JP4238429B2 - Travel support device for moving body - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a travel support apparatus for a mobile body, and more particularly to a travel support apparatus for a mobile body that displays a plurality of images in different directions on one screen at a time.
[0002]
[Prior art]
2. Description of the Related Art In recent years, there has been proposed a driving support device that provides meaningful information for driving to a driver in a moving body such as an automobile. For example, there is a camera mounted on the front of a vehicle that displays images taken in the left direction and the right direction on a display mounted in the vehicle. This driving support device is particularly useful at intersections with poor visibility.
[0003]
[Problems to be solved by the invention]
The display mounted in the vehicle is often mounted at a position deviated from the field of view seen when the driver drives the vehicle. For this reason, if the driver pays attention to the display while traveling, there is a danger that the driver's field of view will deviate from the range necessary for traveling during that time. Therefore, when providing visual information to the driver, it is desirable that an easy-to-see display that allows the display contents to be grasped at a glance is performed. In addition, the information provided to the driver only needs to be provided when necessary. If the information is provided when not necessary, the driving operation is hindered.
[0004]
Furthermore, at intersections with poor visibility, it is desirable to actively provide the driver with information that needs attention when traveling, such as pedestrians and passing vehicles.
[0005]
The present invention has been made to solve the above-described problems, and one of its purposes is to display a plurality of images taken in different directions on a single screen when the shooting directions of the plurality of images are viewed at a glance. It is an object of the present invention to provide a traveling support device for a mobile object that can display an easily-readable screen and can improve safety.
[0006]
Another object of the present invention is to provide a traveling support device for a moving body capable of displaying a plurality of images taken in different directions at a desired timing.
[0007]
Still another object of the present invention is to provide a travel support device for a mobile body that can provide information that requires attention when the mobile body is traveled.
[0008]
[Means for Solving the Problems]
According to one aspect of the present invention to achieve the above-described object, a travel support device for a mobile object is attached to the mobile object, The right image and the left direction are imaged with respect to the moving direction of the moving body. Imaging means for outputting an image; Navigation image output means for outputting a navigation image in which the current position of the moving body is marked on the road map, and a superimposed image in which the left image is superimposed on the right image output by the imaging means on the navigation image output by the navigation image output means Creating means and superimposition output by the synthesizing means Display means for displaying an image, Right image and left Each image has a length in the height direction at an angle from the moving direction of the moving object. Proportionally shorter The
[0010]
Preferably, the mobile travel support device is provided between the imaging unit and the display unit, and displays the display unit. Right image and left Switching means for switching to an image including an image is further provided.
[0011]
More preferably, the travel support device of the mobile object calculates a distance between the mobile object and the intersection based on the position of the mobile object on the road map, and the mobile object is approaching the intersection based on the calculated distance. It further comprises an approach detection means for outputting the approach information shown, and the switching means switches the image displayed on the display means based on the approach information output from the approach detection means.
[0012]
More preferably, the travel support device for a mobile object further includes an instruction unit that outputs an instruction signal indicating the movement direction of the mobile object, and a speed detection unit for detecting a travel distance per unit time of the mobile object, The means is characterized in that the display of the display means is switched based on outputs from the instruction section and the speed detection section.
[0013]
More preferably, the travel support device for a mobile object is Right image and left It further includes moving object detection means for detecting a moving object from the image, and the switching means switches the display of the display means when the moving object is detected by the moving object detection means.
[0014]
More preferably, the traveling support apparatus for a moving body further includes notification means for notifying that the moving object is detected by the moving object detection means.
[0015]
More preferably, the notifying means of the traveling support device for a moving body is: Right image and left A moving object detecting means for detecting a moving object from the image and a notifying means for notifying that the moving object has been detected by the moving object detecting means are further provided.
[0016]
More preferably, the notifying means of the traveling support device for a moving body is: Right image and left The moving object included in the image is displayed with a predetermined mark on the display means.
[0017]
According to these inventions, it is possible to provide an easy-to-see screen in which the shooting direction of each of a plurality of images taken in different directions can be seen at a glance, and to provide a traveling support device for a mobile object with improved safety. it can.
[0018]
In addition, it is possible to provide a travel support device for a moving body capable of displaying a plurality of images taken in different directions at a desired timing.
[0019]
Furthermore, it is possible to provide a travel support device for a mobile object that can provide information that requires attention in traveling the mobile object.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the driving assistance apparatus in embodiment of this invention is demonstrated. In the drawings, the same reference numerals denote the same or corresponding members.
[0021]
[First Embodiment]
FIG. 1 is a block diagram showing a schematic configuration of a driving support apparatus according to the first embodiment of the present invention. Referring to FIG. 1, the traveling support apparatus for a moving body displays an image displayed on imaging unit 15, navigation unit 50, image display unit 17, and image display unit 17 for capturing a plurality of images in different directions. An image switching unit 10 for switching between and a switch 16 for outputting a switching signal to the image switching unit 10.
[0022]
The imaging unit 15 is provided in front of the vehicle, for example, on the front bumper, and can capture images of the right direction and the left direction with respect to the traveling direction of the vehicle with one camera. Here, the imaging range of the imaging unit 15 will be described. FIG. 2 is a diagram for explaining the imaging range of the imaging unit 15. Referring to FIG. 2, a state in which a vehicle 60 travels from a narrow road to a wide road at an intersection where a narrow road and a wide road intersect is shown. The driver's field of view 63 is limited by the obstacles 61 and 62 on both sides of the narrow road. At this time, the image capturing unit 15 can capture the right direction and the left direction of the wide road by causing the bumper portion in front of the vehicle 60 to slightly enter the wide road. As a result, areas 64 and 65 (indicated by hatching in the figure) that are out of the driver's field of view and can be imaged by the imaging unit 15 are generated. The driving support apparatus in the present embodiment displays right and left images on the image display unit 17 with respect to the traveling direction of the vehicle imaged by the imaging unit 15.
[0023]
The imaging unit 15 uses two cameras, a camera that captures only the right direction and a camera that captures only the left direction, as long as it can capture images in the right and left directions with respect to the traveling direction of the vehicle. May be.
[0024]
Returning to FIG. 1, the image display unit 17 is a display provided inside the vehicle. For example, a liquid crystal display device, a CRT, a plasma display panel, or the like can be used.
[0025]
The navigation unit 50 includes a control unit 51 for controlling the entire navigation unit 50, a storage unit 56 for storing road map information, a vehicle speed sensor 52 for detecting a moving distance of the vehicle per unit time, A direction sensor 53 for detecting the direction in which the vehicle travels, a global positioning system (GPS) 54 for detecting the current position of the vehicle, and a TV tuner 55 for receiving a television signal are included.
[0026]
The navigation unit 50 grasps the position on the road map stored in the storage unit 56 based on information obtained from the GPS 54. Further, by detecting the travel locus of the vehicle based on the outputs of the vehicle speed sensor 52 and the angle sensor 53, the position on the road map that changes as the vehicle travels is detected.
[0027]
The control unit 51 outputs a navigation image (abbreviated as a navigation image in the figure) indicating the current position of the vehicle to the image switching unit 10. The navigation image is an image for indicating the current position of the vehicle, and is an image in which a mark indicating the vehicle is attached to the current position of the vehicle on the road map.
[0028]
Further, the navigation unit 50 detects whether or not the vehicle is approaching the intersection based on the current position on the road map detected based on the outputs of the GPS 54, the vehicle speed sensor 52, and the direction sensor 53. The condition for judging that the vehicle is approaching the intersection in the road map stored in the storage unit 56 is as follows. (1) The vehicle proceeds toward the intersection in the road map stored in the storage unit 56. (2) The distance between the current position of the vehicle and the intersection is shorter than a predetermined distance. When these two conditions are satisfied, the approach information is output to the image switching unit 10. The predetermined distance is, for example, about 20 [m], and may be a distance that allows the vehicle to start decelerating while traveling toward the intersection.
[0029]
Further, the navigation unit 50 detects whether or not the vehicle has passed the intersection, and turns off the approach information output to the image switching unit 10. The determination that the vehicle has passed the intersection is whether or not the distance between the current position of the vehicle and the intersection is greater than a predetermined distance.
[0030]
The vehicle speed sensor 52 outputs a vehicle speed signal to the control unit 51 and also outputs a vehicle speed signal to the image switching unit 10. The switching unit 10 selects one of a captured image composed of a plurality of images in different directions output from the imaging unit 15, a navigation image output from the navigation unit 50, a TV image, and a composite image, and displays the image display unit 17. Output to. The composite image will be described in detail later.
[0031]
The image switching unit 10 switches the output of the navigation image or the TV image to the output of the captured image or the composite image based on the approach information received from the navigation unit 50 and the vehicle speed signal. Processing for switching images by the image switching unit 10 will be described in detail later.
[0032]
The switch SW16 is a switch for switching an image output from the image switching unit 10 by a manual operation. The switching signal of the switching SW 16 is given the highest priority when switching images in the image switching unit 10.
[0033]
FIG. 3 is a block diagram illustrating a detailed configuration of the image switching unit. Referring to FIG. 3, image switching unit 10 includes a control unit 11 for controlling the entire image switching unit and a switching unit 12 for switching an image to be output to image display unit 17. The switching unit 12 includes a combining unit 13 for combining the captured image and the navigation image.
[0034]
A vehicle speed signal and approach information output from the navigation unit 50 are input to the control unit 11. The control unit 11 outputs a switching signal for switching an image to be output to the image display unit 17 to the switching unit 12 based on the received vehicle speed signal and the approach information.
[0035]
The synthesizing unit 13 creates a synthesized image obtained by synthesizing the navigation image output from the navigation unit 50 and the captured image output from the imaging unit 15. A composite image is an image in which a captured image is superimposed on a navigation image. Therefore, the synthesized image includes a part of the navigation image and the captured image. In the synthesis of the captured image in the synthesis unit 13, the navigation image and the captured image are synchronized based on the synchronization signal, and the composite image is created by switching the output of the captured image and the navigation image at a predetermined timing.
[0036]
The switching unit 12 selects any one of the input navigation image, TV image, captured image, and synthesized image synthesized by the synthesizing unit 13 based on the switching signal received from the control unit 11, and the image display unit 17 to output. The switching unit 12 can switch whether an image output to the image display unit 17 is a captured image or a composite image by a dip switch (not shown) or the like.
[0037]
In the present embodiment, the image switching unit 10 is provided separately from the navigation unit 50, but the image switching unit 10 may be included in the navigation unit 50. In this case, the control unit 11 of the image switching unit 10 and the control unit 51 of the navigation unit 50 can be combined into one.
[0038]
Next, the captured image displayed on the image display unit 17 will be described. FIG. 4 is a first diagram illustrating an example of a captured image output by the imaging unit 15. Referring to FIG. 4, captured image 70 includes a right image 71a captured in the right direction with respect to the traveling direction of the vehicle, and a left image 71b captured in the left direction. The right image 71a and the left image 71b have a shape in which the length in the height direction of each image becomes longer in proportion to the angle from the traveling direction of the vehicle. The right image 71a has a shape in which the length in the height direction of the right image is longer, and the left image 71b has a shape in which the length in the height direction of the left image is longer.
[0039]
Further, the right image 71 a and the left image 71 b are divided by the dividing unit 72. Further, an arrow indicating that the right image 71a is the right image and a symbol 73a composed of the characters “right” are attached to the upper portion of the right image 71a, and an arrow indicating that the left image 71b is the left image and “left”. A symbol 73b consisting of the above characters is attached to the upper part of the left image 71b.
[0040]
Therefore, in the captured image 70, the right image 71a and the left image 71b are shaped so that the length in the height direction of the image is increased in proportion to the angle from the traveling direction of the vehicle. The image 71b is an easy-to-see image that can be distinguished from the captured image 70 at a glance.
[0041]
FIG. 5 is a second diagram illustrating an example of a captured image output by the imaging unit 15. The captured image 75 shown in FIG. 5 can be used in place of the captured image 70 shown in FIG. Referring to FIG. 5, the right image 71 a and the left image 71 b of the captured image 70 shown in FIG. 4 increase the length in the height direction of the image in proportion to the angle from the traveling direction of the vehicle. The captured image 75 is a shape in which the right image and the left image are reduced in length in the height direction in proportion to the angle from the traveling direction of the vehicle. Figure 5 The right image 76a has a shape in which the length in the height direction of the right image is shorter, and the left image 76b has a shape in which the length in the height direction of the left image is shorter. It has become. Since other configurations are the same as those of captured image 70 shown in FIG. 5, description thereof will not be repeated here.
[0042]
Thus, the captured image 75 has the right image 76a and the left image 76b in a shape that shortens the length in the height direction of the image in proportion to the angle from the traveling direction of the vehicle. The image 76a or the left image 76b can be discriminated at a glance.
[0043]
The captured images 70 and 75 are superimposed by the image processing unit provided in the imaging unit 15 with the dividing unit 72 and the symbols 73a and 73b. Further, an image processing unit that performs this superimposition may be provided in the image switching unit 10. In addition, a mask for displaying the division unit 72 and the symbols 73a and 73b on the captured image may be inserted between the lens constituting the optical system of the imaging unit 15 and the imaging element.
[0044]
Note that the captured image 70 shown in FIG. 4 and the captured image 75 shown in FIG. 5 change the length in the height direction of the right image and the left image in proportion to the angle from the traveling direction of the vehicle. However, the angle from the direction of travel of the vehicle and the length in the height direction of the image need not be in direct proportion, and the direction of travel of the vehicle and the length in the height direction of the image, such as inverse proportion, are It can be a shape having a relationship.
[0045]
FIG. 6 is a third diagram illustrating an example of a captured image output by the imaging unit 15. Referring to FIG. 6, captured image 85 includes a front image 88 captured in the traveling direction (front) of the vehicle, a right image 86 a captured in the right direction, and a left image 86 b captured in the left direction. The previous image 88, the right image 86a, and the left image 86b are divided by the dividing unit 72, respectively. Further, an arrow indicating that the right image 86a is an image obtained by capturing the right direction of the vehicle and a symbol 73a composed of the characters “right” are displayed at the top of the right image 86a, and the left image 86b is an image obtained by capturing the left direction. A symbol 73b composed of an arrow indicating that the character is “right” and the character “right” is displayed on the upper portion of the left image 86b, and a symbol 73c composed of a character “front” indicating that the previous image 88 is an image obtained by capturing the forward direction. Is displayed at the top of the left image 88.
[0046]
For example, the front image 88 is an image obtained by imaging with a camera installed in a vehicle rearview mirror or the like, and the right image 86a and the left image 86b image the right direction provided in a vehicle bumper or the like. It is the image obtained by image-capturing with the camera and the camera which images the left direction, respectively. Further, the right image 86a and the left image 86b are images obtained by imaging with a camera that is provided in a bumper in front of the vehicle and can simultaneously capture the right direction and the left direction of the vehicle with one image sensor.
[0047]
The right image 86a and the left image 86b have a shape in which the length in the image height direction is increased in proportion to the angle from the traveling direction of the vehicle. Therefore, the captured image 85 is displayed in a shape that can distinguish the right image 86, the left image 87, and the previous image 88 at a glance.
[0048]
The right image 86a, the left image 86b, and the previous image 88 are synthesized by the image processing unit provided in the imaging unit 15 or the image switching unit 10, and the dividing unit 72 and the arrows 73a and 73b are superimposed. .
[0049]
Next, a synthesized image created by synthesizing the captured image and the navigation image in the synthesizing unit 13 will be described. FIG. 7 is a diagram illustrating an example of a composite image created by the composition unit 13. The composite image 80 includes a partial region 83 of the navigation image, a right image 81a obtained by imaging the right side with respect to the traveling direction of the vehicle, and a left image 81b obtained by imaging the left side. A partial area 83 of the navigation image includes a road 84 and a mark 82 indicating the position of the vehicle on the map. In the area 83, the name of the intersection where the vehicle is about to enter is displayed.
[0050]
The right image 81a starts from a position indicating the intersection portion of the road 84 in the region 83, and the length in the height direction becomes longer as it goes to the right, and the length in the middle is increased to further increase the length in the height direction. Includes long shapes. This includes a portion where the length in the height direction of the image becomes longer according to the angle from the traveling direction of the vehicle.
[0051]
The left image 81b has a shape in which the length in the height direction becomes longer as it starts from the position indicating the intersection portion of the road 84 and proceeds to the left, and the length in the height direction is further increased by increasing the length from the middle. Including. This includes the shape in which the length in the height direction of the image becomes longer in accordance with the angle from the traveling direction of the vehicle in the left image 81b.
[0052]
Thus, the composite image 80 is an image in which the right image 81 a and the left image 81 b are superimposed on the navigation image 83. The right image 81a and the left image 81b include shapes in which the length in the height direction of the images changes according to the angle from the traveling direction of the vehicle. Therefore, the composite image 80 can display the navigation image 83, the right image 81a, and the left image 81b simultaneously, and further displays the right image 81a and the left image 81b in a shape that can be distinguished from the composite image 80 at a glance. It is like that.
[0053]
Next, an image switching process performed by the image switching unit 10 in the travel support device according to the present embodiment will be described. FIG. 8 is a flowchart showing the flow of image switching processing performed by the image switching unit 10. Referring to FIG. 8, in the image switching process, it is first determined whether or not the vehicle is approaching an intersection based on the approach information output from navigation unit 50 (step S01). The approach information transmitted from the navigation unit 50 is output when the distance between the vehicle position and the intersection is less than a predetermined distance. In step S01, when it is detected that the approach information is output from the navigation unit 50, it is determined that the vehicle is approaching the intersection. Here, the predetermined distance is, for example, 20 [m]. Note that the predetermined distance is not limited to 20 [m], and may be a distance that can start deceleration when the vehicle approaches the intersection.
[0054]
Further, the approach information may be a distance between the current position of the vehicle and the intersection. In this case, the image switching unit 10 determines that the distance between the current position of the vehicle and the intersection has become a predetermined distance.
[0055]
If it is determined in step S01 that the vehicle is approaching the intersection, the process proceeds to step S02. If it is determined that the vehicle is not approaching, the process is terminated.
[0056]
In the next step S02, based on the vehicle speed signal output from the vehicle speed sensor 52, it is determined whether or not the vehicle speed has reached a predetermined value (set value). If the vehicle speed is less than or equal to the set value, the process proceeds to step S03, and if not, the process ends. The set value is preferably 5 [km / h] and indicates the speed immediately before the vehicle stops. The speed set as the set value is not limited to 5 [km / h], and refers to a speed at which the vehicle can safely travel even when the driver looks at the image display unit 17. km / h].
[0057]
In step S <b> 03, an image including the captured image captured by the imaging unit 15 is output to the image display unit 17. An image including a captured image is the captured image itself or a composite image. Only the captured image may be output to the image display unit 17, or the combined image obtained by combining the navigation image and the captured image by the combining unit 13 may be output to the image display unit 17. For example, when a navigation image is displayed on the image display unit 17, a composite image is output to the image display unit 17, and when a TV image is displayed on the image display unit 17 or nothing is displayed. If not, the captured image may be output to the image display unit 17.
[0058]
In the next step S04, it is determined whether or not the vehicle has passed the intersection, and the vehicle waits until it passes the intersection. Whether the vehicle has passed the intersection is determined based on the approach information output from the navigation unit 50. For example, it can be determined that the vehicle has passed an intersection when the approach information output from the navigation unit 50 is OFF. Further, when the approach information indicates the distance between the vehicle and the intersection, the approach information is supplied as information that the vehicle has moved away from the intersection, for example, negative information, so that it can be determined that the vehicle has passed the intersection. .
[0059]
If it is determined in step S04 that the vehicle has passed the intersection, the process proceeds to step S05, and the output of the captured image or composite image to the image display unit 17 is stopped, whereby the image displayed on the image display unit 17 is switched. It is done.
[0060]
By the image switching process described above, the image displayed on the image display unit 17 is switched as follows. When the navigation image or the TV image is displayed before the vehicle approaches the intersection, the captured image or the composite image is displayed when the vehicle approaches the intersection and the vehicle speed becomes lower than a predetermined value. A navigation image or TV image is displayed when the vehicle passes the intersection. If nothing is displayed before the vehicle approaches the intersection, a captured image or a composite image is displayed on the image display unit 17 when the vehicle approaches the intersection and the vehicle speed becomes a predetermined value or less. Thereafter, when the vehicle passes the intersection, the display of the captured image or the composite image is stopped and nothing is displayed on the image display unit 17.
[0061]
As described above, in the travel support device according to the first embodiment, a shape in which the length of the image in the vertical direction of the captured image captured by the imaging unit 15 is changed according to the angle from the traveling direction of the vehicle. Therefore, it is possible to display an image that allows the right image and the left image to be discriminated at a glance from the captured image. As a result, the time for the driver to view the image displayed on the image display unit 17 is shortened, and the vehicle can be driven safely.
[0062]
In addition, since the captured image captured by the imaging unit 15 is displayed on the image display unit 17 when necessary, the driver does not need to perform an operation of switching the image displayed on the image display unit 17, and is safe. It is possible to drive the vehicle.
[0063]
[Second Embodiment]
The travel support apparatus according to the second embodiment is an improvement of the image switching unit 10 of the travel support apparatus according to the first embodiment. FIG. 9 is a block diagram illustrating a schematic configuration of the travel support apparatus according to the second embodiment. Referring to FIG. 9, the travel support apparatus in the second embodiment includes an image switching unit 20, an imaging unit 15, a changeover switch 16, an image display unit 17, a navigation unit 50, and a vehicle speed sensor 25. And an indicator 26. Since the navigation unit 50 is the same as the navigation unit 50 described in the first embodiment, it is shown here in a simplified manner. A navigation image and a TV image are output from the navigation unit 50 to the image switching unit 20. A vehicle speed signal indicating the travel distance of the vehicle per unit time is output from the vehicle speed sensor 25 to the image switching unit 20, and a direction indicator for the driver to indicate the traveling direction of the vehicle is operated from the indicator 26. A blinker signal indicating this is output to the image switching unit 20. Imaging unit 15, changeover switch 16, image display unit 17, and navigation unit 50 are the same as those described in the first embodiment, and therefore description thereof will not be repeated.
[0064]
The vehicle speed sensor 25 can also be used as a vehicle speed sensor 52 built in the navigation unit 50. Furthermore, although the image switching unit 20 is provided separately from the navigation unit 50, the image switching unit 20 may be included in the navigation unit 50.
[0065]
FIG. 10 is a block diagram illustrating a detailed configuration of the image switching unit 20. Referring to FIG. 10, image switching unit 20 includes a control unit 21 and a switching unit 12. The switching unit 12 includes a combining unit 13. Since switching unit 12 and combining unit 13 are the same as those described in the first embodiment, description thereof will not be repeated here. The control unit 21 receives a vehicle speed signal output from the vehicle speed sensor 25 and a winker signal output from the indicator 26. Based on the vehicle speed signal and the blinker signal, the control unit 21 outputs to the switching unit 12 a switching signal for instructing the switching unit 12 to switch the image to be output to the image display unit 17.
[0066]
Next, an image switching process performed by the image switching unit 20 of the travel support apparatus in the second embodiment will be described. FIG. 11 is a flowchart showing the flow of image switching processing performed by the image switching unit 20. Referring to FIG. 11, it is determined whether or not a blinker signal is output from indicator 26 (step S11). If a turn signal is detected, the process proceeds to step S13, and if not detected, the process proceeds to step S12. The case where the turn signal is detected indicates that the vehicle will turn right or left after that, and it can be determined that the vehicle is approaching the intersection.
[0067]
In step S12, it is determined whether or not the absolute value of the negative acceleration is equal to or greater than a predetermined value (set value 1). If the absolute value of the negative acceleration is greater than or equal to the set value 1, the process proceeds to step S13, and if not, the process returns to step S11. In step S12, the acceleration of the vehicle is calculated based on the vehicle speed signal, and two determinations are made as to whether or not the calculated acceleration is a negative acceleration and whether or not the absolute value of the negative acceleration is greater than or equal to a set value. Will be made. A negative acceleration indicates that the vehicle is decelerating. The determination as to whether or not the absolute value of the negative acceleration is greater than or equal to the set value is to determine whether or not the vehicle is about to stop. Therefore, the set value 1 can be set by an experience value obtained by statistically processing the acceleration when the vehicle stops.
[0068]
In step S13, based on the vehicle speed signal output from the vehicle speed sensor 25, it is determined whether or not the vehicle speed has become a predetermined value (set value 2) or less. If the vehicle speed is less than or equal to the set value 2, the process proceeds to step S14, and if not, the process returns to step S11. Here, the speed indicated by the set value 2 is, for example, 5 [km / h], and the speed at which the driver can safely drive the vehicle while looking at the image display unit in a state where the vehicle is almost stopped. It is. Therefore, the set value may be 0 [km / h].
[0069]
In step S <b> 14, an image including the captured image captured by the imaging unit 15 is output to the image display unit 17, and the image displayed on the image display unit 17 is switched. The switching here is the same as the image switching described in step S03 in FIG.
[0070]
In the next step S15, it is determined whether or not the vehicle speed is equal to or higher than a predetermined value (set value 3). If the vehicle speed is greater than or equal to the set value 3, the process proceeds to step S17, and if not, the process proceeds to step S16. Here, the set value 3 may be a value of about 10 to 20 [km / h], for example, and may be a speed at which it can be determined that the vehicle has started running from a state where the vehicle has stopped.
[0071]
In step S16, it is determined whether or not the elapsed time since the image displayed on the image display unit 17 has been switched to the captured image or the composite image has exceeded a predetermined value (set time). If the set time is exceeded, the process proceeds to step S17, and if not, the process proceeds to step S15.
[0072]
For example, when the vehicle travels slowly due to traffic congestion or the like, the vehicle speed does not exceed the set value 3. In this case, the captured image or the synthesized image remains displayed on the image display unit 17. By limiting the time for displaying the captured image or the composite image on the image display unit 17 in step S16, it is possible to prevent the state where the captured image or the composite image is displayed on the image display unit 17 indefinitely. it can.
[0073]
In step S17, the output of the captured image or the composite image is stopped to the image display unit 17, and the navigation image or TV image is displayed or nothing is displayed.
[0074]
As described above, in the driving support device in the second embodiment, the image switching unit 20 displays an image including the captured image captured by the imaging unit 15 on the image display unit 17 based on the vehicle speed signal and the blinker signal. Decide whether to display. Therefore, the driving support device in the second embodiment can reduce the signal output from the navigation unit 50 to the image switching unit 20 in addition to the effects of the driving support device in the first embodiment. The connection between the image switching unit 10 and the navigation unit 50 can be facilitated.
[0075]
[Third Embodiment]
Next, a driving support apparatus according to a third embodiment will be described. The travel support apparatus according to the third embodiment is obtained by adding an image processing unit and a speaker to the travel support apparatus according to the first embodiment.
[0076]
FIG. 12 is a block diagram illustrating a schematic configuration of the travel support apparatus according to the third embodiment. Referring to FIG. 12, the driving support device includes an image processing unit 40 for detecting a moving object from the captured image output by the imaging unit 15 and an image processing unit in the driving support device according to the first embodiment. This is a configuration in which a speaker 41 for generating a warning sound based on a detection signal output from the computer 40 is added.
[0077]
The image processing unit 40 detects a moving object from the captured image output by the imaging unit 15. Processing for detecting a moving object will be described in detail later. When a moving object is detected in the captured image by the image processing unit 40, a detection signal indicating that a moving object is present in the captured image is output to the image switching unit 30 and the speaker 41. The detection signal output here includes the fact that there is a moving object in the captured image and the coordinate value of the moving object in the captured image.
[0078]
When the speaker 41 receives the detection signal from the image processing unit 40, the speaker 41 generates a warning sound. Further, instead of the warning sound, a sound such as “A moving object is approaching. Be careful” may be generated.
[0079]
Based on the detection signal output from the image processing unit 40, the image switching unit 30 performs processing for adding a mark to the moving object included in the captured image output to the captured image output from the imaging unit 15. Since other configurations are the same as those described in the first embodiment, description thereof will not be repeated here.
[0080]
Although the image switching unit and the image processing unit are provided separately from the navigation unit 50, the navigation unit 50 may include the image switching unit 30 and the image processing unit 40. In the third embodiment, the image processing unit 40 and the speaker 41 are added to the driving support device in the first embodiment. However, the driving support device in the second embodiment has an image. It can also be set as the structure which added the process part 40 and the speaker 41. FIG.
[0081]
FIG. 13 is a block diagram illustrating a detailed configuration of the image switching unit 30. Referring to FIG. 13, image switching unit 30 inputs a captured image, a navigation image, and a TV image, and displays them on image display unit 17, with control unit 31 for controlling the entire image switching unit 30. And a switching unit 32 for switching images.
[0082]
The control unit 31 determines an image to be displayed on the image display unit 17 based on the approach information output from the navigation unit 50 and the vehicle speed signal, and outputs a switching signal to the switching unit 32. Further, the control unit 31 outputs a marker application signal to the mark application unit 33 of the switching unit 32 based on the detection signal output from the image processing unit 40. The marker provision signal includes the coordinate value of the moving object in the captured image.
[0083]
The switching unit 32 switches an image output to the image display unit 17 to any one of a captured image, a navigation image, a TV image, and a composite image in accordance with a switching signal output from the control unit 31. In addition, the switching unit 32 includes a combining unit 13 for creating a composite image in which the captured image is superimposed on the navigation image, and a mark applying unit 33 for applying a mark to the moving object included in the captured image or the composite image. Including.
[0084]
The mark imparting unit 33 imparts a predetermined mark to the moving object in the captured image based on the marker imparting signal output from the control unit 31.
[0085]
FIG. 14 is a diagram illustrating a captured image in which a mark is attached to a moving object by the mark assigning unit 33. Referring to FIG. 14, right image 71a in captured image 70 includes a person 90 and a mark 91 surrounding the person.
[0086]
If the image display unit 17 can display a color image, the mark 91 may be a color that is easy for the driver to recognize, for example, the color of the mark 91. In this way, the driver can immediately recognize that the person 90 is approaching from the right direction.
[0087]
Although the mark 91 is shown as a quadrangle, the shape is not limited to this, and a mark such as a round shape, a triangle shape, or a polygon shape can be used. Furthermore, instead of the mark 91, the luminance of the person 90 may be increased and displayed. By increasing the luminance of the moving object included in the captured image, it is possible to immediately determine a portion with high luminance from the captured image, and thus it is possible to immediately recognize the moving object included in the captured image.
[0088]
Next, an image switching process performed by the travel support apparatus according to the third embodiment will be described. FIG. 15 is a flowchart showing the flow of image switching processing performed by the image switching unit 30. Referring to FIG. 15, in the image switching process, it is first determined whether or not the vehicle has approached the intersection based on the approach information output from navigation unit 50 (step S21). If it is determined that the vehicle is approaching the intersection, the process proceeds to step S22, and if not, the process ends.
[0089]
In step S22, it is determined whether or not the vehicle speed is equal to or less than a predetermined value (set value) determined in advance based on the vehicle speed signal output from the navigation unit 50. The set value is preferably 0 to 5 [km / h], and is a speed at which the driver can safely drive the vehicle while looking at the image display unit 17.
[0090]
In step S <b> 23, based on the detection signal output from the image processing unit 40, it is determined whether or not the captured image output from the imaging unit 15 includes a moving object. If a moving object is included, the process proceeds to step S24, and if not, the process ends.
[0091]
In step S24, the image displayed on the image display unit 17 is switched to an image including the captured image output by the imaging unit 15. The image including the captured image is either a captured image output by the imaging unit 15 or a composite image obtained by superimposing the captured image on the navigation image by the combining unit 13. The captured image here is an image in which the mark is added to the moving object included in the captured image by the mark assigning unit 33. Whether the image output to the image display unit 17 is a captured image or a composite image is switched by a dip switch or the like provided in the image switching unit. Further, a composite image may be displayed when a navigation image is displayed on the image display unit 17, and a captured image may be displayed when a TV image is displayed or when nothing is displayed.
[0092]
In the next step S25, a warning is given to the driver. The warning to the driver is performed by marking a moving object in the captured image displayed on the image display unit 17. The mark may be blinked. Thus, the driver can immediately determine that the moving object is in the right direction or the left direction by looking at the image display unit 17.
[0093]
Further, here, a mark is attached to the moving object. However, the brightness of the moving object may be increased and highlighted without attaching the mark.
[0094]
Further, the moving object displayed on the image display unit 17 is marked, the mark is blinked, or the moving object itself is highlighted, and a warning sound is generated from the speaker 41. Further, instead of the warning sound, a sound such as “A moving object is approaching. Be careful” may be output.
[0095]
In the next step S26, it is determined whether or not the vehicle has passed the intersection. Whether or not the vehicle has passed the intersection is determined based on the approach information output from the navigation unit 50. Since this has been described above, description thereof will not be repeated here. The process of step S25 is performed until the vehicle passes the intersection.
[0096]
In the next step S27, the image displayed on the image display unit 17 is switched to an image not including the captured image. The image switching is performed by stopping outputting the captured image or the synthesized image from the image switching unit 30 to the image display unit 17. When the navigation image or TV image is displayed on the image display unit 17 before the vehicle approaches the intersection, the original navigation image or TV image displayed before the vehicle approaches the intersection is switched. Further, when nothing is displayed on the image display unit before the vehicle approaches the intersection, the display of the captured image or the synthesized image on the image display unit 17 is stopped.
[0097]
Next, a moving object detection process performed by the image processing unit 40 will be described. FIG. 16 is a flowchart showing the flow of the moving object detection process performed by the image processing unit 40. Referring to FIG. 16, the image processing unit 40 takes in the image data 1 for the latest one frame from the captured image output by the imaging unit 15 (step S <b> 31). Then, the image data 0 for one frame before T seconds is taken in, and the image data 1 and the image data 0 are compared (step S32).
[0098]
Here, the time T is set so that the moving object can be detected by comparing the image data 1 and the image data 0. For example, since the moving speed differs between a car and a person, the time T may be different depending on whether the car is detected or a person is detected.
[0099]
In the next step S33, it is determined whether or not the vehicle is moving. If the vehicle is moving, the process proceeds to step S34, and if not, the process proceeds to step S35. This is to increase the processing speed by making the processing different between detection of a moving object when the vehicle itself is moving and detection of a moving object when the vehicle is not moving. That is, since the process is simpler when the moving object is detected when the vehicle is not moving, the processing speed is increased.
[0100]
In step S34, preprocessing for detecting a moving object while the vehicle is moving is performed. The movement of the stationary object in the image data accompanying the movement of the vehicle is deleted from the comparison data obtained as a result of comparing the image data 1 and the image data 0. That is, an object that is placed in the environment around the vehicle and is stationary with respect to the environment is deleted. This is because the position where the stationary object is reflected differs between the image data 1 and the image data 0 as the vehicle moves. However, since the movement vector is the same for a stationary object, the stationary object can be deleted from the comparison data obtained by comparing the image data 1 and the image data 0 based on this.
[0101]
In the next step S35, it is determined whether or not there is a moving object having a vector component toward the host vehicle direction among the moving objects extracted from the comparison data of the image data 1 and the image data 0. If there is a moving object having a vector component toward the host vehicle, the process proceeds to step S36, and if not, the process ends.
[0102]
In the next step S36, a moving object having a vector component heading toward the host vehicle is detected, and a detection signal including the fact that the moving object is included in the captured image and the coordinate data of the moving object is sent to the image switching unit 30 and Output to the speaker 41.
[0103]
This moving object detection process is performed for both the right image and the left image of the captured image output by the imaging unit 15. And about the component which goes to the own vehicle direction at step S35, only the direction of a vector differs in a right image and a left image, and the same process can be performed about another process.
[0104]
In the present embodiment, when there is a moving object in the captured image, the display is switched to the display of the captured image in which the moving object is marked. However, when a captured image is displayed on the image display unit 17, when a moving object appears in the captured image, the moving object may be displayed with a mark.
[0105]
As described above, in the travel support device according to the third embodiment, in addition to the effects of the travel support device according to the first embodiment, when a moving object is included in the captured image output by the imaging unit 15. Since only the image displayed on the image display unit 17 is switched to the captured image or the composite image, the image displayed on the image display unit 17 can be switched at a more appropriate timing.
[0106]
In addition, when a moving object is present in the captured image displayed on the image display unit 17, the moving object is marked and displayed, so that the driver can see the moving object immediately after looking at the image display unit 17. Recognize that it exists nearby.
[0107]
In addition, since the moving image is displayed on the image display unit 17 only when there is a moving object approaching the vehicle among moving objects, an image necessary for the driver is displayed only when the risk of traveling the vehicle is higher. Can be provided. Note that the imaging unit 15 may be attached to the front grill 102 or the upper part of the hood.
<Description of imaging unit>
Next, the imaging unit 15 will be described in detail. FIG. 17 is a perspective view illustrating a part of a vehicle on which the imaging unit 15 is mounted. With reference to FIG. 17, the vehicle is provided with a grill 102, a license plate 104, and a bumper 106, and the imaging unit 15 is attached to the bumper 106. In addition, the direction indicated by the arrow in FIG. 17 is the traveling direction of the vehicle.
[0108]
FIG. 18 is a diagram for explaining the principle of the imaging unit 15 of FIG. Referring to the figure, the imaging unit is provided with two mirrors M1 and M2, and the light from the left direction of the vehicle reflected by the two reflecting surfaces of mirrors M1 and M2 is part of the camera 113. Incident light is incident on a part of the camera 113 from the right side of the vehicle that is not reflected by the reflecting surface.
[0109]
With such a configuration, it is possible to take an image from the right direction and an image from the left direction of the vehicle with one camera 113.
[0110]
FIG. 19 is a plan view of the configuration of the imaging unit 15 as viewed from above. Referring to the figure, mirrors M1 and M2 and camera 113 are attached to mount member 115. The camera 113 is composed of an image sensor SE and an imaging lens (imaging lens) L. The end of the mirror M1 is disposed so as to be positioned on the optical axis OP of the lens L. Thereby, an image from the right direction with respect to the traveling direction of the vehicle is incident on a part of the lens L with the optical axis OP in the drawing as a boundary. On the other hand, an image from the left direction with respect to the traveling direction of the vehicle reflected by the mirrors M1 and M2 is incident on a part of the lens L.
[0111]
In FIG. 19, the imaging range of the rightward image is indicated by AR, and the imaging range of the leftward image is indicated by AL. In FIG. 19, the two mirrors M1 and M2 constitute the apparatus, but two prisms may constitute two reflecting surfaces.
[0112]
As shown in FIG. 19, the imaging unit 15 described above can directly capture an image on the right side of the traveling direction of the vehicle without being reflected by the mirror, and reflect the image in the left direction twice by the mirror. As a result, the image can be taken as a user-friendly image.
[0113]
In addition, it is preferable for the driver of the vehicle to see the image from the right direction well, so the image from the right direction is taken directly without using the mirror, and the mirror is only applied to the image from the left direction It is desirable to perform the shooting using. That is, since an image from the right direction can be directly captured without using a mirror, an image with good image quality can be obtained.
[0114]
Further, since the number of reflecting members is small, the apparatus can be configured at low cost. Further, since the apparatus can be configured only by attaching the mirrors M1 and M2 and the camera 113 to the mount member 115, the cost is low and the adjustment of the optical system is easy.
<Description of Modification of Imaging Unit>
FIG. 20 is a perspective view illustrating a configuration of a modified example of the imaging unit 15. In this modified example, the left and right images with respect to the traveling direction of the vehicle are reflected by the mirrors M4 and M5, respectively, and further reflected by the mirror M3 and then incident on the camera 113, whereby an image that does not feel uncomfortable for the user. To get.
[0115]
FIG. 21 is an exploded perspective view of a modified example of the imaging unit 15. As shown in the figure, the imaging unit includes a cover member 201, the above-described mirrors M3, M4, and M5, a camera 113, and a base member 203. The light from the right side of the vehicle enters the camera 113 via the mirror M4 and the mirror M3. On the other hand, the light from the left direction of the vehicle enters the camera 113 through the mirror M5 and the mirror M3.
[0116]
The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a schematic configuration of a travel support apparatus according to a first embodiment.
FIG. 2 is a diagram for explaining an imaging range of an imaging unit 15;
3 is a block diagram illustrating a detailed configuration of an image switching unit 10. FIG.
FIG. 4 is a first diagram illustrating an example of a captured image output by an imaging unit 15;
FIG. 5 is a second diagram illustrating an example of a captured image output by the imaging unit 15;
6 is a third diagram illustrating an example of a captured image output by the imaging unit 15. FIG.
FIG. 7 is a diagram illustrating an example of a composite image configured by a composition unit 13;
FIG. 8 is a flowchart showing a flow of image switching processing performed in the image switching unit 10;
FIG. 9 is a block diagram showing a schematic configuration of a travel support apparatus in a second embodiment.
FIG. 10 is a block diagram illustrating a detailed configuration of an image switching unit 20 according to the second embodiment.
FIG. 11 is a flowchart showing a flow of an image switching process performed by an image switching unit 20 in the second embodiment.
FIG. 12 is a block diagram illustrating a schematic configuration of a travel support apparatus according to a third embodiment.
FIG. 13 is a block diagram showing a detailed configuration of an image switching unit 30 according to the third embodiment.
FIG. 14 is a diagram illustrating a captured image in which a mark is attached to a moving object by a mark assigning unit 33;
FIG. 15 is a flowchart illustrating a flow of image switching processing performed by an image switching unit 30 according to the third embodiment.
FIG. 16 is a flowchart illustrating a flow of a moving object detection process performed by the image processing unit according to the third embodiment.
FIG. 17 is a perspective view of a vehicle to which an imaging unit 15 is attached.
FIG. 18 is a diagram for explaining the principle of an imaging unit.
FIG. 19 is a plan view illustrating a configuration of an imaging unit.
FIG. 20 is a perspective view illustrating a configuration of a modified example of the imaging unit.
FIG. 21 is an exploded perspective view of a modified example of the imaging unit.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Image switching part, 11 Control part, 12 Switching part, 13 Composition part, 15 Imaging part, 16 Changeover switch, 17 Image display part, 50 Navigation unit, 20, 30 Image switching part, 33 Mark provision part

Claims (8)

An imaging means attached to the moving body, imaging right and left directions with respect to the traveling direction of the moving body, and outputting a right image and a left image;
Navigation image output means for outputting a navigation image in which the current position of the mobile object is marked on a road map;
Combining means for creating a superimposed image in which the right image output from the imaging means and the left image are superimposed on the navigation image output by the navigation image output means;
Display means for displaying the superimposed image output by the synthesizing means ,
Wherein each of the right image and the left image, the length in the height direction in proportion to the angle from the moving direction of the moving body become shorter accordingly, the traveling support device of the movable body. The moving body according to claim 1, further comprising switching means provided between the imaging means and the display means for switching the display on the display means to an image including the right image and the left image. Driving support device. Calculating a distance between the moving object and the intersection based on the position on the road map of the movable body, the movable body based on the calculated distance is outputted to approach information indicating that it is approaching the intersection Further comprising an approach detection means,
3. The travel support apparatus for a moving body according to claim 2 , wherein the switching unit switches an image to be displayed on the display unit based on the approach information output from the approach detection unit. An instruction unit that outputs an instruction signal indicating a moving direction of the moving body;
A speed detector for detecting a moving distance per unit time of the moving body,
The travel support device for a moving body according to claim 2 , wherein the switching means switches the display of the display means based on outputs from the instruction section and the speed detection section. A moving object detecting means for detecting a moving object from the right image and the left image;
The traveling support apparatus for a moving body according to claim 2 , wherein the switching means switches the display of the display means when a moving object is detected by the moving object detection means. The traveling support apparatus for a moving body according to claim 5 , further comprising notification means for notifying that a moving object is detected by the moving object detection means. Moving object detection means for detecting a moving object from the right image and the left image;
The moving object in the moving object detecting means further comprising an informing means for informing that it has been detected, the traveling support device of the mobile body according to claim 1. The notification means, and displaying on said display means are designated by the predetermined mark to the moving object included in said left image and the right image, the moving body according to claim 6 or 7 Driving support device.

Images