JP4096251B2 - Vehicle periphery monitoring device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle periphery monitoring device that is mounted on a front portion or a rear portion of a vehicle, captures a field of view on the left and right sides of the vehicle, and presents the visual field image to a driver.
[0002]
[Prior art]
In recent years, a so-called back monitor in which a video camera is attached to the rear part of a vehicle such as an automobile and an image taken by the video camera is displayed on a monitor arranged at a predetermined position in the car is known. Various practical applications. This back monitor is mainly used to improve the safety at the time of reversing so that when the vehicle is moved backward, the rear that becomes a blind spot from the driver's seat can be confirmed on the monitor. As a monitor in this case, as a so-called car navigation device, a monitor for displaying a road map in the vicinity of the current position during traveling is often used. In addition, a display device dedicated to the back monitor may be arranged near the driver's seat.
[0003]
In addition to the rear part of the vehicle, a camera system for an automobile that has a plurality of cameras and monitors the surroundings has been devised, and a system for selecting a camera to be displayed on the display by the steering angle or the operation of the direction indicator is provided. It has been proposed (see Patent Document 1).
[0004]
Also, instead of the operation of the direction indicator, based on the electronic map data and the current position data of the vehicle, the vehicle travels the route set by the navigation device in cooperation with the navigation device that guides the route to the destination. Under such circumstances, there is also proposed a system for selecting a camera to be displayed on a display when the vehicle travels in the vicinity of a bent position on the route (see Patent Document 2).
[0005]
[Patent Document 1]
JP-A-10-258682 [Patent Document 2]
Japanese Patent Laid-Open No. 2002-225629
[Problems to be solved by the invention]
In the method of Patent Literature 1, when the camera image to be displayed is determined by the shape of the garage, not the turning angle of the steering wheel, the direction indicator, or the position of the shift lever, such as a garage at home. There is a problem that the video of the camera where you really want to see is not displayed.
[0007]
For example, in reverse parking, an image of a camera usually installed at the rear of the vehicle is displayed. However, the target when entering the garage is not behind the vehicle. In particular, in a garage at home, the garage is often placed with reference to objects that are not behind the vehicle, such as the distance from the fence on the passenger seat side and the relative position to the plant. These targets are also different depending on the driver who uses the same garage. Therefore, in a vehicle in which an image of a camera installed at the rear of the vehicle is automatically displayed when the shift position becomes the reverse position, the driver may not obtain information that the driver wants to obtain when entering the garage.
[0008]
The method of Patent Document 2 is effective only in a situation where the vehicle is traveling on the route set by the navigation device, and the camera position and the display switching timing of the camera image in that case cannot be determined by the driver. The problem remains that the image of the camera where you really want to see is not displayed.
[0009]
In view of the above circumstances, an object of the present invention is to provide a vehicle periphery monitoring device that automatically displays a video of a camera at a position a driver wants to see when parking in a predetermined garage.
[0010]
[Means for Solving the Problems and Effects of the Invention]
The present invention is a vehicle periphery monitoring device for solving the above problems. That is, a vehicle periphery monitoring device that is mounted on a vehicle and includes a plurality of video cameras for shooting and images around the vehicle,
In the vehicle, a point is registered, and it is set in which position the video camera is operated at that point. When it is determined that the vehicle has arrived at the point, A corresponding video camera is operated, and an image from the video camera is displayed on the display.
[0011]
More specifically, it is a vehicle periphery monitoring device that is mounted on a vehicle and includes a plurality of video cameras for shooting around the vehicle and a display that displays images shot by the video camera. ,
A registration unit for registering a position of a predetermined garage of the vehicle, and a position corresponding to the predetermined garage to which position of the video camera of the vehicle to be operated is selected from among the plurality of video cameras for photographing. A setting unit, a determination unit that determines whether the vehicle has arrived at the predetermined garage registered by the registration unit, and a case where the determination unit determines that the vehicle has arrived at the predetermined garage Video camera operating means for operating a video camera corresponding to the predetermined garage set by the setting means, and display means for receiving an image from the video camera and sending it to the display device. This is configured as a vehicle periphery monitoring device.
[0012]
According to the present invention, when parking in a frequently used parking lot such as at home or work, the structure of the parking lot and a place to be careful when parking are well known to the driver. For example, in the parking lot, when attention must be paid to the right side of the vehicle rather than the rear of the vehicle, the video camera at the position to be operated corresponding to the position of the parking lot (in this case, the right side of the vehicle) is registered. Then, when approaching the parking lot, it automatically switches to the image from the video camera, so the driver can obtain the necessary image information without any operation, and the risk is reduced. It is possible to park safely while avoiding it.
[0013]
If you use the map data search function of the navigation device and the function of detecting the current position of the vehicle as part of the means for registering the position of the parking lot and the means for determining whether or not the parking lot has been approached The present invention can be realized with an inexpensive and simple configuration.
[0014]
As a method of determining that the vehicle is parked close to the parking lot, in addition to the condition that the distance between the current position of the vehicle and the parking lot is a certain distance value or less, the vehicle speed of the vehicle is constant. If the condition that the speed is lower is added, a more accurate approach determination can be performed.
[0015]
Similarly, as a method of determining that the vehicle is parked close to the parking lot, in addition to the condition that the distance between the current position of the vehicle and the parking lot is equal to or less than a certain distance value, the vehicle moves backward. Even if the condition of detecting that the user is doing is added, the approach determination can be performed.
[0016]
Furthermore, if the present invention is applied, for example, if a road in a mountainous area is narrow and it is difficult to pass a road, and when the road passes by an oncoming vehicle, the situation of the road shoulder is projected with a video camera, it is dangerous. Can contribute to the advance prediction and fall prevention.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to examples shown in the drawings. FIG. 1 is a block diagram showing the overall configuration of a vehicle periphery monitoring device according to an embodiment of the present invention. The left front camera 1, the right front camera 2, the left side camera 3, the right side camera 4, and the like attached to the vehicle. It consists of a rear camera 5, an image switching synthesis ECU 6, a navigation device 7, a display 9, and a shift position switch 10.
[0018]
FIG. 2 is a block diagram showing the flow of signals with the image switching synthesis ECU 6 as the center.
[0019]
The left front camera 1, the right front camera 2, the left side camera 3, the right side camera 4, and the rear camera 5 are attached to the vehicle body and photograph the outside of the vehicle around the vehicle. The hatched portion in FIG. 1 is the shooting range of each camera. The captured image is sent to the image switching synthesis ECU 6.
[0020]
The display 9 is composed of a color liquid crystal display, and displays an image sent from the image switching synthesis ECU 6.
[0021]
The camera selection operation start switch 12, the camera selection switch 13, and the storage switch 14 are respectively connected to the image switching synthesis ECU 6 and used when performing a predetermined operation. In addition to these switches, switches (not shown) such as a pointing cursor are also included.
[0022]
For example, a touch switch or a mechanical switch integrated with the display 9 is used as the switch. The touch switch is composed of infrared sensors that are finely arranged in the vertical and horizontal directions on the screen of the display 9. For example, when the infrared ray is cut off with a finger or a touch pen, the cut-off position is represented by a two-dimensional coordinate value (X, Y). ) Is detected. With these switches, various instructions can be input.
[0023]
The shift position switch 10 transmits information corresponding to the shift lever position of the vehicle to the image switching composition ECU 6.
[0024]
The navigation device 7 receives a positioning signal from a positioning satellite via a connected antenna (not shown) and measures the current position of the vehicle. As the positioning signal, for example, a signal that is put into practical use as a GPS (Global Positioning System) can be used. The current position of the measured vehicle is sent to the image switching composition ECU 6.
[0025]
The image switching synthesis ECU 6 includes a control circuit 8 and a well-known signal processing circuit (not shown). The control circuit 8 is configured as a normal computer, and includes a known CPU 81, ROM 82, RAM 83, I / O 84 and a bus line 85 for connecting these configurations as shown in FIG.
[0026]
The CPU 81 controls the program and data stored in the ROM 82 and the RAM 83. As shown in FIG. 3, the ROM 82 stores an operating system (hereinafter referred to as OS) 82s and an image switching composition program 82p operating on the OS 82s. The image switching composition program 82p operates on the OS 82s with the image switching composition program work memory 83w as a work area. Furthermore, the work memory 83s of the OS 82s is formed in the RAM 83.
[0027]
Further, the nonvolatile memory 11 is connected to the CPU 81 as shown in FIG. The non-volatile memory 11 stores data that needs to be held at all times, such as the garage data 11a, since the stored contents are held even when the ignition switch of the vehicle is turned off.
[0028]
By adopting such a configuration, when the power is turned on, the image switching composition ECU 6 starts the image switching composition program 82p by the CPU 81 (FIG. 3), performs necessary initialization processing, and then performs a vehicle periphery monitoring device. Start the operation as. That is, the state of the camera selection operation start switch 12, the camera selection switch 13, the storage switch 14, and the shift position switch 10 is monitored, and the state of the vehicle periphery monitoring device and the processing according to the input of each switch are performed. The operation of the image switching composition ECU 6 described later is executed by the image switching composition program 82p.
[0029]
First, the garage location and camera position are set. FIG. 4 is a flowchart showing the flow of the setting operation. When the camera selection operation start switch 12 (FIG. 2) is pressed, the image switching composition ECU 6 (FIG. 2) detects the pressing of the switch and designates the location of the garage in the navigation device 7 (FIG. 2). A signal requesting map data is sent (S1).
[0030]
The navigation device 7 (FIG. 2) sends necessary data including map data to the image switching composition ECU 6 based on a request from the image switching composition ECU 6 (FIG. 2). A screen for setting the location of the garage as shown in (a) is displayed. (S2)
[0031]
The location of the garage is set using a method of specifying a point on a map, a place search function based on a place name, address, and telephone number, which the navigation device 7 (FIG. 2) normally has. When the input of the parameters necessary for the location search is completed, the parameters are sent from the image switching synthesis ECU 6 (FIG. 2) to the navigation device 7. The navigation device 7 searches for the location based on the received data, and sends the coordinate value data of the search point and the map data including the search point to the image switching synthesis ECU 6.
[0032]
The image switching composition ECU 6 (FIG. 2) displays the search result data sent from the navigation device 7 (FIG. 2) on the display 9 (FIG. 2). If the search result is correct, the process proceeds to the next step. If it is not correct, search again.
[0033]
When the location of the garage is determined, the image switching synthesis ECU 6 (FIG. 2) requests the coordinate value data of the corresponding garage from the navigation device 7 (FIG. 2). The navigation device 7 sends coordinate value data corresponding to the request from the image switching synthesis ECU 6.
[0034]
Next, the camera position to be displayed on the display 9 (FIG. 2) when the vehicle is received is selected (S3). A setting screen as shown in FIG. 6B is displayed on the display 9. In this embodiment, the driver parks the vehicle as close as possible to the column 15 (FIG. 1) on the roof of the garage in order to ensure sufficient space for getting off the vehicle on the right side of the vehicle as shown in FIG. try to. For this reason, the driver tends to pay attention to the state on the left side of the vehicle rather than the rear of the vehicle. Therefore, in this case, the left side camera 3 (FIG. 1) is selected.
[0035]
When the garage location is set and the camera position is selected, the display 9 (FIG. 2) displays the camera position selection screen after setting the garage location as shown in FIG. A display method may be adopted in which it is displayed as a sub window and can be selected while checking the garage display position on the map. In addition to the sub-window method, a method of dividing and displaying the garage location setting screen and the camera position selection screen at the same time may be adopted.
[0036]
When setting the location of the garage and selecting the camera position, a parking method for performing forward parking or backward parking may be set. This data may be stored in the garage data 11a (FIG. 3) of the nonvolatile memory 11. Thereby, the information from the shift position switch 10 (FIG. 2) can also be used to determine whether or not to park in the garage.
[0037]
When the designation of the garage location and the selection of the camera position are completed, the storage switch 14 (FIG. 2) is pressed (S4). At this time, the image switching composition ECU 6 (FIG. 2) stores the coordinate value data of the garage location and the camera position selected corresponding to the garage location as the garage data 11a (FIG. 3). As shown in FIG. 3, a plurality of garage locations and corresponding operation camera positions can be designated.
[0038]
With reference to the flowchart of FIG. 5, processing for automatically selecting a camera by determining that it is a home garage based on position information from the navigation device 7 (FIG. 2) will be described.
[0039]
The image switching composition ECU 6 (FIG. 2) periodically issues a request to the navigation device 7 (FIG. 2) to acquire the coordinate value of the current position of the vehicle (S11). Further, vehicle speed data is periodically acquired from a vehicle speed sensor (not shown) connected to the image switching synthesis ECU 6 for measuring the speed of the vehicle or the navigation device 7 (S12).
[0040]
From the acquired coordinate values and the coordinate value data of the garage in the garage data 11a (FIG. 3), it is determined whether or not the vehicle has come close to the garage. The criteria for determination include a case where the coordinate value of the current position of the vehicle matches the coordinate value data of the garage, and the distance between the current position of the vehicle and the garage becomes a certain value or less.
[0041]
When it is determined that the vehicle has come close to the garage, if the vehicle speed data falls below a predetermined speed (for example, 5 km / h), the vehicle is determined to enter the garage (S13: YES), and the garage data The operation camera position data in 11a (FIG. 3) is read, and an image from the camera is displayed on the display 9 (FIG. 2) (S14).
[0042]
Display on the display 9 (FIG. 2) continues while an unillustrated ignition switch (not shown) is on (S15: NO), and stops when the ignition switch is off (S15: YES).
[0043]
In addition to displaying only images from the camera at the set position, the display 9 (FIG. 2) can display images from the camera taken before dividing the screen and entering the garage. You may take the method of displaying simultaneously. The screen division form in this case is not particularly limited as long as the image from the camera used when entering the garage can be sufficiently confirmed.
[0044]
When it is determined that the vehicle is performing a warehousing operation, if the vehicle speed exceeds a predetermined speed (for example, 5 km / h), or if the vehicle is separated from the garage by a predetermined distance or more, image switching composition The ECU 6 (FIG. 2) determines that the vehicle has stopped warehousing, and returns the camera image displayed on the display 9 (FIG. 2) to the camera position displayed before the vehicle warehousing.
[0045]
A method of using information from the shift position switch 10 (FIG. 2) as a parameter for determining that the vehicle enters the garage may be adopted. That is, when it is determined in the above description that the vehicle has come close to the garage, if the information from the shift position switch 10 indicates that the shift lever of the vehicle is in the reverse position, the vehicle enters the garage. Can be determined.
[0046]
Further, in the information stored in the garage data 11a (FIG. 3), in addition to the location of the garage and the camera position, information for performing reverse parking as a parking method is stored. When it is determined that the vehicle is close to the garage, if the information of the shift position switch 10 indicates that the shift lever of the vehicle is in the retracted position, a determination method may be taken that the vehicle enters the garage. .
[0047]
When it is determined that the vehicle is performing a warehousing operation, if the information from the shift position switch 10 (FIG. 2) indicates that the shift lever of the vehicle is not in the reverse position, the image switching composition ECU 6 (FIG. 2). ) May determine that the vehicle has stopped warehousing and return the camera image displayed on the display 9 (FIG. 2) to the camera position displayed before the vehicle warehousing.
[0048]
When the information from the shift position switch 10 (FIG. 2) described above is used as a condition for determining that the vehicle enters the garage, the distance condition between the current position of the vehicle and the garage and the vehicle speed condition are set. In addition, you may use, and the method of using except a vehicle speed condition above may be taken.
[0049]
A method of integrating the image switching synthesis ECU 6 (FIG. 2) and the navigation device 7 (FIG. 2) to realize the vehicle periphery monitoring device of the present invention as a part of the function of the navigation device 7 may be adopted. In this case, the display 9 (FIG. 2) becomes unnecessary if the display device of the navigation device 7 is used, and the camera selection operation start switch 12 (FIG. 2), the camera selection switch 13 (FIG. 2), and the storage switch 14 (FIG. 2). ) And other switches (not shown) are not required if the operation switch group of the navigation device 7 is used.
[0050]
In the present embodiment, the operation at the time of warehousing of the vehicle has been described. However, the place where the image of the camera is switched to the set position may be a point where the vehicle is not parked other than the parking lot. In this case, the condition for determining the approach to the point can be dealt with by using only the distance between the current position of the vehicle and the point or changing the threshold value of the vehicle speed. Also, when registering a location, in addition to the operating camera position, set the vehicle status (parking, stopping, slow driving, etc.) at that location, and the vehicle behavior at that location matches the registered status In such a case, a method of switching the camera image to that at the set position may be adopted.
[0051]
Although the embodiments of the present invention have been described above, these are merely examples, and the present invention is not limited to them, and the knowledge of those skilled in the art can be used without departing from the scope of the claims. Various modifications based on this are possible.
[Brief description of the drawings]
FIG. 1 is a block diagram showing the overall configuration of a garage parking assist apparatus as an embodiment of the present invention.
FIG. 2 is a block diagram for explaining the flow of signals in each part centering on the image switching synthesis ECU. FIG. 3 is a block diagram for explaining the details of a control unit in the image switching synthesis ECU. FIG.
FIG. 5 is a flowchart showing an operation during parking in a garage.
FIG. 6 is an explanatory diagram showing an example of a display screen at the time of garage setting and camera selection.
FIG. 7 is an explanatory diagram showing a modified example of a display screen at the time of garage setting and camera selection.
[Explanation of symbols]
1 Left front camera 2 Right front camera 3 Left side camera 4 Right side camera 5 Rear camera 6 Image switching composition ECU
7 Navigation device 8 Control circuit 9 Display 10 Shift position switch 11 Non-volatile memory 12 Camera selection operation start switch 13 Camera selection switch 14 Memory switch 15 Post

Claims (8)

A vehicle periphery monitoring device that is mounted on a vehicle and includes a plurality of video cameras for photographing the periphery of the vehicle, and a display that displays images captured by the video camera,
If it is determined that the vehicle has arrived at the point by registering a point in the vehicle and setting the position at which the video camera is to be operated by the driver's prior operation. A vehicle periphery monitoring device comprising control means for operating the video camera and displaying the image on the display. A vehicle periphery monitoring device that is mounted on a vehicle and includes a plurality of video cameras for photographing the periphery of the vehicle, and a display that displays images captured by the video camera,
Registration means for registering the position of a predetermined garage of the vehicle;
Corresponding to the predetermined garage, among the plurality of video cameras for shooting, setting means for setting by a driver's prior operation which video camera position of the vehicle is to be operated;
Determination means for determining whether the vehicle has arrived at the predetermined garage registered by the registration means;
When it is determined by the determining means that the vehicle has arrived at the predetermined garage, a video camera operating means for operating a video camera corresponding to the predetermined garage set by the setting means;
Display means for receiving an image from the video camera and sending it to the display;
A vehicle periphery monitoring device comprising:   3. The vehicle periphery monitoring device according to claim 2, wherein the display unit includes an image transmission unit that transmits image data from the display unit and the video camera to a display unit of the display unit.   The determination means calculates a distance between the vehicle and the predetermined garage based on position detection means for detecting the current position of the vehicle and current position data of the vehicle obtained from the position detection means. The vehicle periphery monitoring device according to any one of claims 2 to 3, wherein the vehicle is determined to have arrived at the predetermined garage when the distance is within a predetermined distance.   The determination means calculates a distance between the vehicle and the predetermined garage based on position detection means for detecting the current position of the vehicle and current position data of the vehicle obtained from the position detection means. And determining that the vehicle has arrived at the predetermined garage when it is detected that the measured vehicle speed is within a predetermined distance and the vehicle speed measured for the vehicle is below the predetermined speed. The vehicle periphery monitoring device according to any one of claims 2 to 3.   The determination means calculates a distance between the vehicle and the predetermined garage based on the current position data of the vehicle obtained from the position detection means, the calculated distance is within a predetermined distance, and the The vehicle periphery monitoring device according to any one of claims 2 to 3, wherein when detecting that the vehicle is moving backward, it is determined that the vehicle has arrived at the predetermined garage. A storage that stores the position of the predetermined garage location registered by the registration means and the position of the video camera for shooting that is set by the setting means and operates in accordance with the predetermined garage. The vehicle periphery monitoring device according to any one of claims 2 to 6, further comprising means. The registration means and the setting means are capable of registering and setting a plurality of associations between the position of the predetermined garage location and the position of the video camera to be operated corresponding to the predetermined garage. The vehicle periphery monitoring device according to any one of claims 2 to 7.

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