measure for correcting a time delay due to digital signal transmission.
[0002]
[Prior art]
A conventional vehicle periphery monitoring device takes an image of the rear of the vehicle with a camera installed at the rear of the vehicle, transmits the taken image as an analog signal, and displays it directly on a display means (display) installed on the console of the vehicle. Furthermore, as shown in Japanese Patent Laid-Open No. 9-193710, an example of displaying a distance display and a vehicle width display on the rear shot image, or as shown in Japanese Patent Laid-Open No. 11-334470 An example in which the trajectory is displayed in an overlapping manner, an example in which the traveling trajectory of the rear wheel is displayed in an overlapping manner, as shown in Japanese Patent Laid-Open No. 10-175482, or a fixed manner as shown in Japanese Patent Laid-Open No. 2000-313292. There are also examples that display guidelines in a superimposed manner.
[0003]
In Japanese Patent Application Laid-Open Nos. 10-175482 and 11-334470, the movement trajectory and predicted travel trajectory of the rear wheels are calculated from the detected values of the steering angle and the vehicle speed sensor, and the camera is photographed from the coordinate system on the road surface. A technique is shown in which coordinates are converted so as to match a coordinate system in a screen (so-called graphic display coordinate system) and displayed on a display means (display). In JP-A-11-334470 and JP-A-2000-313292, it is determined by a switch whether or not the shift lever is in the reverse position, and only when the shift lever is in the reverse position, rearward shooting is performed. A technique for displaying an image and additional information on a display means (display) is shown. In the conventional image transmission using analog signals, there is almost no time delay between the photographing time taken by the camera and the display time when the photographed image is displayed on the display means.
[0004]
[Problems to be solved by the invention]
Recently, however, in-vehicle networks (LAN: Local Area Network) have become widespread and digital signals are often transmitted. This is because digital audio recording media such as CD and MD are widely used, and digital video recording media such as DVD in which video signals are originally compressed and recorded are also widely used. This is because the digital signal has been transmitted over the in-vehicle network in order to install the player and the speaker, and the DVD player and the display) at positions separated from each other in the vehicle. Similarly, it has been considered that an image signal taken by a camera installed for vehicle rearward monitoring is transmitted through an in-vehicle network.
[0005]
However, there is a problem that if an image signal captured by a camera installed for vehicle rearward monitoring is similarly digitized and transmitted as it is, the amount of data is large and it is difficult to transmit. For example, if the black-and-white luminance signal for each pixel is quantized with 8 bits and the image data of horizontal 640 × vertical 480 pixels is sent for 30 sheets per second, the transmission amount is about 73.7 Mbps. The color signal is 221 Mbps, which is three times this. An example of digitizing an image signal and storing it in a memory can also be found in Japanese Patent Laid-Open No. 6-124397.
[0006]
Thus, it has been considered to transmit digital image data after compressing the data using a technique such as MPEG or Moving JPEG. This method requires a compression process for compressing the amount of data and a decompression process for decompressing and restoring the compressed data to the original image. This process takes time, and there is a time between the shooting time and the display time. There was a problem that a delay occurred and what was actually displayed was an image taken before the time delay. Although this delay time varies depending on the image data compression method, a time delay of several seconds is actually measured in the MPEG2 system.
[0007]
Furthermore, if you try to use this compressed digital signal transmission method for a vehicle periphery monitoring device, if you are looking at the display image and monitoring the back, you will be monitoring the image before the time delay, There has been a problem that this time delay can cause an accident. For example, even if the vehicle travels at an extremely low speed of about 1 km / h (1 km / h), the vehicle travels 28 cm per second. For this reason, there was a risk of hitting a child or dog crossing behind, even if they thought they would not hit the curb or wall.
[0008]
The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a vehicle periphery monitoring device that can reliably prevent an accident caused by a time delay due to digital signal transmission. .
[0009]
[Means for Solving the Problems]
A vehicle periphery monitoring apparatus according to the present invention includes an imaging unit that is installed at the rear of a vehicle and images the vehicle periphery, a digital conversion unit that converts an image captured by the imaging unit into a digital signal, and the digital conversion unit. Compression means for compressing the digital image signal, decompression means for returning the compressed digital image signal compressed by the compression means to the original digital image signal, and a peripheral portion of the vehicle from the digital image signal decompressed by the decompression means. The vehicle peripheral portion determination means for determining, the vehicle behavior measuring means for measuring the behavior of the vehicle between the photographing time and the display time by the photographing means, and the vehicle behavior measured by the vehicle behavior measuring means, the vehicle A vehicle movement image raw material for calculating the amount of vehicle movement from the vehicle periphery determined by the periphery determination means and converting it to image data. Means for synthesizing the image signal decompressed by the decompressing means and the image data of the vehicle movement generated by the vehicle moving image generating means, and displaying the image synthesized by the image synthesizing means Display means.
[0010]
Further, instead of the vehicle periphery determination means, the vehicle rear object determination means for determining an object behind the vehicle from the digital image signal expanded by the expansion means, and instead of the vehicle moving image generation means, A rear object moving image generation for calculating a moving amount corresponding to the moving amount of the rear object determined by the vehicle rear object determining unit from the vehicle behavior measured by the vehicle behavior measuring unit and converting it to image data. And the image synthesizing unit synthesizes the image signal decompressed by the decompressing unit and image data corresponding to the movement of the rear object generated by the rear object moving image generating unit. is there.
[0011]
The vehicle behavior measuring means includes a steering angle detecting means for detecting a steering angle of a front wheel of the vehicle, a wheel speed measuring means for measuring the rotation speed of each driven wheel of the vehicle, the steering angle detecting means, and the wheels. And a moving amount calculating means for calculating a moving amount of the vehicle from the time of photographing to the time of display based on each detected value of the speed measuring means.
[0012]
Further, the image processing apparatus further includes moving object image generation means for generating a moving object position image based on an output from the decompression means, and the image composition means displays the moving object position image so as to overlap the display means. It is what.
[0013]
Further, the image synthesizing means displays the moving object position image in a color different from that of the vehicle movement image.
[0014]
Further, the image synthesizing means synthesizes an image obtained by moving the vehicle periphery image to a position shifted from the vehicle periphery by the amount of movement of the vehicle on the digital image data.
[0015]
Further, the image synthesizing means is characterized in that the vehicle periphery image is moved and the empty portion is painted in the same color as the vehicle body.
[0016]
Further, the image synthesizing means synthesizes an image obtained by moving the vehicle rear object image to a position shifted from the periphery of the vehicle by the amount of movement of the vehicle on the digital image data.
[0017]
Further, the image synthesizing means moves the vehicle rear object image and paints the vacant part in the same color as the ground.
[0018]
Further, the vehicle peripheral part determining means determines the rear end part by detecting a mark attached to the vehicle peripheral part.
[0019]
Further, the wheel speed from the wheel speed measuring means is determined, and if the wheel speed is equal to or higher than a predetermined wheel speed, the display means is controlled not to display a rear shot image or to display a message prompting the driver to view. Control means is further provided.
[0020]
Further, when the moving amount of the vehicle periphery part exceeds the display range of the display means, the display means controls to display no rear shot image or to display a message for prompting the driver to see. Control means is further provided.
[0021]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
FIG. 1 is a block diagram showing the configuration of the vehicle periphery monitoring apparatus according to Embodiment 1 of the present invention. In FIG. 1, reference numeral 1 denotes a camera as an image pickup means, which includes a lens, a CCD image pickup device, a CCD drive circuit, an amplifier circuit, and the like, and outputs an analog image signal. The camera 1 has, for example, a wide-angle field of view (eg, left and right 100 to 140 degrees, up and down 60 to 90 degrees, etc.), is installed at the upper part of the rear end portion of the vehicle, Yes. FIG. 2 shows an example in which the camera 1 is installed in the rear part of the ceiling of an RV car, for example, as an example attached to a live-action photograph.
[0022]
Reference numeral 2 denotes an A / D conversion means, which includes an anti-aliasing filter, a sample hold circuit, an A / D converter, and the like, and converts an analog image signal into a digital image signal. Reference numeral 3 denotes data compression means, which is composed of a compression-dedicated IC, a transmission interface circuit, and the like, compresses the digital image signal sent from the A / D conversion means 2, and reduces the data amount to, for example, 1/10 or less. . This compression method includes methods such as MPEG1, MPEG2, MPEG4, and MovingJPEG. Although the data compression amount and the image quality differ depending on the method and the degree of compression, it is desirable to use a method suitable for a camera-captured image. The A / D conversion means 2 and the data compression means 3 are mainly arranged around the place where the camera 1 is installed.
[0023]
Reference numeral 4 denotes an in-vehicle network (LAN) as transmission means, which transmits the image data compressed by the data compression means 3 to a predetermined receiver. Reference numeral 5 denotes data decompression means, which comprises a decompression-dedicated IC, a transmission interface circuit, an image memory for a plurality of screens, etc., and decompresses the digital image signal sent from the data compression means 3 by the transmission means 4, and the data amount Is stored in the image memory as image data for each screen. Reference numeral 6 denotes a vehicle rear end determination means for determining the vehicle rear end as the vehicle peripheral portion, which is composed of an image recognition IC or the like. From the image data for one screen in the data expansion means 5, the vehicle rear end determination means Recognize a bumper and determine where the rear end of the vehicle is. Once the camera is installed, the rear end of the vehicle does not change, so this determination may be made once every time the camera position changes. Reference numeral 7 denotes a D / A conversion means, which comprises a D / A converter, a smoothing filter, and the like, and converts a digital image signal, which is image data for one screen in the data expansion means 5, into an analog image signal.
[0024]
Reference numeral 10 denotes a vehicle behavior measuring unit, which includes a steering angle detecting unit 11, a wheel speed measuring unit 12, and a vehicle movement amount calculating unit 13. The steering angle detection means 11 includes a steering angle sensor installed on the steering wheel and a means for converting the steering wheel steering angle into the steering angle of the front wheel of the vehicle, and detects the steering angle of the front wheel of the vehicle. The steering angle sensor preferably has a fine resolution of 10 degrees or less. The wheel speed measuring means 12 is constituted by a wheel speed sensor or the like installed on each rear wheel of the vehicle, measures the left and right rotational speeds of the rear wheels, and calculates the respective moving distances. The vehicle movement amount calculation means 13 is composed of a calculation CPU, a program memory, etc., and the respective movement distances of the steering angle detection value from the steering angle detection means 11 and the right rear wheel and the left rear wheel from the wheel speed measurement means 12. Is measured and recorded at regular time intervals of, for example, 100 mS, and the movement amount of the vehicle from the photographing time point to the display time point, in particular, the movement amount of the rear end of the vehicle is calculated based on the measured value. If the data compression method is determined, this time interval is constant, and therefore the amount of movement from the recorded value in the past for a predetermined time to the present is calculated every fixed time of, for example, 100 ms.
[0025]
Reference numeral 15 denotes a vehicle movement image generation means, which is composed of a calculation CPU, a program memory, and the like, and is a screen for photographing the movement amount of the rear end of the vehicle obtained from the vehicle movement amount calculation means 13 from a coordinate system on the road surface. The coordinates are converted so as to match the internal coordinate system (so-called graphic display coordinate system), and the current position is shifted from the position of the vehicle rear end determined by the vehicle rear end determination means 6 by the amount of movement of the vehicle. A line segment of the vehicle movement position image is created and converted into image data. Reference numeral 16 denotes an image synthesizing means, which is composed of a superimpose circuit or the like, and superimposes the vehicle movement position image sent from the vehicle movement image generating means 15 on the analog image signal sent from the D / A conversion means 7. Reference numeral 17 denotes a display unit, which includes a display, a backlight, a display drive circuit, and the like, and displays an image signal sent from the image synthesis unit 17.
[0026]
FIG. 3 shows an example displayed on the display means 17. In FIG. 3, the rear end of the vehicle, the vehicle stop at the rear of the vehicle, and the white lines at the left and right of the vehicle are reflected on the camera, and the vehicle movement position image is displayed over the image. This vehicle movement position image is preferably displayed using a conspicuous color, for example, yellow or orange so that the driver can understand it well. FIG. 3 shows an example in which the vehicle is moving to the upper right of the screen.
[0027]
Reference numeral 18 denotes a control means, which is composed of a calculation CPU, a program memory, etc., to which a shift lever reverse switch 19 is connected, determines whether or not the shift lever is in the reverse position, and the shift lever is in the reverse position In addition, the display unit 17 is commanded to control to display the rear shot image. Further, each wheel speed from the wheel speed measuring means 12 is determined, and if the wheel speed exceeds a certain value, the vehicle moving position image cannot be synthesized. Control not to display the captured image.
[0028]
For example, the distance on the road coordinates behind the vehicle that can be photographed and displayed is determined by the camera installation position, the camera direction, and the camera angle of view. If this distance is 5 m and the time delay is 3 seconds due to compression transmission, 6 km / h is the limit at which the vehicle movement position image can be synthesized. Further, if it is 2 seconds at 10 m, the vehicle speed becomes 18 km / h. Controlling not to display the rear shot image not only makes drawing impossible, but at this vehicle speed, the display image is a time delayed image, so we looked at the display image and relied on it to drive This is because it would be dangerous. At this time, in addition to not displaying the rear shot image, in order to inform the driver of this danger, for example, a message such as “please visually check the rear” may be displayed. Here, the same CPU can be used for the vehicle movement amount calculation means 13, the vehicle movement image generation means 15, and the control means 18.
[0029]
The operation of the vehicle periphery monitoring apparatus according to the first embodiment having the above configuration will be described with reference to a flowchart shown in FIG. Note that the process shown in the flowchart of FIG. 4 starts when the power is turned on (accessory power is turned on). First, in step S1, various initial values necessary for this processing are set. The recorded values of steering angle and wheel speed are also cleared. Next, the state of the shift lever reverse switch 19 is checked (step S2). If the shift lever reverse switch 19 is off (not reverse), the display on the display means (display) 17 is turned off (step S3), and step S2 Return to.
[0030]
If the shift lever reverse switch 19 is on in step S2, the steering angle of the front wheel of the vehicle is detected (step S4). Further, the moving distances of the left rear wheel and the right rear wheel are calculated (step S5). Then, these steering angle values and moving distance are recorded (step S6). Next, an elapsed time after the shift lever reverse switch 19 is turned on is determined (step S7), and if within a predetermined time, the process returns to step S4. This predetermined time is the time from the photographing time point to the display time point, that is, the time delay time associated with the digital compression transmission expansion. It also means that the processing after step S8 is not performed within this predetermined time.
[0031]
If the predetermined time has elapsed after step S7, the movement amount of the rear end of the vehicle up to the present time is calculated from the recorded steering angle value and the movement distance for a fixed time in the past (step S8). Next, the amount of movement of the rear end of the vehicle is coordinate-converted from the coordinate system on the road surface to a coordinate system (so-called graphic display coordinate system) in the screen for camera photography (step S9), and the rear end of the vehicle is determined. A line segment of the current vehicle movement position image is created at a position shifted from the position of the rear end of the vehicle determined by the means 6 by the movement amount of the vehicle, and converted into image data (step S10). Then, the vehicle movement position image is superimposed on the analog image signal (step S11).
[0032]
Next, the wheel speed is determined (step S12), and if the wheel speed exceeds a certain level, the driver is informed of the danger. For example, a message such as “please check the back visually” is displayed (step S13). If the wheel speed is below a certain level, the superimposed image is displayed (step S14). After the processing of step S13 and step S14, the process returns to step S2.
[0033]
Although not mentioned in this flowchart, the rear image taken by the imaging means (camera) 1 is always taken if the power is turned on, A / D converted, data compressed, transmitted, data decompressed, D / A conversion. Further, the rear end of the vehicle is also determined. However, when the shift lever reverse switch 19 is off, the power may be turned off so as not to operate.
[0034]
Therefore, according to the first embodiment, even if the display image is delayed from the actual one, the actual position of the vehicle body and the position of the rear object can be known, so that the driver can safely drive without hitting the curb or the wall. It is possible to reliably prevent accidents caused by time delay due to digital signal transmission.
[0035]
Embodiment 2. FIG.
In the first embodiment described above, a case has been described where there are objects that do not move, such as stones, curbs, walls, car stops, and white lines, behind the vehicle, but moving objects such as children and dogs may cross behind the vehicle. In the second embodiment, a case where these moving objects are present will be described.
[0036]
FIG. 5 is a block diagram showing the configuration of the vehicle periphery monitoring apparatus according to Embodiment 2 of the present invention. In FIG. 5, since 1-7, 10-13, 15-19 are the same as Embodiment 1 shown in FIG. 1, the description is abbreviate | omitted. As a new code, reference numeral 14 denotes a moving object image generation means, which is composed of a calculation CPU, a program memory, etc., removes an object that does not move from the image data for a plurality of screens in the data decompression means 5, and moves the moving object. In some cases, calculate the moving direction and moving speed of the object between multiple screens, estimate that the direction and speed are the same, and estimate the position of the moving object after the time delay from the latest image. Then, a line segment of the moving object position image is generated.
[0037]
The output of the moving object image generating means 14 is sent to the image synthesizing means 16, where the analog image signal sent from the D / A converting means 7 is sent to the vehicle sent from the vehicle moving image generating means 15. The moving position image and the moving object position image sent from the moving object image generating means 14 are superimposed and displayed on the display means 17. This moving object position image is also desirably displayed in a conspicuous color, for example, yellow or orange. Also, the moving object position image uses a color that is more urgent, such as red, to make it easier for the driver to recognize that the color of the moving object position image is different from the vehicle moving position image and to recognize the danger to the driver. Is desirable. FIG. 6 shows an example of an image displayed on the display means (display) of the vehicle periphery monitoring device, and FIG. 6 shows an example in which there is a dog and the estimated movement position of the dog is displayed. Moreover, in FIG. 6, although the estimated movement position of only the dog's head is displayed, the estimated movement position of the whole dog body may be displayed.
[0038]
Next, the operation of the vehicle periphery monitoring device according to Embodiment 2 will be described. This operation is similar to the flowchart showing the operation according to the first embodiment shown in FIG. 4, and it is only necessary to add a step of generating a moving object position image between step S10 and step S11. Description of the detailed flowchart is omitted.
[0039]
Therefore, according to the second embodiment, it is possible to drive safely without hitting a child or a dog crossing the back. In addition, by displaying the moving image of the moving object in a color different from the moving position of the stationary object, it is possible to provide an image that is easier for the driver to understand, and further, the moving image of the moving object is further cautioned. By displaying in color, the driver can be more aware of dangerous dogs and children moving.
[0040]
Embodiment 3 FIG.
In the first embodiment, the case where the current vehicle movement position image is displayed in a superimposed manner in the rear shot image has been described, but conversely, the movement position images of stones, curbs, walls, car stops, white lines, etc. located behind the vehicle Can also be displayed. In the third embodiment, a case where the position images of these rear objects are displayed in an overlapping manner will be described.
[0041]
FIG. 7 is a block diagram showing the configuration of the vehicle periphery monitoring apparatus according to Embodiment 3 of the present invention. In FIG. 7, since 1 to 7, 10 to 13, and 16 to 19 are the same as those in the first embodiment shown in FIG. As a new code, reference numeral 21 denotes a rear object determination means provided in place of the vehicle rear end determination means 6 shown in FIG. 1, which is composed of an image recognition IC or the like, and is an image for one screen in the data expansion means 5. From the data, a conspicuous object such as a car stop behind the vehicle is recognized. Reference numeral 22 denotes a rear object movement image generation means provided in place of the vehicle movement image generation means 15 shown in FIG. 1, which includes a calculation CPU, a program memory, and the like, and is obtained from the vehicle movement amount calculation means 13. From the coordinate system on the road surface to the coordinate system (so-called graphic display coordinate system) in the screen where the camera shoots, and from the position of the rear object determined by the rear object determination means 21, A line segment of the current rear object position image is created at a position shifted by the amount of movement of the vehicle, converted into image data, and sent to the image composition means 16.
[0042]
In the image composition means 16, the rear object movement position image sent from the rear object movement image generation means 22 is superimposed on the analog image signal sent from the D / A conversion means 7 and displayed on the display means 17. It is desirable that the rear object position image is also displayed in a conspicuous color, for example, yellow or orange. FIG. 8 is an example displayed on the display means (display) when the vehicle has traveled the same distance as in FIG. 2, and the movement positions of the car stops and white lines are shown.
[0043]
Next, the operation of the vehicle periphery monitoring device according to Embodiment 3 will be described. This operation is similar to the flowchart showing the operation according to the first embodiment of the present invention shown in FIG. 4, and it is only necessary to change the vehicle moving image generation in step S10 to the backward moving object image generation step. Detailed description of the flowchart is omitted.
[0044]
Therefore, according to the third embodiment, even if the display image is delayed from the actual position, the actual position of the rear object is known, so that it is possible to drive safely without hitting the curb or the wall.
[0045]
Embodiment 4 FIG.
In the case of displaying as in the third embodiment, if there is a moving object such as a child or a dog as in the second embodiment, the position of the moving object is the amount of movement accompanying the movement of the vehicle and the moving body itself. Calculate the sum of the estimated movement distances and display them in an overlapping manner. The fourth embodiment is an embodiment in this case.
[0046]
FIG. 9 is a block diagram showing the configuration of the vehicle periphery monitoring apparatus according to Embodiment 4 of the present invention. FIG. 10 is a diagram showing an example of an image displayed on the display means (display) of the vehicle periphery monitoring device. In FIG. 9, 1 to 5, 7, 10 to 14, 16 to 19, 21, and 22 are the same as those in the first embodiment shown in FIG. In addition to the case of the second embodiment shown in FIG. 5, the moving amount of the rear end of the vehicle is also sent to the moving body image generating unit 14 from the vehicle moving amount calculating unit 13. The moving body image generation unit 14 removes an object that does not move from the image data for a plurality of screens in the data decompression unit 5, and when there is a moving object, the moving body image generation unit 14 determines the moving direction and moving speed of the object between the plurality of screens. Calculate, estimate that the direction and speed are the same, and estimate the position of the moving body after a time delay from the latest image. Further, the movement amount of the rear end of the vehicle obtained from the vehicle movement amount calculation means 13 is coordinate-converted from the coordinate system on the road surface to a coordinate system (so-called graphic display coordinate system) in the screen where the camera is photographed, A line segment of the moving object position image is created at a position shifted from the estimated position of the moving body by the amount of movement of the vehicle, converted into image data, and sent to the image composition means 16.
[0047]
In the image synthesizing unit 16, the rear object moving position image sent from the rear object moving image generating unit 22 and the moving object sent from the moving object image generating unit 14 are added to the analog image signal sent from the D / A converting unit 7. The position images are superimposed and displayed on the display means 17. This moving object position image is also desirably displayed in a conspicuous color, for example, yellow or orange. In order to make it easier for the driver to recognize that the moving object position image is different in color from the rear object moving position image and to recognize the danger to the driver, use a color that calls attention more carefully, such as red. Is desirable.
[0048]
Next, the operation of the vehicle periphery monitoring device according to Embodiment 4 will be described. This operation is similar to the flowchart showing the operation according to the first embodiment of the present invention shown in FIG. 4, and the vehicle moving image generation in step S10 is changed to the step of backward moving object image generation to generate the backward moving object image generation. Since a step corresponding to the moving object image generation means 14 may be added between step S11 and step S11, a detailed description of the flowchart is omitted.
[0049]
Therefore, according to the fourth embodiment, similarly to the second embodiment, it is possible to drive safely without hitting a child or dog crossing the back. In addition, by displaying the moving image of the moving object in a color different from the moving position of the stationary object, it is possible to provide an image that is easier for the driver to understand, and further, the moving image of the moving object is further cautioned. By displaying in color, the driver can be more aware of dangerous dogs and children moving.
[0050]
Embodiment 5 FIG.
In the first embodiment, since the image composition by the image composition means 16 is performed on the analog signal, the current vehicle movement position image is shifted to the position shifted by the amount of vehicle movement from the position of the vehicle rear end. Although a case has been described in which line segments are drawn and displayed on the rear shot image, the images may be combined on the digital image data. As a result, a superimpose circuit or the like can be omitted, and the structure can be reduced. Furthermore, since the vehicle rear portion image itself can be drawn so as to move to that position, it is possible to display more easily for the driver.
[0051]
FIG. 11 is a block diagram showing a configuration of a vehicle periphery monitoring apparatus according to Embodiment 5 of the present invention. FIG. 12 is a diagram showing an example of an image displayed on the display means (display) of the vehicle periphery monitoring device. In FIG. 11, 1 to 5, 7, 10 to 13, and 17 to 19 are the same as those of the first embodiment shown in FIG. 31 is a vehicle rear end image extracting means, which is composed of an image recognition IC or the like, and recognizes the entire vehicle rear end portion (vehicle rear portion + bumper) from the image data for one screen in the data decompression means 5; Extracted as a vehicle rear end image. Reference numeral 32 denotes a vehicle rear end image moving means, which includes a calculation CPU, a program memory, a screen memory for one screen, and the like. The movement amount of the vehicle rear end obtained from the vehicle movement amount calculating means 13 is expressed as follows: The coordinate is converted from the coordinate system on the road surface to a coordinate system (so-called graphic display coordinate system) in the screen where the camera is photographed, and extracted by the vehicle rear end image extracting means 31 at a position shifted by the moving amount of the vehicle. An image obtained by moving the rear end image of the vehicle is created. At this time, if the vehicle rear end image is moved upward as it is, a display image that floats in the air from the bottom of the screen will be displayed, so this portion (the portion indicated by the hatched portion in FIG. 12) is painted in the same color as the vehicle body. Is good.
[0052]
Reference numeral 33 denotes a digital image composition means for extracting the rear end image of the vehicle from the image data for one screen in the data decompression means 5, and after the movement sent from the rear end image moving means 32 to the image. Overlapping the vehicle rear end images. At this time, if there is a blank image portion, it is filled with image data of the nearby ground. The vehicle rear image superimposed by the digital image composition means 33 is converted into an analog image signal by the D / A conversion means 7 and displayed on the display means 17.
[0053]
In other words, the vehicle peripheral image is moved by the digital image composition means 33 so as to fill the vacant portion with the same color as the vehicle body, and the vehicle rear object image is moved to fill the vacant portion with the same color as the ground. Like that.
[0054]
Next, the operation of the vehicle periphery monitoring apparatus according to Embodiment 5 will be described. This operation is similar to the flowchart showing the operation according to the first embodiment shown in FIG. 4, and it is only necessary to change the vehicle moving image generation in step S10 to the vehicle rear end moving image generation step. Detailed description of the flowchart is omitted.
[0055]
Therefore, according to the fifth embodiment, since the vehicle rear end image can be viewed as it is, information that can be easily understood by the driver can be provided.
[0056]
Embodiment 6 FIG.
If digital image synthesis is performed as in the fifth embodiment, the digital image synthesis means 33 is placed in front of the D / A conversion means 7 in the same manner as in the second, third, and fourth embodiments. It can be implemented by placing a rear object image and a moving object image and moving these images. In addition, the entire vehicle rear image can be moved.
[0057]
Therefore, according to the sixth embodiment, the vehicle rear object image can be seen as it is as in the fifth embodiment, and thus information that is easy to understand for the driver can be provided.
[0058]
Embodiment 7 FIG.
When it is relatively dark, such as at night, dusk, or rainy weather, or when the vehicle body is dark or dark, such as black or dark blue, it may be difficult to distinguish between the ground color and the vehicle body color. In order to solve this problem, it is possible to reliably and easily determine the rear end portion of the vehicle body by marking the bumper at the rear end portion of the vehicle, for example, a white or bright line or a circle mark. That is, the vehicle rear end determination means 6 can easily determine the vehicle rear end by detecting the mark.
[0059]
FIG. 13 is a diagram illustrating an example of a mark attached to a bumper that is a rear end portion of the vehicle in the vehicle periphery monitoring device according to the first embodiment. In FIG. 13, (a) is an example with white lines, and (b) is an example with multiple circles. The mark is not limited to this, and any mark may be used as long as the rear end of the vehicle body can be easily identified.
[0060]
Therefore, according to the seventh embodiment, the determination of the rear part of the vehicle body becomes more reliable and easy by detecting the mark attached to the rear end part of the vehicle.
[0061]
Embodiment 8 FIG.
In the above first to sixth embodiments, the display means (display) is controlled to be displayed or turned off according to the wheel speed, but the present invention is not limited to this. When even a part of the display range is exceeded, the display may be turned off, or a message prompting the driver to visually check may be output. This is effective when the handle is operated at a steep angle.
[0062]
Therefore, according to the eighth embodiment, when the moving amount of the rear end of the vehicle exceeds a display range even partly, the display is turned off and a message is output, so the driver is informed of the danger. The accident caused by the driver relying on the display image can be reduced.
[0063]
Embodiment 9 FIG.
Each of the above-described embodiments has described the case of monitoring the rear of the vehicle. However, the present invention is not limited to this, and the vehicle body is reflected in the captured image even when monitoring the side or front of the vehicle. If so, it is exactly the same.
[0064]
【The invention's effect】
As described above, according to the present invention, even if the display image is delayed from the actual one, the actual position of the vehicle body can be known, so that it is possible to drive safely without hitting the curb or the wall.
[0065]
Even if the display image is delayed from the actual one, the actual position of the rear object can be known, so that it is possible to drive safely without hitting the curb or the wall.
[0066]
Further, the vehicle movement measuring means can accurately calculate the movement amount of the vehicle.
[0067]
Further, even if the display image is delayed from the actual one, the actual position of the rearward moving object can be known, so that it does not hit a child or dog crossing behind.
[0068]
Further, since attention is urged as a dangerous moving object, information that is easy to understand for the driver can be provided.
[0069]
In addition, since the rear end image of the vehicle can be seen as it is, information that can be easily understood by the driver can be provided.
[0070]
Further, since the vehicle rear object image can be seen as it is, it is possible to provide information that is more easily understood by the driver.
[0071]
Moreover, since the mark is attached to the rear end portion of the vehicle, the determination of the rear portion of the vehicle body becomes more reliable and easy.
[0072]
In addition, the display is turned off and a message is output when a certain wheel speed is exceeded, so the driver can be informed of the danger and reduce the accident caused by the driver relying on the display image. Can do.
[0073]
In addition, when the movement amount of the rear end of the vehicle exceeds even the display range, the display is turned off and a message is output so that the driver can be notified of the danger and the driver can display the image. Accidents caused by relying on can be reduced.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a first embodiment of the present invention.
FIG. 2 is a diagram showing an example of an image displayed on display means (display) according to Embodiment 1 of the present invention.
FIG. 3 is a diagram showing an example in which the photographing means (camera) according to Embodiment 1 of the present invention is mounted on an actual vehicle.
FIG. 4 is a flowchart showing the operation of the first embodiment of the present invention.
FIG. 5 is a block diagram showing a configuration of a second embodiment of the present invention.
FIG. 6 is a diagram showing an example of an image displayed on display means (display) according to Embodiment 2 of the present invention.
FIG. 7 is a block diagram showing a configuration of a third embodiment of the present invention.
FIG. 8 is a diagram showing an example of an image displayed on display means (display) according to Embodiment 3 of the present invention.
FIG. 9 is a block diagram showing a configuration of a fourth embodiment of the present invention.
FIG. 10 is a diagram showing an example of an image displayed on display means (display) according to Embodiment 4 of the present invention.
FIG. 11 is a block diagram showing a configuration of a fifth embodiment of the present invention.
FIG. 12 is a diagram showing an example of an image displayed on display means (display) according to Embodiment 5 of the present invention.
FIG. 13 is a diagram showing an example of marks attached to a bumper that is a rear end portion of a vehicle in Embodiment 7 of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Camera, 2 A / D conversion means, 3 Data compression means, 4 Transmission means, 5 Data decompression means, 6 Vehicle rear-end part determination means, 7 D / A conversion means, 10 Vehicle behavior measurement means, 11 Steering angle detection means , 12 Wheel speed measurement means, 13 Vehicle movement amount calculation means, 14 Moving object image generation means, 15 Vehicle movement image generation means, 16 Image composition means, 17 Display means, 18 Control means, 19 Shift lever reverse switch, 21 Rear object Determination means, 22 Rear object moving image generating means, 31 Vehicle rear end image extracting means, 32 Vehicle rear end image moving means, 33 Digital image synthesizing means.

Claims (12)

Photographing means installed at the rear of the vehicle and photographing the periphery of the vehicle;
Digital conversion means for converting an image photographed by the photographing means into a digital signal;
Compression means for compressing the digital image signal from the digital conversion means;
Decompression means for returning the compressed digital image signal compressed by the compression means to the original digital image signal;
Vehicle periphery determination means for determining the periphery of the vehicle from the digital image signal expanded by the expansion means;
Vehicle behavior measuring means for measuring the behavior of the vehicle between the photographing time and the display time by the photographing means;
From the vehicle behavior measured by the vehicle behavior measuring means, a vehicle movement image generating means for calculating the amount of movement of the vehicle from the vehicle peripheral part determined by the vehicle peripheral part determining means, and converting it into image data;
Image synthesizing means for synthesizing the image signal decompressed by the decompressing means and the image data of the vehicle movement generated by the vehicle moving image generating means;
A vehicle periphery monitoring device comprising display means for displaying an image synthesized by the image synthesizing means. In the vehicle periphery monitoring device according to claim 1,
Instead of the vehicle periphery determination means, the vehicle rear object determination means for determining an object behind the vehicle from the digital image signal expanded by the expansion means,
Instead of the vehicle movement image generation means, the movement corresponding to the movement of the vehicle of the rear object determined by the vehicle rear object determination means is calculated from the behavior of the vehicle measured by the vehicle behavior measurement means, A rear object moving image generating means for converting to image data;
The vehicle periphery monitoring device, wherein the image composition unit synthesizes the image signal expanded by the expansion unit and the image data corresponding to the movement of the rear object generated by the rear object movement image generation unit. In the vehicle periphery monitoring device according to claim 1 or 2,
The vehicle behavior measuring means is
Steering angle detection means for detecting the steering angle of the front wheels of the vehicle;
Wheel speed measuring means for measuring the rotational speed of each driven wheel of the vehicle;
A vehicle periphery monitoring device comprising: a moving amount calculating means for calculating a moving amount of the vehicle from the time of photographing to the time of display based on the detected values of the steering angle detecting means and the wheel speed measuring means. . In the vehicle periphery monitoring device according to any one of claims 1 to 3,
A moving object image generating means for generating a moving object position image based on the output from the decompression means;
The vehicle periphery monitoring device, wherein the image composition means also displays the moving object position image superimposed on the display means. In the vehicle periphery monitoring device according to claim 4,
The vehicle periphery monitoring device, wherein the image composition means displays the moving object position image in a color different from the image of the vehicle movement. In the vehicle periphery monitoring device according to any one of claims 1, 3 to 5,
The image synthesizing unit synthesizes an image obtained by moving the vehicle periphery image to a position shifted from the vehicle periphery by the amount of vehicle movement on the digital image data. In the vehicle periphery monitoring device according to claim 6,
A vehicle periphery monitoring device, wherein the image composition means moves a vehicle periphery image and paints an empty portion in the same color as the vehicle body. In the vehicle periphery monitoring device according to any one of claims 2 to 5,
The vehicle periphery monitoring device characterized in that the image composition means composes on the digital image data an image obtained by moving the vehicle rear object image to a position shifted from the vehicle periphery by the amount of vehicle movement. The vehicle periphery monitoring device according to claim 8,
A vehicle periphery monitoring device, wherein the image composition means moves a vehicle rear object image and paints an empty portion in the same color as the ground. The vehicle periphery monitoring device according to claim 1 or 3 to 9,
The vehicle periphery monitoring device is characterized by determining a rear end portion by detecting a mark attached to the vehicle periphery. In the vehicle periphery monitoring device according to any one of claims 1 to 10,
Control means for determining the wheel speed from the wheel speed measuring means and controlling the display means not to display a rear shot image or to display a message prompting the driver to view if the speed is equal to or higher than a predetermined wheel speed. A vehicle periphery monitoring device further comprising: In the vehicle periphery monitoring device according to any one of claims 1 to 10,
Control means for controlling the display means not to display a rear shot image or to display a message prompting the driver to visually check if the amount of movement of the vehicle peripheral part exceeds the display range of the display means. A vehicle periphery monitoring device further comprising:

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