JP3807330B2 - Vehicle periphery monitoring device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle periphery monitoring device configured to display an image around a vehicle front, particularly around the front of the vehicle including the vicinity of a front wheel.
[0002]
[Prior art]
As a conventional vehicle periphery monitoring device of this type, an image of the front wheel periphery is captured by a camera device provided on the back of a vehicle door mirror, and the captured image is displayed on a display installed on an instrument panel or the like in the vehicle interior. Is disclosed in, for example, Japanese Patent Laid-Open No. 2000-272418.
[0003]
[Problems to be solved by the invention]
However, in the above-described conventional device, the image captured by the camera device is simply displayed on the display.For example, when the vehicle is brought to the side when the vehicle is parked or parked, the corner or front end of the vehicle is placed on the wall, etc. There is a problem that there is no particular index when sending, and there is no certainty about how far it can be sent.
Therefore, in view of the above-described problems, an object of the present invention is to provide a vehicle periphery monitoring device that can easily grasp how far a vehicle can be approached when stopping or parking.
[0004]
[Means for Solving the Problems]
For this reason, the present invention according to claim 1 is a vehicle periphery monitoring device for displaying an image around the vehicle on a display means, and an image pickup means for photographing the periphery of the vehicle, and a door mirror of the vehicle parallel to the longitudinal direction of the vehicle. A front-rear direction mark that passes through a position corresponding to the front end of the left-right direction, a mark generator that generates an image of a left-right direction mark parallel to the left-right direction in front of the vehicle, and an image captured by the imaging means and the mark generator The superimposer that superimposes and outputs the image of the mark generated in (1) above, and is configured to display the output of the superimposer on the display means.
[0005]
The front-rear direction mark and the left-right direction mark intersect with each other and are limited to a range that does not overlap with the vehicle in the video .
[0006]
The invention of claim 2 is further configured such that the display switching means is provided between the superimposer and the display means so that the output of the superimposer is not displayed on the display means when the vehicle is above a predetermined vehicle speed or reverse. is there.
According to a third aspect of the present invention, the display switching means to which the operation switch is connected is provided between the superimposer and the display means, and the display of the superimposer output on the display means is controlled by the operation switch. It was made to do .
[0007]
According to a fourth aspect of the present invention, the mark generator sets the left-right direction mark at a position away from the front end of the vehicle by a predetermined distance .
According to a fifth aspect of the present invention, a control switch is connected to the mark generator, and a predetermined distance from the front end of the vehicle in the left-right direction can be changed by operating the control switch.
[0008]
The invention according to claim 6 further includes a line passing through a position corresponding to the front end of the door when fully opened in the front-rear direction mark.
[0009]
In the invention of claim 7 , the mark generator further generates a trajectory mark indicating the predicted passing trajectory of the rear wheel when the vehicle turns.
In the invention of claim 8, the generated trajectory mark is limited to the predicted passing trajectory of the rear wheel inside the turn.
[0010]
According to a ninth aspect of the present invention, the imaging means has a video synthesizer that shoots both left and right sides of the vehicle and synthesizes the left video and the right video, and the superimposer is a mark generator for the image synthesized by the video synthesizer. The generated mark images are superimposed.
[0011]
The invention of claim 10 is a camera device in which the imaging means is installed in a door mirror case .
[0012]
According to an eleventh aspect of the present invention, the door mirror case includes a shield corresponding to the lens of the camera device.
[0013]
【The invention's effect】
In the present invention, the front-rear direction mark and the left-right direction mark passing through a position corresponding to the left-right end of the door mirror of the vehicle are overlapped with the image around the vehicle and limited to a range not overlapping with the vehicle in the image. since displayed on the display Te, readily pass through without such contact with the surrounding even in narrow spaces by referring to the mark as an index, or stop, the parking is performed.
For example, when you want to get close to a wall, curb or white line, or when you park forward against the wall, steer the mark to align with these objects, or move them parallel to these objects or vertically You can stop.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing the configuration of the embodiment. In FIG. 1, the vehicle body image is shown by broken lines in order to show the installation positions of the main parts.
In the present embodiment, a display 16 that is shared with the navigation device is disposed in the front part of the vehicle interior such as an instrument panel.
Camera devices 4a and 4b are installed in door mirror cases 3a and 3b of door mirrors 2a and 2b attached to the left and right doors Da and Db of the vehicle 1, respectively. Each of the camera devices 4a and 4b has a lens (not shown) directed so as to be able to photograph the front including the periphery of the left and right front wheels, and a glass or transparent resin shield 5a and 5b is provided on the photographing window of the door mirror case. The lens is protected from water droplets and dirt.
The shields 5a and 5b are formed integrally with the door mirror cases 3a and 3b, so that the shields 5a and 5b are not easily damaged, and wind noise is reduced.
The camera devices 4a and 4b are connected to a video synthesizer 10, and the video synthesizer 10 synthesizes video signals from the camera devices 4a and 4b into one screen.
[0015]
Further, a steering angle sensor 7 provided on a steering (not shown) of the vehicle for detecting the steering angle of the steering is connected to the mark generator 11, and the mark generator 11 generates images of a plurality of marks to be described later. A rotary type control switch 6 is connected to the mark generator 11 for its control.
The video synthesizer 10 and the mark generator 11 are connected to a superimposer 12, and the superimposer 12 superimposes the synthesized video from the video synthesizer 10 and the mark image from the mark generator 11 into a monitoring image. .
[0016]
The superimposer 12 and the navigation unit 15 are connected to the video switcher 13 connected to the display 16, and the video switcher 13 receives the image signal from the superimposer 12 and the navigation information and image signal from the navigation unit 15. Are switched and sent to the display 16. That is, the display 16 serves as a display unit of the vehicle periphery monitoring device when displaying an image from the superimposer 12, and serves as a display unit of the navigation device when displaying an image or the like from the navigation unit 15.
A momentary type operation switch 17, a vehicle speed sensor 8, and a shift position sensor 9 for detecting a shift stage of the transmission are connected to the video switching machine 13 for the control.
The video synthesizer 10, the mark generator 11, the superimposer 12, and the video switcher 13 are configured using a microcomputer as an electronic control unit (ECU) 14.
[0017]
The video synthesizer 10 synthesizes the left and right video signals from the camera devices 4a and 4b.
Here, as shown in FIG. 2, from the image A of the camera device 4a, the image a is cut out on the outside of the vehicle so that the image area is 50% with reference to a predetermined position S on the vehicle center side from the left front wheel. Further, similarly, the video b corresponding to 50% of the video area is cut out from the video of the camera device 4b, and these are connected and synthesized into the video G of one screen.
[0018]
The mark generator 11 generates a first front-rear direction mark 30, a second front-rear direction mark 31, a left-right direction mark 32, and a trajectory mark 33 that serve as indices for moving the vehicle as shown in FIG. . In FIG. 3, reference numerals 21 and 22 denote shooting ranges by the camera devices 4a and 4b.
The first front-rear direction mark 30 is a line parallel to the vehicle front-rear direction passing through a position corresponding to the left and right ends of the door mirrors 2a, 2b (door mirror cases 3a, 3b). The second front-rear direction mark 31 is a line parallel to the vehicle front-rear direction passing through a position corresponding to the front ends of the doors Da, Db when fully opened.
Furthermore, the left-right direction mark 32 is a line parallel to the left-right direction of the vehicle that passes a position of a predetermined distance, such as 10 cm, forward from the front end of the vehicle. This predetermined distance can be arbitrarily set by the signal output of the control switch 6.
[0019]
The trajectory mark 33 is a line indicating a predicted passing trajectory of the rear wheel inside the turning of the vehicle in the steering state.
As shown in FIG. 4, when the steering angle detected by the steering angle sensor 7 is θ, the wheel base is L, the steering gear ratio is n, and the distance between the centers of the left and right tires is W, the radius r of the rear wheel locus is It is given by
r = L / tan (θ / n) −W / 2
Note that the effect of skidding of the tire occurs when the vehicle turns, with the square of the vehicle speed. However, the present invention is used in a low speed range of 10 km / h or less such as when the vehicle is parked or parked. Can be ignored. In addition, since the predicted passing trajectory of the rear wheel outside the turn enters the inside of the front wheel and there is generally no obstacle, no trajectory mark is displayed outside the turn.
The trajectory mark 33 performs arithmetic processing in real time according to the signal output from the steering angle sensor 7 to change the drawing.
[0020]
The mark generator 11 converts the images of the marks 30 to 33 into images viewed from the positions of the camera devices 4a and 4b in order to superimpose the images G of the camera devices 4a and 4b shown in FIG. For this conversion, for example, a method disclosed in Japanese Patent Laid-Open No. 10-175482 is adopted to obtain a converted image as shown in FIG.
The superimposer 12 superimposes the converted image of FIG. 5 from the mark generator 11 on the video G from the video synthesizer 10 shown in FIG.
[0021]
The first front-rear direction mark 30 and the left-right direction mark 32 extend from the crossing point P to the rear side in the vehicle front-rear direction and the vehicle center side in the left-right direction, and do not overlap the vehicle in the superimposed image. Draw as a limited line. As a result, an image signal as shown in FIG. 6 is output from the superimposer 12 to the video switcher 13.
The video switcher 13 receives the image signal from the superimposer 12 and the navigation information and image signal from the navigation unit 15 based on the input signals from the vehicle speed sensor 8 and the shift position sensor 9 or the operation of the operation switch 17. Switch to send to display 16 to display
FIG. 7 is a flowchart showing the flow of switching control in the video switcher 13.
First, in step 101, input signals from the vehicle speed sensor 8 and the shift position sensor 9 are read, the gear position is reverse (reverse), and the vehicle speed V is not 0 Km / h, that is, the vehicle is moving backward. To check. If not, the process proceeds to step 102.
In step 102, it is checked whether the image currently selected by the video switcher 13 and displayed on the display 16 is a photographed image by the camera devices 4a and 4b from the superimposer 12. Then, when the image of the superimposer 12 is not selected, the process proceeds to step 103, and when the navigation information or image from the navigation unit 15 is selected, the process proceeds to step 107.
[0023]
In step 103, it is checked whether the vehicle speed V is 0 km / h and the operation switch 17 is operated. When the vehicle is stopped, the image around the front wheel and the mark display are not required. However, when the operation switch 17 is operated, it is assumed that the mark display or the like is requested, and the process proceeds to step 104, where the superimposer Images taken by the camera device 12 are selected and displayed on the display 16.
[0024]
On the other hand, when a photographed image by the camera device from the super imposer 12 is selected in the check in step 102, the process proceeds to step 105, and it is checked whether or not the vehicle speed V is 10 Km / h or more.
When the vehicle speed is lower than 10 km / h, it is assumed that the vehicle is going to stop and park. Accordingly, the process proceeds to step 106, where it is checked whether the operation switch 17 has been operated. If the operation switch 17 has not been operated, the process proceeds to step 104, and the display of the image from the super imposer 12 is continued.
[0025]
Further, when the vehicle is moving backward in the check of step 101, it is not necessary to display the image around the front wheel and the mark, so the process proceeds to step 107, and an image from the navigation unit 15 is selected and displayed on the display 16. .
Further, when the vehicle speed is 10 Km / h or more in the check in step 105, the mark display is not required and the process proceeds to step 107.
[0026]
On the other hand, when the vehicle speed is lower than 10 km / h, the vehicle is expected to stop and park as described above, and the image around the front wheel and the mark display are required. If it is determined that the operator has indicated that the mark display or the like is unnecessary, the process proceeds to step 107.
Even when the operation switch 17 is not operated in the check of step 103, the process proceeds to step 107, and an image or the like from the navigation unit 15 is displayed on the display 16.
[0027]
The embodiment is configured as described above. When the vehicle stops, parks, or passes through a narrow road at a low speed, the first front-rear direction mark 30 and the second front-rear direction mark that serve as indices in the images around the left and right front wheels of the vehicle 31, an image in which the left-right direction mark 32 and the trajectory mark 33 are superimposed is displayed on the display 16.
The left / right direction mark 32 is set at a predetermined distance, for example, 10 cm away from the front end of the vehicle. For example, when the vehicle moves forward toward the front wall and parks, the gap between the front end of the vehicle and the wall can be easily grasped. can do. Further, since the predetermined distance can be changed by operating the control switch 6, for example, if the predetermined distance is set to 0 cm, the front end of the vehicle can be parked and matched with a parking frame or an intersection stop line. .
[0028]
Further, since the first front-rear direction mark 30 is a line passing through the position corresponding to the left and right ends of the door mirrors 2a, 2b of the vehicle, for example, there are obstacles on the side and walls parallel to the front-rear direction of the vehicle. When the vehicle is brought close to the place, the vehicle is moved on the display 16 so that the wall does not come to the vehicle side from the first front-rear direction mark 30, so that the door mirror 2 a or 2 b does not come into contact with the wall or an obstacle. I can bring it.
As described above, for example, the distance between the left and right sides of the parking frame and the gap between the front end of the vehicle and the wall can be confirmed, and the vehicle can be easily stopped along the parking frame.
[0029]
Further, since the first front-rear direction mark 30 and the left-right direction mark 32 are crossed, when turning a corner of the road, as shown in FIG. Referring to the intersection point P of 30 and the left-right direction mark 32, it can pass easily, confirming the clearance with the wall F. Further, when parking at an angle, the corner of the vehicle can be prevented from contacting the periphery by referring to the intersection point P.
Note that the first front-rear direction mark 30 and the left-right direction mark 32 are displayed only on the vehicle side in the video from the intersection point P and in a range that does not overlap the vehicle, so there is no confusion and easy understanding. .
[0030]
Further, since the second front-rear direction mark 31 is a line passing through a position corresponding to the front ends of the doors Da, Db when the vehicle is fully opened, the side wall on the display 16 is more than the second front-rear direction mark 31. By stopping the vehicle so as not to come to the vehicle side, it is possible to ensure an interval that does not contact even if the door Da or Db is fully opened after the vehicle stops. Thereby, even if the door opens carelessly when getting on and off the vehicle, contact with the wall can be avoided.
[0031]
Since the trajectory mark 33 indicates the predicted passing trajectory of the rear wheel when the vehicle is turning, as shown in FIG. 8B, for example, the clearance with the curb E is confirmed with reference to the trajectory mark 33 as shown in FIG. Can be passed while preventing contact.
Since the display of the trajectory mark 33 is limited to the predicted passing trajectory of the rear wheel inside the turn, the display screen is not complicated and there is no confusion.
[0032]
The display 16 displays the left image and the right image of the vehicle synthesized by the image synthesizer 10 on a single screen, and the marks 30 to 33 are displayed on the screen. It can be confirmed and can be easily parked in the center of the parking frame. Further, even when entering and parking at an angle, it is possible to park while preventing contact with the surroundings by referring to the intersections P and P of the first left and right first direction marks 30 and the left and right direction marks 32.
[0033]
Further, when the vehicle is above the predetermined vehicle speed or reverses by the video switcher 13, the monitoring image in which each mark is superimposed on the video from the camera devices 4a and 4b is not displayed on the display 16, so there is no troublesomeness when unnecessary. Instead, a navigation image or the like can be displayed, and the display 16 is effectively shared. In addition, when the operation switch 17 is operated even during low-speed traveling, for example, when there is a traffic jam, the necessary navigation information and images are displayed on the display 16 in the same manner, so that the convenience is further improved.
[0034]
Since the camera devices 4a and 4b are installed in the door mirror cases 3a and 3b, it is possible to photograph around the front wheels without protruding from the vehicle body. At this time, since the door mirror case includes shields 5a and 5b corresponding to the lens of the camera device, the lens is protected from water droplets and dirt.
[0035]
In the above embodiment, the camera devices 4a and 4b are installed in the door mirror cases 3a and 3b. However, the present invention is not limited to this, and any position can be used as long as the front of the vehicle including the front wheels can be photographed. Can be installed.
The video synthesizer 10 cuts 50% of the video area from the video of the camera devices 4a and 4b and connects them to the left and right. However, the video of the camera devices 4a and 4b is compressed in the horizontal direction. May be synthesized.
[0036]
Further, in the mark generator 11, the trajectory mark 33 is calculated and changed in real time according to the signal output from the steering angle sensor 7, but in addition to this, several kinds of drawing patterns are prepared and the ROM or the like is prepared. If the corresponding drawing pattern is selected and changed according to the signal output from the steering angle sensor 7, the burden is lightened, and the configuration is simple and inexpensive.
Moreover, although the electronic control unit 14 was demonstrated as what was comprised separately from the navigation unit 15, these may be comprised integrally.
[0037]
Further, in the above embodiment, the video including the surroundings of the front wheels on both the left and right sides is displayed on the display so as to be superimposed on each mark. Therefore, it is possible to display only the image on the left side as shown in FIG. 9, thereby making it possible to make the apparatus inexpensive without significantly detracting from the advantages of the present invention.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an embodiment of the present invention.
FIG. 2 is an explanatory diagram showing a video composition procedure in a video synthesizer.
FIG. 3 is a diagram showing mark setting procedures;
FIG. 4 is an explanatory diagram showing a procedure for calculating a predicted passing trajectory of a rear wheel.
FIG. 5 is a diagram illustrating an example of a mark image generated by a mark generator.
FIG. 6 is a diagram illustrating a monitoring image in which a mark is superimposed on a vehicle peripheral image.
FIG. 7 is a flowchart showing a flow of image switching control in the video switching machine.
FIG. 8 is a diagram illustrating a reference example of a mark.
FIG. 9 is a diagram illustrating a modified example of a monitoring image.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Vehicle 2a, 2b Door mirror 3a, 3b Door mirror case 4a, 4b Camera apparatus (imaging means)
5 Shield 6 Control switch 7 Steering angle sensor 8 Vehicle speed sensor 9 Shift position sensor 10 Video synthesizer 11 Mark generator 12 Superimposer 13 Video switcher 14 Electronic control unit 15 Navigation unit 16 Display 17 Operation switches 21 and 22 Imaging range 30 First front / rear direction mark 31 Second front / rear direction mark 32 Left / right direction mark 33 Trajectory mark Da, Db Door

Claims (11)

A vehicle periphery monitoring device for displaying an image around a vehicle on a display means,
Imaging means for photographing the surroundings of the vehicle;
A front-rear direction mark passing through a position corresponding to the front-rear direction of the door mirror of the vehicle parallel to the front-rear direction of the vehicle, and a mark generator for generating an image of the left-right direction mark parallel to the left-right direction in front of the vehicle;
A superimposer that superimposes and outputs the image captured by the imaging unit and the image of the mark generated by the mark generator;
The superimposer output is configured to be displayed on the display means ,
The vehicle periphery monitoring device, wherein the front-rear direction mark and the left-right direction mark intersect with each other and are limited to a range not overlapping with the vehicle in the video . A vehicle periphery monitoring device for displaying an image around a vehicle on a display means,
Imaging means for photographing the surroundings of the vehicle;
A front-rear direction mark passing through a position corresponding to the front-rear direction of the door mirror of the vehicle parallel to the front-rear direction of the vehicle, and a mark generator for generating an image of the left-right direction mark parallel to the left-right direction in front of the vehicle;
A superimposer that superimposes and outputs the image captured by the imaging unit and the image of the mark generated by the mark generator;
The superimposer output is configured to be displayed on the display means ,
The front-rear direction mark and the left-right direction mark are crossed and are limited to a range that does not overlap the vehicle in the video,
Further, the vehicle periphery monitoring is characterized in that a display switching means is provided between the superimposer and the display means so that the output of the superimposer is not displayed on the display means when the vehicle exceeds a predetermined vehicle speed or reverses. apparatus. A vehicle periphery monitoring device for displaying an image around a vehicle on a display means,
Imaging means for photographing the surroundings of the vehicle;
A front-rear direction mark passing through a position corresponding to the front-rear direction of the door mirror of the vehicle parallel to the front-rear direction of the vehicle, and a mark generator for generating an image of the left-right direction mark parallel to the left-right direction in front of the vehicle;
A superimposer that superimposes and outputs the image captured by the imaging unit and the image of the mark generated by the mark generator;
The superimposer output is configured to be displayed on the display means,
The front-rear direction mark and the left-right direction mark are crossed and are limited to a range that does not overlap the vehicle in the video,
Further, a display switching means to which an operation switch is connected is provided between the superimposer and the display means, and the display of the superimposer output on the display means is controlled by the operation of the operation switch. A vehicle periphery monitoring device. 4. The vehicle periphery monitoring device according to claim 1, wherein the mark generator sets the left-right direction mark at a position away from a front end of the vehicle by a predetermined distance . 5. 5. The vehicle periphery monitoring device according to claim 4, wherein a control switch is connected to the mark generator, and a predetermined distance from the vehicle front end of the left-right direction mark can be changed by operating the control switch. . 6. The vehicle periphery monitoring device according to claim 1 , wherein the front-rear direction mark further includes a line passing through a position corresponding to a front end of the door when fully opened . 7. The vehicle periphery monitoring device according to claim 1, wherein the mark generator further generates a trajectory mark indicating a predicted passing trajectory of the rear wheel when the vehicle turns . 8. The vehicle periphery monitoring device according to claim 7, wherein the trajectory mark is limited to a predicted passing trajectory of a rear wheel on the inside of a turn . The imaging means has a video synthesizer that shoots both the left and right sides of the vehicle and synthesizes the left and right images,
The vehicle according to any one of claims 1 to 8, wherein the superimposer superimposes an image of a mark generated by the mark generator on an image synthesized by the video synthesizer. Perimeter monitoring device. The vehicle periphery monitoring device according to claim 1, wherein the imaging unit is a camera device installed in a door mirror case . 11. The vehicle periphery monitoring device according to claim 10 , wherein the door mirror case includes a shield corresponding to a lens of the camera device.

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