JP4238619B2 - Vehicle monitoring device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle monitoring apparatus.
[0002]
[Prior art]
It is important from the viewpoint of safe driving and the like to make it possible to visually check the surrounding conditions of the vehicle, particularly the surrounding conditions that are likely to cause blind spots from the driver. For this reason, it has been proposed to provide an omnidirectional camera for imaging the external situation of the vehicle and display the image captured by this camera on display means provided in the vehicle. In this case, the omnidirectional camera usually has a convex mirror and an imaging means (camera) such as a CCD that images the surrounding situation of the vehicle via the convex mirror, and displays the surrounding situation over a wide range of the vehicle. It has been proposed to display on the means. In Patent Document 1, since an image captured by an omnidirectional camera is considerably distorted and is not easily recognized by a driver, an omnidirectional image is converted into a cylindrical projection image. It has been proposed to display the changed image on the display means.
[0003]
Further, in Patent Document 2, a front omnidirectional camera is provided at the front end of the vehicle, a rear omnidirectional camera is provided at the rear end of the vehicle, and an image displayed on the display means is a front omnidirectional camera. It is disclosed that either one of a captured image and a video captured by a rear omnidirectional camera is selectively displayed. It is also disclosed that the selection of the video to be displayed on the display means is automatically switched in accordance with the transmission gear position (traveling range position) interposed in the drive system of the vehicle. That is, it is disclosed that when switching forward, automatic switching is performed so that an image captured by the front omnidirectional camera is displayed on the display unit, and an image captured by the rear omnidirectional camera is displayed on the display unit when traveling backward. ing.
[0004]
[Patent Document 1]
Japanese Patent Laid-Open No. 2000-118298
[Patent Document 2]
Japanese Patent Laid-Open No. 2003-023623
[Problems to be solved by the invention]
By the way, when imaging the situation around the vehicle with an omnidirectional camera, when the imaging range is bright as in the daytime, the captured image becomes clear and can be clearly recognized. However, in situations where the imaging range is dark, such as in a dark garage at night or in the daytime, the image captured by the imaging means becomes unclear due to insufficient brightness, and the displayed image is clearly recognized. Is difficult or difficult.
[0007]
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle monitoring apparatus that can capture clear images even in a dark imaging range. .
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides the following as a first solution. That is, as described in claim 1 in the claims,
A reflector provided outside the vehicle and having a non-planar surface at least partially;
Imaging means for imaging the surroundings of the vehicle via the reflecting mirror;
Display means provided in the vehicle for displaying the video imaged by the imaging means;
A lamp that illuminates the surroundings of the vehicle,
Control means for controlling the operating state of the lamp when the imaging means and the display means are operating;
With
The lighting body is set to be able to change the irradiation range,
The control means performs control so as to make a change such that the illumination range of the lighting body approaches the imaging range of the imaging means,
It is like that. As a result, when the vehicle surrounding situation is imaged and the image is to be displayed on the display means, the lighting body can be controlled to provide brightness for assisting the imaging, and a clear image can be captured. It becomes possible. Moreover, the illumination range of the lighting body can be brought close to the imaging range, and the brightness for imaging using the lighting body can be ensured.
[0009]
Preferred embodiments based on the above solution are as described in claims 2 to 9 in the claims. Chi words,
[0010]
[0011]
The control means performs control so as to increase the illuminance during lighting of the lighting body (corresponding to claim 2 ). In this case, the brightness required for imaging can be ensured by increasing the illuminance of the lamp.
[0012]
The control means performs control to turn on the lighting body when the operation of the imaging means and the display means is detected for the first time in a state where the lighting body is not lit, and the control means starts only when the lighting body is turned on. When the operation of the image pickup means and the display means is detected, control for increasing the illuminance of the lighting body is performed (corresponding to claim 3 ). In this case, it is preferable to ensure the brightness necessary for imaging by appropriately performing the securing of the brightness by lighting the lamp and the securing of the brightness by increasing the illuminance of the lamp that is lit. Become.
[0013]
It has operating means that are operated manually,
The control means performs control to turn on the non-lighted lighting body when the operation means is operated.
(Corresponding to claim 4 ). In this case, since the lighting body is turned on to ensure the brightness necessary for imaging by manual operation, it is preferable to suppress or prevent unnecessary lighting of the lighting body.
[0014]
It has operating means that are operated manually,
The control means performs control to increase the illuminance of the lighting body that is lit when the operation means is operated.
(Corresponding to claim 5 ). In this case, since the illuminance of the lighting body is increased by manual operation to ensure the brightness necessary for imaging, it is preferable for suppressing or preventing unnecessarily increasing the illuminance of the lighting body.
[0015]
It has operating means that are operated manually,
The control means performs control to turn on the lighting body when the operating means is operated and the lighting body is in a non-lighting state, and the illumination intensity of the lighting body when the lighting body is on. To increase the control,
(Corresponding to claim 6 ). In this case, it is necessary to appropriately ensure the brightness by both lighting the lamp and increasing the illuminance of the lamp, and to ensure that the brightness necessary for imaging is sufficient, This is preferable in suppressing or preventing increasing the illuminance.
[0016]
The imaging device is provided at the front of the vehicle;
The lighting body is one of a headlamp, a fog lamp, and a corner lamp (corresponding to claim 7 ). In this case, the brightness required for imaging can be ensured using an existing lighting body.
[0017]
[0018]
In order to achieve the above object, the present invention provides the second solution as follows. That is, as described in claim 8 in the claims,
A reflector provided outside the vehicle and having a non-planar surface at least partially;
Imaging means for imaging the surroundings of the vehicle via the reflecting mirror;
Display means provided in the vehicle for displaying the video imaged by the imaging means;
An infrared irradiation source for irradiating infrared rays toward the imaging range of the imaging means via the reflecting mirror;
A masking process for suppressing reflection is applied to a specific part of the reflecting mirror where the infrared irradiation source is reflected,
It is like that. In this way, by using infrared rays, it is possible to capture a clear image even in a dark environment. In addition, since the infrared irradiation source irradiates the vehicle with infrared rays through the reflecting mirror, it irradiates infrared rays over a wider range than when the infrared irradiation source directly irradiates the vehicle periphery with infrared rays. In addition, it is preferable in terms of overall compactness.
On the premise of the above first solution, it is possible to provide control means for controlling the operation of the infrared irradiation source on the condition that the imaging means and the display means are operating. Correspondence). In this case, since imaging is performed using infrared rays, a clear image can be captured even in a situation where the surroundings of the vehicle are dark.
[0019]
【The invention's effect】
According to the present invention, a clear video can be taken even in a situation where the surroundings of the vehicle are dark, which is preferable in that driving assistance using the video can always be performed. Moreover, the illumination range of the lighting body can be brought close to the imaging range, and the brightness for imaging using the lighting body can be ensured.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
In FIG. 1, V is an automobile as a vehicle, a front bumper thereof is indicated by reference numeral 1, and a steering handle provided in the driver's seat is indicated by reference numeral 2. In the embodiment, the steering handle 2 is a right-hand drive vehicle provided on the right side of the vehicle V.
[0021]
An omnidirectional camera 10 is provided on the front bumper 1 that is the front end of the vehicle, at the left end that is opposite to the driver's seat, that is, opposite to the steering handle 2. More specifically, the omnidirectional camera 10 is attached to the upper surface of the left end portion of the front bumper 2 so as to protrude upward. The omnidirectional camera 10 generally has a use position shown in FIG. 1 protruding upward from the upper surface of the front bumper 1 and is displaced downward from the use position so that the upper surface is substantially the same as the upper surface of the front bumper 1. However, the drive mechanism and the like for this purpose are not directly related to the present invention, and are also disclosed in Patent Document 2 described above. Therefore, further detailed description is omitted.
[0022]
An example of the omnidirectional camera 10 will be described with reference to FIG. First, reference numeral 11 denotes a casing, and a predetermined length portion of the side wall of the casing 11 is constituted by a transparent cover member 12 over the entire collection. A convex mirror 13 serving as a reflecting mirror is disposed in the casing 11 so as to correspond to the height position of the cover member 12. The surface of the convex mirror is the surface of a convex rotating body obtained by rotating a predetermined convex line around a predetermined axis (the vertical axis of the casing 11). Examples of the convex line include an arc line, a hyperbola, and a parabola. The convex mirror 13 is disposed so as to be convex downward as a whole, and is set so that light from the outside incident through the cover member 12 is reflected downward.
[0023]
In the casing 11, a camera 14 as an imaging unit such as a CCD or CMOS image sensor is disposed below the convex mirror 13. The camera 14 receives light from the outside reflected by the convex mirror and outputs an electrical signal corresponding to the incident light. In the case of FIG. 2, since the reflecting mirror is a convex mirror 13 whose entire circumference is convex, it is possible to image all directions, that is, around 360 degrees when viewed from the horizontal direction (except for the vehicle V itself). The vehicle surroundings in the horizontal angle range of about 270 degrees can be imaged). The omnidirectional camera 10 usually has an imaging range angle of 180 degrees or more, but the imaging angle range is not particularly limited.
[0024]
The casing 11 of the omnidirectional camera 10 is slightly tilted so that its axis, that is, the optical axis of the reflecting mirror 13 is gradually located on the vehicle body outer side with respect to the vehicle vertical axis. More specifically, it is inclined so as to be positioned on the outer side in the vehicle width direction and on the front side of the vehicle body as it goes upward. As a result, the omnidirectional camera 10 has a posture facing downward, and can image the ground surface near the vehicle V. In the embodiment, the omnidirectional camera 10 also images a part (outer peripheral edge) of the front bumper 1. (The outer peripheral edge portion of the front bumper 1 is included in the captured image).
[0025]
The omnidirectional camera 10 as described above is located in front of the headlamp 3 and the corner lamp 4 located on the right side thereof. Further, the front bumper 1 is equipped with a front fog lamp 5. Such lamps 3 to 5 have a function of brightening the imaging range of the omnidirectional camera 10 by a lighting thereof. Moreover, it becomes possible to make the imaging range of the omnidirectional camera 10 brighter by increasing the illuminance than the normal lighting state of the lamps 3 to 5.
[0026]
FIG. 5 is a block diagram showing the control system of the present invention. In FIG. 5, U is a controller (control unit) configured using a microcomputer. The controller U receives a video signal captured by the camera 10 and a vehicle speed signal from the vehicle speed sensor S1.
[0027]
In addition to the above, the controller U receives ON / OFF signals from the manually operated main switch SW1 and ON / OFF signals from the switch SW2 as manually operated operating means. When the main switch is turned on, the controller U drives the motor M to bring the camera 10 to the use position in FIG. When the main switch SW1 is turned off, the controller U controls the motor 31 to place the camera 10 in the storage position. In addition, as will be described later, the switch SW2 instructs to turn on the corner lamp 4 among the lamps 3 to 5 or increase the illuminance to brighten the imaging range.
[0028]
On the other hand, the controller U exchanges signals with the navigation device 20. The display as the display means in the present invention utilizes the display 20a of the navigation device.
[0029]
Next, an example of control by the controller U will be described with reference to the flowchart of FIG. In the following description, Q indicates a step. First, at Q1, it is determined whether or not the main switch SW1 is ON. If the determination of Q1 is YES, the process moves to Q2, but at this time the camera 10 is in the use position.
[0030]
In Q2, it is determined whether or not the vehicle speed is a low vehicle speed equal to or lower than a predetermined vehicle speed (for example, 20 km / h). When the determination in Q2 is YES, the image is captured by the omnidirectional camera 10 and the captured image is displayed on the display 20a. At this time, it is determined at Q3 whether or not the switch SW2 is ON. If NO in the determination of Q3, the imaging range of the omnidirectional camera 10 is sufficiently bright and the image displayed on the display 20a is clear, that is, control for assisting the imaging range to be bright is unnecessary. Thus, normal control is performed in Q9 (execution of control of imaging and display of the captured video).
[0031]
If YES in Q3, it is determined in Q4 whether the flag is 1. At initialization at the start of control, the flag is reset to 0, and the initial determination at Q4 is NO. At this time, it is determined in Q5 whether or not the corner lamp 4 is lit. When the determination at Q5 is NO, the corner lamp 4 is turned on at Q6. If YES in Q5, the illuminance of the already lit corner lamp 4 is increased in Q7. Thus, when the imaging range is dark, the imaging range is brightened by turning on the corner lamp 4 or improving the illuminance, and the image captured by the omnidirectional camera 10 becomes clear, and the image displayed on the display 20a. Will be clearly recognizable from the passenger.
[0032]
After Q6 or Q7, after the flag is set to 1 in Q8, normal control of Q9 is performed. If the determination in Q4 is YES, brightness assistance using the corner lamp 4 has already been executed, and at this time as well, the process directly proceeds to Q9. If NO in the determination of Q1 or NO in the determination of Q2, the process proceeds to Q10, and the control is terminated (stop of imaging by the omnidirectional camera 10 and stop of display on the display 20a).
[0033]
7 and 8 show another embodiment of the present invention, and the same reference numerals are given to the same components as those of the above-described embodiment. In the present embodiment, an infrared irradiation source 15 is arranged in the casing 11 of the omnidirectional camera 10. Specifically, an infrared irradiation source 15 is attached adjacent to the camera 14 at a position facing the reflecting mirror 13. This infrared irradiation source 15 emits infrared rays toward the reflecting mirror 13, and the infrared rays reflected by the reflecting mirror are irradiated in the vicinity of the imaging range Z. Thereby, infrared rays are reflected from the obstacle in the imaging range Z, and the reflected infrared rays are incident on the camera 14 via the reflecting mirror 13 to be imaged. Of course, the camera 14 can capture images in response to infrared rays.
[0034]
As shown in FIG. 8, the infrared irradiation source 15 is projected on the reflecting mirror 13 (the reflecting surface thereof). In order to prevent the infrared irradiation source 15 itself from being imaged by the camera 14, a masking 16 is applied to a specific position of the reflecting mirror 13 where the infrared irradiation source 15 is projected so as not to perform reflection. ing. Thereby, the situation where the infrared irradiation source 15 is included in the captured image is prevented.
[0035]
Although the embodiment has been described above, the present invention is not limited to this, and includes, for example, the following cases. The omnidirectional camera 10 may have a non-planar surface, particularly a convex surface, on a part of the surface of the reflecting mirror. In addition to the position shown in the embodiment, the omnidirectional camera 10 is provided on the right side or the center of the front end of the vehicle, one or both of the left and right ends of the rear end of the vehicle, or the center. The position can be set as appropriate. Of course, a plurality of omnidirectional cameras 10 may be provided.
[0036]
The lamp that assists the brightness of the imaging range of the omnidirectional camera 10 is not limited to the corner lamp 4, but may be a head lamp 3, a fog lamp 5, or the like. An appropriate lamp such as a back lamp to be lit can be used. Whichever lamp is used, the imaging range of the omnidirectional camera 10 can be brightened by lighting the lamp and increasing the illuminance when the lamp is turned on. In addition, when the lamp is turned on, it can be performed in a state where the illuminance is always higher than in the normal state. Of course, it is preferable to limit the lamps that are turned on in order to brighten the imaging range only to lamps that are close to the imaging range (for example, the imaging range side of the omnidirectional camera 10 out of a pair of left and right lamps). Only the lamp on one side of
[0037]
Some lamps can change the irradiation range. For example, recently, a headlamp with a variable irradiation direction has been put into practical use and normally irradiates the front front of the vehicle, but changes the irradiation direction of the headlamp to the direction in which the handle 2 is operated. Already put into practical use. Thus, in the lamp whose irradiation range can be changed, when the imaging range of the omnidirectional camera 10 is dark, the irradiation range can be changed so as to approach the imaging range. The irradiation range is changed when the irradiation direction is constant and the irradiation angle can be changed between large and small, and the irradiation angle is enlarged. When the irradiation angle is constant and the irradiation direction can be changed, the irradiation direction is the imaging range. You may make it approach. Of course, when both the irradiation angle and the irradiation direction are variable, both the expansion of the irradiation angle and the change of the irradiation direction to the direction approaching the imaging range can be performed.
[0038]
A dedicated infrared radiation source for illuminating the imaging range can also be mounted on the vehicle separately. For example, the infrared irradiation source may be built in the corner lamp 4 and the irradiation direction may be directed to the imaging range.
[0039]
In recent vehicles, for example, a sensor (illuminance sensor) for detecting brightness is often provided on the upper surface of the instrument panel. However, when brightness exceeding a predetermined level is not detected by the brightness sensor, the imaging range is set. In order to brighten the image, for example, the lamp can be turned on automatically, the illuminance can be automatically increased, or an infrared irradiation source provided separately can be activated. In this case, the imaging range can be brightened manually. This saves the trouble of commanding. Each step shown in the flowchart or various members such as sensors and switches can be expressed by adding the name of the means to the high-level expression of the function. Further, the object of the present invention is not limited to what is explicitly stated, but also implicitly includes providing what is substantially preferred or expressed as an advantage.
[Brief description of the drawings]
FIG. 1 is a perspective view of a vehicle to which the present invention is applied as viewed obliquely from the front.
FIG. 2 is a side sectional view showing an example of an omnidirectional camera.
FIG. 3 is a simplified plan view showing an example of setting an inclination direction of an omnidirectional camera.
FIG. 4 is a simplified front view of the main part of an omnidirectional camera as viewed from the front of the vehicle.
FIG. 5 is a block diagram showing a control system of the present invention.
FIG. 6 is a flowchart showing a control example of the present invention.
7 shows another embodiment of the present invention and is a side sectional view corresponding to FIG. 2. FIG.
8 is a view of the reflecting mirror of FIG. 7 as viewed from the infrared irradiation source side.
[Explanation of symbols]
V: Vehicle 1: Front bumper 2: Steering handle 3: Head lamp 4: Corner lamp 5: Fog lamp 10 Omnidirectional camera 13: Convex mirror (reflecting mirror)
14: Camera (imaging means)
15: Infrared irradiation source 16: Masking portion 20: Navigation device 20a: Display (display means)
U: Controller SW1: Main switch SW2: Switch S1 for commanding brightness assistance in the imaging range S1: Vehicle speed sensor

Claims (9)

A reflector provided outside the vehicle and having a non-planar surface at least partially;
Imaging means for imaging the surroundings of the vehicle via the reflecting mirror;
Display means provided in the vehicle for displaying the video imaged by the imaging means;
A lamp that illuminates the surroundings of the vehicle,
Control means for controlling the operating state of the lamp when the imaging means and the display means are operating;
With
The lighting body is set to be able to change the irradiation range,
The control means performs control so as to make a change such that the illumination range of the lighting body approaches the imaging range of the imaging means,
A vehicle monitoring apparatus characterized by that. In claim 1,
The vehicle monitoring apparatus, wherein the control means performs control to increase illuminance during lighting of the lighting body. In claim 1,
The control means performs control to turn on the lighting body when detecting the operation of the imaging means and the display means for the first time in a state where the lighting body is not lit, and for the first time in a state where the lighting body is lit. A vehicle monitoring apparatus characterized by performing control to increase the illuminance of the lighting body when detecting the operation of the imaging means and the display means. In claim 1,
It has operating means that are operated manually,
The control means performs control to turn on the non-lighted lighting body when the operation means is operated.
A vehicle monitoring apparatus characterized by that. In claim 1,
It has operating means that are operated manually,
The control means performs control to increase the illuminance of the lighting body that is lit when the operation means is operated.
A vehicle monitoring apparatus characterized by that. In claim 1,
It has operating means that are operated manually,
The control means performs control to turn on the lighting body when the operating means is operated and the lighting body is in a non-lighting state, and the illumination intensity of the lighting body when the lighting body is on. To increase the control,
A vehicle monitoring apparatus characterized by that. In any one of Claims 1 thru | or 6 ,
The imaging device is provided at the front of the vehicle;
The vehicle monitoring device, wherein the lighting body is any one of a headlamp, a fog lamp, and a corner lamp. A reflector provided outside the vehicle and having a non-planar surface at least partially;
Imaging means for imaging the surroundings of the vehicle via the reflecting mirror;
Display means provided in the vehicle for displaying the video imaged by the imaging means;
An infrared irradiation source for irradiating infrared rays toward the imaging range of the imaging means via the reflecting mirror;
A masking process for suppressing reflection is applied to a specific part of the reflecting mirror where the infrared irradiation source is reflected,
A vehicle monitoring apparatus characterized by that. In claim 8,
On condition that the previous SL imaging means and the display means is operating, the further comprising a control means for controlling the operation of the infrared radiation source, a vehicle monitoring device, characterized in that.

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