JP4222858B2 - Moving object rear confirmation device - Google Patents
Moving object rear confirmation device Download PDFInfo
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- JP4222858B2 JP4222858B2 JP2003065839A JP2003065839A JP4222858B2 JP 4222858 B2 JP4222858 B2 JP 4222858B2 JP 2003065839 A JP2003065839 A JP 2003065839A JP 2003065839 A JP2003065839 A JP 2003065839A JP 4222858 B2 JP4222858 B2 JP 4222858B2
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- Prior art keywords
- image
- vehicle
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Description
【０００１】
【発明の属する技術分野】
本発明は、移動体の後方を撮像するカメラを有する移動体の後方確認装置に関する。
【０００２】
【従来の技術】
車両や船舶などの移動体が後進中に、その後方に存在する物体との衝突を防ぐために、超音波式バックセンサーで物体との距離を計測したり、カメラの撮像を表示させたりする後方確認装置が考えられた（例えば、特許文献１参照。）。
【０００３】
【特許文献１】
特開平５−１０３２３６号公報（第１図）
【０００４】
【発明が解決しようとする課題】
しかしながら、後方の撮像を表示しても、車両と後方の物体との相対的な位置関係が不明であるという問題がある。
【０００５】
【課題を解決するための手段】
本発明の移動体の後方確認装置はかかる点に鑑みなされたもので、移動体に保持され前記移動体の一部を含んで前記移動体の後方を撮像する複数のカメラと、該複数のカメラの撮像を同一画面上に表示する表示部と、前記移動体の一部から前記物体までの離間距離を検出する位置検出手段と、該位置検出手段が検出した離間距離を前記複数のカメラの撮像のうち最も前記物体に近いカメラの撮像に重畳して前記表示部に表示させる制御手段を備える。
【０００６】
これにより、使用者は車両と後方の物体との相対的な位置関係を明確に知ることができる。
【０００７】
【発明の実施の形態】
本発明の実施の形態を図面に基づき説明する。本実施の形態は後部確認機能を備えたナビゲーション装置であり、図１にその要部の構成をブロック図で示す。
（１）は制御回路であり、ＲＯＭ（２）に書き込まれたプログラムに基づいて各部を制御する。（３）はＲＡＭであり、制御回路（１）の動作に必要な情報を記憶する。（４）はＧＰＳ（Ｇｌｏｂａｌ Ｐｏｓｉｔｉｏｎｉｎｇ Ｓｙｓｔｅｍ）測位手段であり、ＧＰＳ衛星からの電波を受信して現在位置を測定し、測定データを制御回路（１）に出力する。（５）はＤＶＤ再生装置であり、地図情報が書き込まれているＤＶＤから地図情報を読み取る
（６）（７）（８）はＣＣＤ（Charge Coupled Device）方式のカメラであり、図２，３に示す如く、夫々車両の後部の左方、中央、右方に固定保持される。いずれも広角レンズを有しており、水平の視野角は１２０度、垂直の視野角は９０度である。カメラ（６）（７）（８）はいずれも後部バンパーの上部に位置し、後部バンパーの一部を撮像できるように固定保持される。撮像データを制御回路（１）に出力する。
【０００８】
（９）（１０）は距離測定部（超音波バックセンサー）であり、図２，３に示す如く、夫々車両の後部バンパーの左右に固定保持される。距離測定部（９）（１０）は超音波を発し、物体（Ａ）で反射される超音波の受信時間により距離測定部（９）（１０）は超音波と物体間の距離を計測する。そして、この距離データを制御回路（１）に出力する。
【０００９】
（１１）は液晶の表示部であり、後方確認やナビゲーションに係る画像や文字を制御回路（１）の制御に基づき表示する。（１２）は使用者が操作を行う入力部であり、鏡像するか否かを切り替える鏡像キー（１２１）や、ナビゲーション機能を操作するキー（図示せず）を有する。
【００１０】
上述の構成による後方確認動作を説明する。カメラ（６）（７）（８）による夫々の撮像は制御回路（１）の制御によって表示部（１１）に表示される。その表示モードは撮像が左右反転しない通常モードと左右判定する鏡像があり、両モードは鏡像キー（１２１）の操作によって切り替えられる。
【００１１】
図４は通常モードの表示を示す。通常モードは運転者が直接後方を見るような表示方法であり、車両の左方のカメラ（６）の撮像が表示部（１１）の右方に、中央のカメラ（７）の撮像が表示部（１１）の中央に、右方のカメラ（８）の撮像が表示部（１１）の左方に表示される。
【００１２】
図５は通常モードの表示を示す。通常モードは運転者がバックミラーで後方を見るような表示方法であり、車両の左方のカメラ（６）の撮像が表示部（１１）の左方に左右反転画像で、中央のカメラ（７）の撮像が表示部（１１）の中央に左右反転画像で、右方のカメラ（８）の撮像が表示部（１１）の右方に左右反転画像で表示される。
【００１３】
左右の距離測定部（９）（１０）が検出した後方の物体（Ａ）までの距離の情報が制御回路（１）に入力される。制御回路（１）はこの二つの距離から２次元の物体（Ａ）の位置を計算する（特許文献１の図3を参照）。カメラからバンパー（Ｂ）の位置は既知数であるので、制御回路（１）はバンパー（Ｂ）から物体（Ａ）までの離間距離を計算する。また、検出した物体（Ａ）に一番近いカメラを計算する。そして、図４，５に示す如く、検出した物体（Ａ）に一番近いカメラの撮像に重ねて、バンパー（Ｂ）から物体（Ａ）までの離間距離を表示する。尚、距離測定部を３台備えて物体（Ａ）の３次元の位置を測定してもよい。
【００１４】
そして、制御手段（１）は検出した物体（Ａ）に一番近いカメラのみを駆動させ、他のカメラの撮像は表示させない（図６参照）。
【００１５】
上述の如く、本願発明は車両に保持され移動体の後方を撮像するカメラであって、保持される車両の一部を含んで撮像する位置に保持される。
【００１６】
これにより、使用者は車両と後方の物体との相対的な位置関係を明確に知ることができる。
【００１７】
【発明の効果】
車両などの移動体が後進中の後方に存在する物体をカメラで撮像する後方確認装置において、保持される車両の一部を含んで撮像される位置に保持されるため、使用者は車両と後方の物体との相対的な位置関係を明確に知ることができる。
【図面の簡単な説明】
【図１】本発明の要部の構成を示すブロック図である。
【図２】カメラと距離測定部の取付位置を示す平面図である。
【図３】カメラと距離測定部の取付位置を示す側面図である。
【図４】鏡像でない表示を示す平面図である。
【図５】鏡像表示を示す平面図である。
【図６】後方の物体に最も近いカメラのみの撮像を選択した表示を示す平面図である。
【符号の説明】
１ 制御回路
４ ＧＰＳ測位手段
６ カメラ（左）
７ カメラ（中央）
８ カメラ（右）
９ 距離測定部（左）
１０ 距離測定部（右）
１１ 表示部
１２１ 鏡像キー
Ｂ バンパー[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a moving object rear confirmation device having a camera that images the rear of a moving object.
[0002]
[Prior art]
Backward confirmation that a moving object such as a vehicle or a ship is moving backwards, measures the distance to the object with an ultrasonic back sensor, or displays the image of the camera to prevent collision with an object existing behind it. An apparatus was conceived (for example, see Patent Document 1).
[0003]
[Patent Document 1]
Japanese Patent Laid-Open No. 5-103236 (FIG. 1)
[0004]
[Problems to be solved by the invention]
However, there is a problem that the relative positional relationship between the vehicle and the rear object is unknown even when the rear imaging is displayed.
[0005]
[Means for Solving the Problems]
The apparatus for confirming the rear of a moving body according to the present invention has been made in view of the above points, and includes a plurality of cameras that are held by a moving body and that include a part of the moving body and images the back of the moving body, and the plurality of cameras. Display on the same screen, position detection means for detecting a separation distance from a part of the moving body to the object, and the separation distances detected by the position detection means by the plurality of cameras. Control means for superimposing on the imaging of the camera closest to the object, and displaying on the display unit.
[0006]
Thus, the user can clearly know the relative positional relationship between the vehicle and the object behind.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described with reference to the drawings. This embodiment is a navigation apparatus having a rear confirmation function, and FIG. 1 is a block diagram showing the configuration of the main part.
(1) is a control circuit which controls each part based on the program written in ROM (2). (3) is a RAM which stores information necessary for the operation of the control circuit (1). (4) is a GPS (Global Positioning System) positioning means that receives radio waves from GPS satellites, measures the current position, and outputs the measurement data to the control circuit (1). (5) is a DVD playback device, and reads map information from a DVD in which map information is written. (6), (7), and (8) are CCD (Charge Coupled Device) type cameras. As shown, the vehicle is fixedly held at the left, center and right of the rear of the vehicle. Each has a wide-angle lens, the horizontal viewing angle is 120 degrees, and the vertical viewing angle is 90 degrees. The cameras (6), (7), and (8) are all located above the rear bumper, and are fixedly held so that a part of the rear bumper can be imaged. The imaging data is output to the control circuit (1).
[0008]
(9) and (10) are distance measuring units (ultrasonic back sensors), which are fixedly held on the left and right of the rear bumper of the vehicle, as shown in FIGS. The distance measuring units (9) and (10) emit ultrasonic waves, and the distance measuring units (9) and (10) measure the distance between the ultrasonic waves and the object based on the reception time of the ultrasonic waves reflected by the object (A). The distance data is output to the control circuit (1).
[0009]
(11) is a liquid crystal display unit that displays images and characters related to backward confirmation and navigation based on the control of the control circuit (1). Reference numeral (12) denotes an input unit that is operated by the user, and includes a mirror image key (121) for switching whether or not to mirror and a key (not shown) for operating a navigation function.
[0010]
The backward confirmation operation by the above-described configuration will be described. The respective images taken by the cameras (6), (7), and (8) are displayed on the display unit (11) under the control of the control circuit (1). The display mode includes a mirror image that determines right and left as a normal mode in which imaging is not reversed horizontally, and both modes are switched by operating the mirror image key (121).
[0011]
FIG. 4 shows the display in the normal mode. The normal mode is a display method in which the driver looks directly behind. The image of the camera (6) on the left side of the vehicle is on the right side of the display unit (11), and the image of the center camera (7) is on the display unit. In the center of (11), the image of the right camera (8) is displayed on the left of the display unit (11).
[0012]
FIG. 5 shows the display in the normal mode. The normal mode is a display method in which the driver looks rearward with a rearview mirror. The image of the left camera (6) of the vehicle is a left-right reversed image on the left side of the display unit (11), and the center camera (7 ) Is displayed as a horizontally reversed image in the center of the display unit (11), and the image of the right camera (8) is displayed as a horizontally reversed image on the right side of the display unit (11).
[0013]
Information on the distance to the rear object (A) detected by the left and right distance measuring units (9) and (10) is input to the control circuit (1). The control circuit (1) calculates the position of the two-dimensional object (A) from these two distances (see FIG. 3 of Patent Document 1). Since the position of the bumper (B) from the camera is a known number, the control circuit (1) calculates the separation distance from the bumper (B) to the object (A). Further, the camera closest to the detected object (A) is calculated. Then, as shown in FIGS. 4 and 5, the distance from the bumper (B) to the object (A) is displayed so as to be superimposed on the image of the camera closest to the detected object (A). Note that three distance measuring units may be provided to measure the three-dimensional position of the object (A).
[0014]
And a control means (1) drives only the camera nearest to the detected object (A), and does not display the imaging of another camera (refer FIG. 6).
[0015]
As described above, the present invention is a camera that is held by a vehicle and images the rear of a moving body, and is held at a position for imaging including a part of the vehicle that is held.
[0016]
Thus, the user can clearly know the relative positional relationship between the vehicle and the object behind.
[0017]
【The invention's effect】
In a backward confirmation device that captures an object existing behind a moving object such as a vehicle with a camera, the vehicle is held at a position where the image is captured including a part of the vehicle being held. It is possible to clearly know the relative positional relationship with the object.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a main part of the present invention.
FIG. 2 is a plan view showing attachment positions of a camera and a distance measuring unit.
FIG. 3 is a side view showing attachment positions of a camera and a distance measuring unit.
FIG. 4 is a plan view showing a display that is not a mirror image.
FIG. 5 is a plan view showing a mirror image display.
FIG. 6 is a plan view showing a display in which only the camera closest to the object behind is selected.
[Explanation of symbols]
1
7 Camera (center)
8 Camera (right)
9 Distance measuring unit (left)
10 Distance measuring unit (right)
11 Display 121 Mirror image key B Bumper
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003065839A JP4222858B2 (en) | 2003-03-12 | 2003-03-12 | Moving object rear confirmation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003065839A JP4222858B2 (en) | 2003-03-12 | 2003-03-12 | Moving object rear confirmation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2004268862A JP2004268862A (en) | 2004-09-30 |
| JP4222858B2 true JP4222858B2 (en) | 2009-02-12 |
Family
ID=33126714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2003065839A Expired - Fee Related JP4222858B2 (en) | 2003-03-12 | 2003-03-12 | Moving object rear confirmation device |
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| Country | Link |
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| JP (1) | JP4222858B2 (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63169340U (en) * | 1987-04-27 | 1988-11-04 | ||
| JPH0673978U (en) * | 1993-03-26 | 1994-10-18 | 日産車体株式会社 | Vehicle monitoring device |
| JPH1178693A (en) * | 1997-09-16 | 1999-03-23 | Niles Parts Co Ltd | Monitor device for vehicle |
| JP3626613B2 (en) * | 1998-11-13 | 2005-03-09 | 日産車体株式会社 | Obstacle detection display |
| JP2001191846A (en) * | 2000-01-11 | 2001-07-17 | Ichikoh Ind Ltd | Confirmation device for vehicle |
| JP2002029349A (en) * | 2000-07-13 | 2002-01-29 | Nissan Motor Co Ltd | Device for recognizing vehicular circumference |
-
2003
- 2003-03-12 JP JP2003065839A patent/JP4222858B2/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| JP2004268862A (en) | 2004-09-30 |
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