JP4092479B2 - Vehicle driving support device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicular driving support apparatus that assists in driving a vehicle by assisting visual recognition of obstacles around the host vehicle, and more particularly to a vehicular driving support apparatus that is effective in parking.
[0002]
[Prior art]
Conventionally, as this main driving assistance device, there is one as described in Patent Document 1, for example. This driving support device captures the outside of the vehicle using a plurality of cameras installed in the host vehicle, converts the input image from the plurality of cameras into an image viewed from a specific virtual viewpoint, combines the images, A method of displaying a composite image on a monitor device, and performing composite processing so that the composite image is discontinuous in the vicinity of a three-dimensional object that is an obstacle at the time of the above image composition, to the driver The position of the three-dimensional object is estimated from this discontinuous portion, thereby assisting the driver to visually recognize the obstacle.
[0003]
[Patent Document 1]
Japanese Patent Laid-Open No. 2002-166802
[Problems to be solved by the invention]
However, since the images are synthesized so as to be discontinuous near the three-dimensional object, the driver who sees the synthesized image feels uncomfortable with the discontinuous portions in the display image.
When the viewpoint conversion process is performed on the input image from the camera, the obstacle displayed in the image may be displayed in a distorted manner. Gives a sense of incongruity.
[0005]
In addition, in order to create a discontinuous surface near a three-dimensional object that becomes an obstacle, there is a problem that a configuration in which images from a plurality of cameras are combined must be employed, and a plurality of cameras are necessarily required. .
The present invention focuses on the above points, and it is an object of the present invention to provide a vehicle driving support device that can suppress a sense of discomfort given to the driver by not presenting unnecessary display information to the driver. It is said.
[0006]
[Means for Solving the Problems]
In order to solve the above-described problems, the present invention performs viewpoint conversion processing on an input image from an imaging device installed in the own vehicle to an image from a specific virtual viewpoint, and uses the image converted from the viewpoint as an image display means. A vehicle driving support device for displaying and assisting visibility,
The obstacle image included in the input image in the image after the viewpoint conversion process is subjected to masking processing so that the obstacle display on the image display means can be recognized only by the outer peripheral contour position. It is characterized by this. When the obstacle is determined to be a vehicle, the vehicle body display portion included in the input image is masked, and at least a portion of the wheel display portion included in the input image is processed. It is characterized by being excluded from the masking process.
[0007]
According to the present invention, when the viewpoint conversion process is performed on the input image to convert the image into an image that can be easily recognized by the driver, for example, the obstacle in the image may be distorted and displayed. Since the information in the object is masked and is not presented to the driver, it is possible to reduce a sense of discomfort to the driver due to the distortion.
Further, according to the present invention, when the obstacle is a vehicle, the displayed wheel portion is excluded from the masking process target, so that the driver feels a little uncomfortable even if the display is slightly distorted. It is possible to display only the wheel portion that does not give the vehicle, and to accurately display the position of the portion that is closest to the host vehicle when the vehicle is stopped.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Next, embodiments of the present invention will be described with reference to the drawings.
In FIG. 1, the schematic block diagram of the driving assistance device for vehicles of this embodiment is shown.
In the figure, reference numeral 1 denotes a vehicle body of the host vehicle, and a CCD camera 2 constituting an imaging device is installed on the rear upper part of the vehicle body 1. The CCD camera 2 captures an image of a portion around the host vehicle at a vehicle rear side position outside the vehicle, and outputs the captured image information to the assist controller 3. A monitor 4 constituting image display means is installed in the vehicle.
[0009]
Further, distance measuring sensors 5 constituting distance measuring means are installed on both sides of the vehicle body 1. The distance measuring sensor 5 detects the distance to the obstacle located on the side of the vehicle around the vehicle and the direction (angle) of the obstacle with respect to the distance measuring sensor 5. The distance measuring sensor 5 radiates ultrasonic waves, microwaves, millimeter waves, light, etc., and measures the distance by measuring the round trip time until the reflected wave is received, or uses the principle of triangulation The thing etc. can be illustrated.
[0010]
The vehicle is also provided with a steering sensor 6 that detects the steering angle of the steering wheel, a wheel speed sensor 7 that detects the wheel speed, and a shift position detection sensor 8 that detects the shift position of the shift lever.
Further, in the vicinity of the driver's seat, a parking assist switch 9 for instructing whether or not assistance for rearward visual recognition is required at the time of parking, and whether or not the viewpoint conversion is performed for the rearward visual recognition image. A viewpoint conversion switch 10 is provided, and signals from the switches 9 and 10 are output to the assist controller 3.
[0011]
The assist controller 3 includes a controller main body 3A, an in-house both-position grasping processing unit 3B, and a surrounding map creating unit 3C constituting obstacle map creating means.
The in-house both position grasping processing unit 3B starts the operation in response to a command from the controller body 3A, sets global coordinates with the position of the host vehicle as the origin at the start of the operation, and performs the steering sensor every predetermined sampling time. 6. Based on the detection signal from the wheel speed sensor 7, the position and direction of the host vehicle in the global coordinates are obtained and stored in the memory.
[0012]
In the surrounding map creation unit 3C, the process shown in FIG. 2 is performed. That is, first in step S200, the distance measuring sensor 5 is turned on and detection by the distance measuring sensor 5 is started, and the process proceeds to step S210.
In step S210, based on the signals from the left and right distance measuring sensors 5, it is determined whether there is an obstacle such as a parked vehicle on the side of the own vehicle within a predetermined distance from the own vehicle position. When it determines, it transfers to step S220, and when it determines with there being no obstruction, it transfers to step S230.
[0013]
In step S220, the distance and orientation relationship between the host vehicle and the obstacle is obtained based on the signal from the distance measuring sensor 5, and the position and direction of the host vehicle at that time calculated by the in-house both position grasping processing unit 3B are calculated. Based on the information, the location of the obstacle position on the global coordinate is specified and stored in the memory, and then the process proceeds to step S230.
[0014]
In step S230, based on the signal from the shift position sensor, it is determined whether or not the shift position is “R”, that is, whether or not the vehicle has been switched to a state in which the vehicle can travel backward, and when the shift position is “R”. Shifts to step S240 to perform end processing. However, if the shift position is not “R”, the process returns to step S210 to repeat the above-described obstacle detection.
[0015]
Here, since the obstacle position detection process is performed at almost predetermined sampling times, for example, as shown in FIG. 3, a plurality of parked vehicles exist in parallel on the left side in the forward traveling direction of the host vehicle. First, a plurality of points along the traveling direction of the own vehicle are detected as obstacle positions with respect to the surface portion (the front portion of the parked vehicle in FIG. 3) facing the side surface of the own vehicle in each parked vehicle. In the figure, the symbol P indicates an obstacle position.
[0016]
In step S240, as shown in FIG. 3B, grouping is performed by performing continuation processing on a plurality of detected obstacle positions (coordinate points in global coordinates), that is, each obstacle in each block. Obstacle positions are grouped every time, and each grouped obstacle position group is linearly approximated by the least squares method, etc., to identify the opposing surface position of each obstacle, and then the process ends and returns. To do.
[0017]
When the obstacle is a parked vehicle, as shown in FIG. 3B, each of the obtained straight lines represents the position of the parked vehicle surface (for example, the front surface position), and the line segment represents the width of the parked vehicle. Represents. Assuming parking in a parking lot, the obstacle facing the traveling vehicle is usually a parked vehicle, a fence, a wall, etc., so the facing surface of the obstacle can usually be linearly approximated. . However, if it is determined that a straight line approximation is impossible because the surface of the obstacle facing the host vehicle is a curved surface with a predetermined curvature or more, for example, the detected obstacle position is plotted for that portion. What is necessary is just to make an opposing surface position identify so that adjacent obstacle positions may be tied.
[0018]
Further, the controller body 3A is activated when an operation signal is input from the parking assist switch 9, and performs the process shown in FIG.
That is, first, in step S5, the in-house both-position grasp processing unit 3B is activated, and during the driving support process, it is possible to always grasp the position and orientation of the host vehicle in the set global coordinate system. In this way, the process proceeds to step S10.
[0019]
In step S10, after the surrounding map creation unit 3C is activated to create surrounding map data, the process proceeds to step S20.
In step S20, it is determined whether or not the shift position is “R” based on the signal from the shift position detection means. If the shift position is not “R”, the process proceeds to step S120. On the other hand, if it is determined that the position of the shift lever is “R”, the process proceeds to step S30.
[0020]
In step S30, after the image captured by the camera 2 is input, the process proceeds to step S40. In step S40, it is determined whether the viewpoint conversion switch is on. If the viewpoint conversion switch is off, the process proceeds to step S50. In step S120, the input image from the camera 2 is displayed on the monitor 4 as it is.
On the other hand, if it is determined in step S40 that the viewpoint conversion switch is on, the process proceeds to step S60, where the viewpoint conversion process is performed on the input image from the camera 2 in step S60, and as shown in FIG. The image is converted to an image viewed vertically downward from the virtual viewpoint set at the upper side position, so that the driver can easily recognize the situation behind the vehicle when moving the vehicle backward for parking, etc. ), And the process proceeds to step S70. Step S60 constitutes viewpoint conversion processing means.
[0021]
In step S70, the position of the host vehicle is displayed as an illustration for the image whose viewpoint has been changed, and the process proceeds to step S80.
In this process, the roof portion of the host vehicle should be reflected in the image actually captured from the virtual viewpoint, but the camera 2 installed behind the vehicle cannot capture the roof portion of the host vehicle, and after the viewpoint is converted. This is because the roof of the vehicle is not displayed in the image. The position of the own vehicle in the monitor 4 display is specified by displaying the position of the rear portion of the own vehicle as an illustration. Regarding the size of the illustration of the own vehicle, the width and length of the own vehicle are illustrated in a size that allows a margin of several centimeters.
[0022]
In step S80, it is determined whether or not there is an obstacle (mainly a parked vehicle) in the image after the viewpoint conversion. If there is no obstacle display, the process proceeds to step S110, and there is an obstacle display. Shifts to Step S90.
In step S90, the obstacle position approximated by a straight line is plotted on the image with a thick dotted line based on the position and orientation of the vehicle at the time of image input and the generated surrounding map data, and the process proceeds to step S100. Steps S100 and S110 constitute correction means.
[0023]
In step S100, a known masking process is performed on the obstacle on the image so that only the outer contour can be visually recognized, that is, the outer contour of the outer contour is erased with one color so as to erase the display information in the obstacle. After the display is converted to a solid display, the process proceeds to step S110. Step S100 constitutes masking means.
With this process, a distorted pattern or the like in the outer contour of each obstacle is in a display state that cannot be visually recognized.
[0024]
Here, in the present embodiment, for the side portion of the outer periphery contour of the obstacle that approximates the thick dotted line position along the surface position of the obstacle, the outer periphery contour is corrected so that the thick dotted line position is given priority. After that, the masking process is performed by regarding the position of the thick dotted line as the outer peripheral contour position of the obstacle.
In step S110, the image subjected to the above-described various processes is output to the monitor 4 as an image to be displayed on the monitor 4, and the process proceeds to step S120. As a result, if the viewpoint conversion switch is off, the image as it is is displayed on the monitor 4, and if the viewpoint conversion switch is on, the image after the above-described various conversion processes is displayed on the monitor 4.
[0025]
In step S120, it is determined whether or not the shift position is “P”. If it is determined that the shift position is “P”, that is, if it is detected that the parking process has been completed, the process proceeds to step S130 and the vehicle rear view is visually confirmed. After finishing the driving support process for assisting the vehicle, the assist process is stopped. As the termination process, for example, an operation stop command is output to the above-described both company position grasp processing unit 3B.
[0026]
On the other hand, when the position of the shift lever is not “P”, the process proceeds to step S20, and the above process is repeated to switch the image displayed on the monitor 4 at every predetermined cycling time.
Next, operation | movement, an effect | action, an effect, etc. of the said driving assistance apparatus are demonstrated.
The example described below is a case where the host vehicle is parked in a parking lot where a plurality of vehicles are parked.
[0027]
When the vehicle enters the parking lot and the driver turns on the parking assist switch 9 on the assumption that parking assistance is used, the global coordinates are set to grasp the position of the vehicle, and the vehicle travels forward. In order to create surrounding map data, when the facing surface position of an obstacle (mainly a parked vehicle) around the vehicle is acquired and the shift position is changed to “R”, the plurality of obstacles Based on the detection data, peripheral map data for a predetermined global coordinate is created.
[0028]
Subsequently, while the shift lever is “R” because the vehicle is parked, that is, in a state where the vehicle can travel backward and is actually traveling backward, the rear camera 2 The photograph is taken and the image is displayed on the monitor 4 in the vehicle, assisting the rear view of the rear of the vehicle and assisting driving.
At this time, when the driver feels that it is difficult to grasp the sense of distance behind and turns on the viewpoint conversion switch, the driver viewed the image taken by the camera 2 from the virtual viewpoint above the rear of the vehicle. Convert to image. At this time, an obstacle image of a parked vehicle or the like is greatly distorted. This is because the distance / height cannot be determined by the single camera 2.
[0029]
On the other hand, in the present embodiment, the obstacle image is converted into a display in which the outer periphery contour portion is filled with one color so that only the information of the outer periphery contour portion is displayed, and the obstacle information is It is displayed on the monitor 4.
Thereby, it is possible to reduce a sense of incongruity caused by the obstacle being displayed in a distorted manner for the driver watching the monitor 4. In addition, since the distorted pattern in the obstacle image is not displayed, that is, unnecessary information is not displayed on the monitor 4, the distance between the host vehicle and the obstacle becomes easy to understand, and more driving. It becomes easier for a person to visually recognize an obstacle behind the vehicle.
[0030]
Further, only one camera 2 is used. Of course, multiple units may be used. Furthermore, by referring to the surrounding map data, as shown in FIGS. 7 and 8, the position of the side of the obstacle near the rear of the moving vehicle is corrected, so that the obstacle in the image is converted by the viewpoint conversion. Even if distortion occurs, the position of the obstacle is optimized at least for the corrected portion.
[0031]
In addition, the image captured from the virtual viewpoint as shown in FIG. 6 should show the roof of the own vehicle, but the camera 2 installed behind the vehicle cannot capture the roof of the own vehicle and changes the viewpoint. When you do this, the roof of the host vehicle is not shown, but as shown in FIG. 7, the rear part of the host vehicle is illustrated and displayed on the monitor 4, so that the relative positional relationship between the obstacle and the rear part of the host vehicle that moves backward can be grasped. Is also easier.
[0032]
At this time, the size of the illustration of the host vehicle is set such that both the width and the length of the host vehicle have a margin of several centimeters, thereby making it easier to avoid a collision between the host vehicle and the obstacle.
It is possible to easily specify and display the position of the illustration of the host vehicle from the installation position of the camera 2 or the like.
[0033]
Then, when the parking operation is finished and the shift lever is “P”, that is, parking, the above process is stopped.
Here, when the driving state is temporarily changed from “R” to “D” or the like during the parking operation, the driving assistance is not required in the vehicle forward driving state. Therefore, the rear image display on the monitor 4 is also temporarily hidden. Of course, the monitor 4 may be displayed during temporary forward travel, but an image ahead of the host vehicle may be displayed during forward travel.
[0034]
When the obstacle is a vehicle, the displayed wheel portion may be excluded from the masking process target. That is, a parked vehicle is extracted from the obstacle in the image, and the displayed wheel portion is excluded from the masking target from the extracted parked vehicle, and masking processing is performed. Here, even if the wheels are displayed with some distortion, it seems that the driver does not feel uncomfortable. The part excluded from the masking process may be only a part of the displayed wheel part (for example, only a part near the outer contour).
[0035]
Thus, by not masking the wheel portion, it becomes possible to accurately display the position of the portion closest to the host vehicle when the vehicle is stopped.
In addition, in the said embodiment, although it is an example in case there are parked vehicles on both sides of the space where the host vehicle is parked, obstacles on both sides of the space where the host vehicle is parked when parking in the garage etc. It becomes a wall or a wall.
[0036]
Moreover, although the said embodiment demonstrated the case where the own vehicle parks, application of this driving assistance device is not necessarily limited to this. In short, the present invention is applicable if the host vehicle travels backward.
Moreover, although the case where the surrounding map data is created is illustrated in the above-described embodiment, an apparatus configuration in which the masking process is performed on an obstacle in an image obtained by simply converting the viewpoint without creating the surrounding map data. It is also good.
Moreover, in the said embodiment, although the system which assumed the driving assistance by the assistance of the back visual field at the time of reverse running was mentioned as an example, you may apply to the driving assistance by the assistance of the forward visual field at the time of forward running.
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing an apparatus configuration according to an embodiment of the present invention.
FIG. 2 is a diagram showing processing of a surrounding map creation unit according to an embodiment based on the present invention.
FIGS. 3A and 3B are diagrams illustrating processing for creating a surrounding map according to the embodiment of the present invention, where FIG. 3A shows the relationship between the host vehicle and the obstacle, and FIG. 3B shows the obstacle position in the global coordinate system. FIG.
FIG. 4 is a diagram showing processing of the controller main body according to the embodiment of the present invention.
FIG. 5 is a diagram for explaining a virtual viewpoint according to an embodiment of the present invention.
FIG. 6 is a diagram when imaging is performed from a virtual viewpoint.
FIG. 7 is a diagram when the viewpoint is changed.
FIG. 8 is a diagram showing an image after masking.
[Explanation of symbols]
1 Car body 2 CCD camera (imaging device)
3 Assist Controller 3A Controller Main Body 3B In-House Both Position Grasping Processing Unit 3C Surrounding Map Creation Unit 4 Monitor 5 Distance Sensor (Ranging Means)
6 Steering sensor 7 Wheel speed sensor 8 Shift position detection sensor 9 Parking assist switch 10 View point conversion switch

Claims (5)

Driving support for a vehicle that performs viewpoint conversion processing on an input image from an imaging device installed in the own vehicle to an image from a specific virtual viewpoint, and displays the viewpoint-converted image on an image display means to assist the driving of the vehicle A device,
Masking the obstacle image included in the input image in the image after the viewpoint conversion processing, and making the display of the obstacle on the image display means into a state where only the outer peripheral contour position can be recognized,
When it is determined that the obstacle is a vehicle, a masking process is performed on the vehicle body display part included in the input image, and at least a part of the wheel display part included in the input image is masked. A driving support apparatus for a vehicle, characterized by being excluded from the above. An imaging device that is installed in the host vehicle and can capture the outside of the vehicle, a viewpoint conversion processing unit that performs a viewpoint conversion process on an input image from the imaging device to an image from a specific virtual viewpoint, and a viewpoint converted by the viewpoint conversion processing unit Masking means for converting the display of the obstacle included in the input image in the image into a state where only the outer peripheral contour position can be recognized for the image, and an image capable of displaying the image processed by the masking means Display means,
  When the obstacle is determined to be a vehicle, the masking means sets the vehicle body display portion included in the input image as a processing target, and at least part of the wheel display portion included in the input image. A driving support apparatus for a vehicle, which is excluded from a processing target. Ranging means mounted on the host vehicle that detects the relative positional relationship between obstacles around the vehicle and the host vehicle, and based on detection information of the ranging means, the obstacle position is represented on the same coordinates, An obstacle map creating means for creating obstacle map data representing the presence status,
  A correction means for correcting an outer contour of an obstacle image included in the input image in the image after the viewpoint conversion based on the obstacle map data created by the obstacle map creation means. Item 3. The vehicle driving support device according to Item 2. 4. The vehicle driving according to claim 3, wherein the obstacle map creating means acquires information for creating obstacle map data from the distance measuring means when the host vehicle is in a forward travelable state. Support device. The image pickup apparatus is installed at a rear part of a vehicle body and can take an image of the rear of the host vehicle, and displays an image on the image display means at least when the vehicle is capable of traveling backward. The vehicle driving support device according to any one of claims 2 to 4.

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