JP4693561B2 - Vehicle periphery monitoring device - Google Patents

Description

  The present invention relates to a vehicle periphery monitoring device that captures an image of the periphery of the host vehicle with a camera installed in the host vehicle and displays the captured image on a display unit installed in the host vehicle.

  In this type of conventional vehicle periphery monitoring apparatus, since a camera having a wide viewing angle was initially used, an image with a narrow viewing angle (peripheral image) was displayed on the display means as shown in FIG.

  When an image with a narrow viewing angle is displayed in this way, the field of view of the traveling direction of the host vehicle is relatively large, so that there is an advantage that good visibility of the field of view of the traveling direction of the host vehicle can be ensured on the display image. On the other hand, since the viewing angle is narrow, there is a drawback that the left and right visual fields cannot be sufficiently secured on the display image.

  In order to solve this drawback, in recent years, some of the vehicle periphery monitoring devices of this type use a camera with a wide viewing angle.

  When a camera with a wide viewing angle is used as described above, an image with a wide viewing angle is displayed on the display means as shown in FIG. 2, and thus there is an advantage that a sufficient left and right visual field can be secured on the display image. On the other hand, since the viewing angle of the host vehicle is relatively small due to the wide viewing angle, there is a drawback that it is not possible to ensure good visibility of the viewing direction of the host vehicle on the display image.

  As described above, the conventional vehicle periphery monitoring device has a drawback in that it is impossible to achieve both good visibility with respect to the traveling direction visual field of the host vehicle and sufficient securing of the left and right visual fields on the display image.

  Accordingly, an object of the present invention is to provide a vehicle periphery monitoring device capable of ensuring both good visibility with respect to the traveling direction visual field of the host vehicle and sufficient securing of the left and right visual fields on the display image.

  In order to solve the above-mentioned problem, the invention according to claim 1 includes a camera that is installed in the host vehicle and captures the periphery of the host vehicle, an image processing unit that processes a captured image of the camera, and the image processing unit. Display means for displaying the processed captured image, wherein the image processing means enlarges a first area of the captured image and causes the display means to display the first process, and among the captured image And a second process of displaying on the display means a second region that includes the first region and has a wider viewing angle than the first region.

Further, in the above region which does not overlap with the first region of the second region further comprising an obstacle detecting means for detecting whether an obstacle exists, the image processing unit, the fault by the obstacle detecting means When an object is not detected, the first process is performed, and when an obstacle is detected by the obstacle detection unit, the second process is performed.

According to a second aspect of the present invention, the obstacle detection means detects an obstacle based on a captured image of the camera.

According to a third aspect of the present invention, the obstacle detection means regards an obstacle moving in a direction different from the traveling direction of the host vehicle as an obstacle.

According to a fourth aspect of the present invention, the obstacle detection means detects a distance to an object shown in the captured image based on the captured image, and regards an object within a predetermined distance from the camera as an obstacle. It is.

  According to the first aspect of the present invention, the first process of enlarging the first area of the captured image and displaying it on the display means (that is, ensuring good visibility with respect to the visual field in the traveling direction of the host vehicle on the display image). And a second process for displaying on the display means a second area having a wider viewing angle than the first area in the captured image (that is, a process for sufficiently securing the left and right visual fields on the display image). Therefore, it is possible to ensure both good visibility with respect to the visual field in the traveling direction of the host vehicle and sufficient securement of the left and right visual fields on the display image.

Further, when the obstacle detection means does not detect the obstacle (that is, when there is no obstacle approaching from the left and right sides), the first process is performed to provide good visibility with respect to the visual field in the traveling direction of the host vehicle. If the obstacle detection means detects an obstacle (that is, there is an obstacle approaching from the left and right sides), the second process is performed to ensure a sufficient left and right visual field on the display image. According to the presence or absence of an obstacle approaching from the side, it is possible to appropriately switch between ensuring good visibility with respect to the visual field in the traveling direction of the host vehicle and sufficiently securing the left and right visual fields.

According to the second aspect of the present invention, since the obstacle is detected based on the captured image of the camera, the obstacle can be detected using the existing camera without newly installing the obstacle sensor.

According to the third aspect of the present invention, since an object moving in a direction different from the traveling direction of the host vehicle is regarded as an obstacle, the obstacle can be easily detected in distinction from the background.

According to the fourth aspect of the present invention, since the distance to the object shown in the captured image is detected based on the captured image, and the object within the predetermined distance from the camera is regarded as an obstacle, the obstacle is a stationary object. Even obstacles can be detected properly.

<Embodiment>
As shown in FIG. 1, the vehicle periphery monitoring apparatus 1 according to this embodiment is a camera that is installed in the host vehicle and images the periphery of the host vehicle (here, a camera with a wide viewing angle (for example, a horizontal field angle of around 170 degrees)). 3, an image processing ECU 5 that performs image processing on an image captured by the camera 3, and a monitor (display unit) 7 that is installed in the host vehicle and displays the captured image processed by the image processing ECU 5.

  The camera 3 is installed in the front part of the own vehicle, for example, and images the front of the own vehicle. In addition, the camera 3 may be installed in the rear part of the own vehicle, and may image the back of the own vehicle, or may be installed in the side part of the own vehicle and may image the side of the own vehicle.

  The image processing ECU 5 is a video I / F 5a for inputting a captured image from the camera 3, an image processing ASIC (image processing means) 5b for performing image processing on the captured image from the video I / F 5a, and an image in the image processing ASIC 5b. A frame memory (SDRAM or the like) 5c used for processing, a CPU 5d that controls the image processing ASIC 5b, and a monitor I / F 5e that outputs a captured image processed by the image processing ASIC 5b to the monitor 7 are provided.

  The image processing ASIC 5b enlarges the first area (here, the central area) g1 in the captured image G (FIG. 2) of the camera 3 as shown in FIG. Similarly, the second process of displaying on the monitor 7 the second region (here, the entire region of the captured image G) g2 having a wider viewing angle than the first region g1 in the captured image G of the camera 3 is selectively switched. Based on the image processing unit (image processing means) 5f to be performed and the captured image G of the camera 3, the first region (central region) g1 in the second region (all regions of the captured image G) g2 in the captured image G. And an obstacle detection unit (obstacle detection means) 5g for detecting whether or not an obstacle is present in a region (here, the peripheral region of the captured image G) g3 that does not overlap with the target image.

  The image processing unit 5f performs the first process when no obstacle is detected by the obstacle detection unit 5g, and performs the second process when an obstacle is detected by the obstacle detection unit 5g. That is, the image processing unit 5f temporarily stores the captured image G from the video I / F 5a in the frame memory 5c, and when no obstacle is detected by the obstacle detection unit 5g, as shown in FIG. When the central area (first area) g1 in the image G is cut out and enlarged and output to the monitor 7 via the monitor I / F 5e, the obstacle detection unit 5g detects an obstacle as shown in FIG. Similarly, the entire region g2 of the stored captured image G is read and output to the monitor 7 via the monitor I / F 5e.

  The obstacle detection unit 5g performs, for example, an obstacle detection process (for example, a motion detection process) only on the peripheral area (area that does not overlap the first area g1 of the second area g2) g3 of the captured image G, and the peripheral area Obstacles are detected by assuming that an object with g3 movement (for example, moving in a direction different from the traveling direction of the host vehicle) is an obstacle.

  In the obstacle detection process, for example, the movement of each part of the scenery in the peripheral region g3 is recognized in a vector manner, and a part of the part that moves relatively along the traveling direction of the host vehicle is selected. It may be regarded as a background, and a part showing a movement in a direction crossing the traveling direction of the own vehicle (a direction different from the traveling direction of the own vehicle) may be regarded as an obstacle (that is, an obstacle from the left and right sides), or a peripheral region The vector corresponding to the traveling of the host vehicle may be subtracted from each part of the scenery in g3, and as a result, a part that does not show movement may be considered as a background, and a part that shows movement may be considered as an obstacle.

  Next, the operation of the vehicle periphery monitoring device 1 will be described.

  When an image G in front of the host vehicle is captured by the camera 3 as shown in FIG. 2, for example, the captured image G is output to the image processing ASIC 5b via the video I / F 5a. Then, the obstacle detection unit 5g of the image processing ASIC 5b detects whether there is an obstacle in the peripheral area g3 of the captured image G based on the captured image G. As a result, if no obstacle is detected, the image processing unit 5f of the image processing ASIC 5b cuts out and enlarges the central region g1 of the captured image G as shown in FIG. 3, for example, and uses the monitor I / F 5e. When the obstacle is detected on the other hand, the image processing unit 5f of the image processing ASIC 5b converts the entire area g2 of the captured image G into the monitor I / O as shown in FIG. It is output and displayed on the monitor 7 via F5e.

  Thereby, when there is no obstacle approaching the host vehicle from the left and right sides, the central area g1 of the captured image G of the camera 3 is enlarged and displayed on the monitor 7 as shown in FIG. If the vehicle has a good visibility with respect to the field of view of the traveling direction of the vehicle at the front, the front can be seen in a large and easy-to-see manner. On the other hand, if there is an obstacle approaching the vehicle from the left and right sides, In this way, the entire area g2 of the captured image G of the camera 3 is displayed, whereby the left and right visual fields are secured together with the traveling direction visual field of the host vehicle on the display image, and the obstacles approaching from the left and right sides on the display image are preliminarily displayed. Visible. When the obstacle disappears from the peripheral region g3 of the captured image G (that is, when the obstacle enters the central region g1 of the captured image G or goes out of the captured image G), the monitor 7 again displays FIG. As shown, the central region g1 of the captured image G of the camera 3 is enlarged and displayed.

  According to the vehicle periphery monitoring device 1 configured as described above, the first process of enlarging the first region g1 of the captured image G and displaying it on the monitor 7 (that is, the field of view of the traveling direction of the host vehicle on the display image). And a second process for displaying on the monitor 7 a second area g2 that includes the first area g1 of the captured image G and has a wider viewing angle than the first area g1. In other words, the process for selectively securing the left and right visual field on the display image is selectively switched. Therefore, on the display image, it is possible to ensure good visibility with respect to the visual field in the traveling direction of the host vehicle and sufficiently secure the left and right visual field. And both.

  In addition, when the obstacle detection unit 5g does not detect an obstacle (that is, when there is no obstacle approaching from the left and right sides), the first processing is performed and the visibility of the vehicle in the traveling direction on the display image is excellent. When the obstacle detection unit 5g detects an obstacle (that is, when there is an obstacle approaching from the left and right sides), the second process is performed to sufficiently secure the left and right visual fields on the display image. Thus, it is possible to appropriately switch between ensuring good visibility with respect to the field of view of the traveling direction of the host vehicle and sufficiently securing the left and right fields of view according to the presence or absence of an obstacle approaching from the left and right sides.

  In addition, since the obstacle is detected based on the captured image G of the camera 3, the obstacle can be detected using the existing camera 3 without newly installing an obstacle sensor.

  In addition, since an object moving in a direction different from the traveling direction of the host vehicle is regarded as an obstacle, the obstacle can be easily detected in distinction from the background.

  Further, the obstacle detection process is performed only on the area g3 that does not overlap the first area g1 in the second area g2 of the captured image G (that is, the obstacle detection process is not performed on the entire area g2 of the captured image G). The processing load of obstacle detection processing can be reduced, and when an obstacle approaches, it can be detected quickly.

  In this embodiment, the obstacle detection means 5g employs image recognition that detects an obstacle based on the captured image G of the camera 3. Instead, an obstacle sensor such as sonar is used as the vehicle. An obstacle approaching from the left and right sides may be detected by installing at both front corners. Even in this manner, it is possible to appropriately switch between ensuring good visibility with respect to the traveling direction visual field of the host vehicle and sufficiently securing the left and right visual fields according to the presence or absence of an obstacle approaching from the left and right sides.

<Modification 1>
In the above embodiment, the first processing and the second processing are selectively performed by the image processing unit 5f according to the presence or absence of an obstacle approaching from the left and right sides. The first processing and the second processing may be selectively performed by the image processing unit 5f according to the traveling state of the vehicle.

  That is, for example, when the camera images the front of the host vehicle, the image processing unit 5f causes the host vehicle to move forward (gear position is D) at a vehicle speed (for example, low speed) equal to or lower than a predetermined speed or to stop the host vehicle. When the vehicle is in the middle (when the gear position is N), the first process is performed. When the host vehicle is moving forward at a vehicle speed (for example, medium / high speed) higher than the predetermined speed (gear position is D), the second process is performed. You may let them. In this way, when the host vehicle is moving forward at a vehicle speed equal to or lower than the predetermined speed or when the host vehicle is stopped, the first process is performed, and good visual recognition of the traveling direction visual field of the host vehicle is performed on the display image. When the host vehicle is traveling at a speed higher than the predetermined speed, the second process can be performed to ensure a sufficient left and right visual field on the display image. Thus, it is possible to selectively switch between ensuring good visibility with respect to the traveling direction visual field of the host vehicle and sufficiently securing the left and right visual fields.

  Alternatively, for example, when the camera captures the rear of the host vehicle, the image processing unit 5f may cause the first process to be performed when the host vehicle is moving backward (when the gear position is R) (that is, the vehicle is moving backward). At this time, the first process may be performed, and the second process may be performed when an obstacle is detected. In this way, since the first process is performed when the host vehicle moves backward, it is possible to ensure good visibility with respect to the field of view of the host vehicle when the host vehicle moves backward.

  Further, when the car navigation device is provided in this case, the car navigation navigation screen may be automatically displayed on the monitor 7 when the host vehicle moves forward.

<Modification 2>
In the above-described embodiment, the first processing and the second processing are selectively performed by the image processing unit 5f according to the presence or absence of an obstacle approaching from the left and right sides. The image processing unit 5f may selectively switch between the first process and the second process based on an input operation to the operation switch.

  In this way, since the first process and the second process are selectively switched based on the input operation to the operation switch, it is possible to appropriately view the vehicle in the traveling direction visual field appropriately when the driver needs it. It is possible to manually switch between ensuring the right and sufficient left and right visual fields.

<Modification 3>
In the above embodiment, the first region g1 in the captured image G is enlarged and displayed on the monitor 7 in the first process, and the second region (for example, the captured image G of the captured image G in the second process). (All areas) g2 is displayed on the monitor 7 (that is, the visual field range is switched by switching between the enlarged image (FIG. 3) and the wide-angle image (FIG. 2)). A mask image (not shown) is added to a region g3 of the second region g2 that does not overlap the second region (for example, the entire region of the captured image G) g2 of the image G including the first region g1. The second region g2 of the captured image G may be displayed on the monitor 7 without being superimposed on the second region g2 in the second process (ie, the captured image G is displayed). Depending on whether or not the mask image is superimposed on the predetermined portion g3 above, May be switched).

  In this manner, the second image g2 including the first region g1 in the captured image G is displayed on the monitor 7 by superimposing the mask image on the region of the second region g2 that does not overlap the first region g1. A first process to be performed (that is, a process for ensuring good visibility with respect to the visual field in the traveling direction of the host vehicle on the display image), and a second image g2 in the captured image G is masked on the second image g2. The second process (that is, the process for ensuring a sufficient left and right visual field on the display image) that is displayed on the monitor 7 without being superimposed is selectively performed. It is possible to achieve both good visibility and sufficient left and right visual field by inexpensive means (means that does not perform the enlargement processing of the captured image G).

<Modification 4>
In the above embodiment, the case where the captured image G that moves in a direction different from the traveling direction of the host vehicle is regarded as an obstacle has been described. Instead, an object that appears in the captured image G based on the captured image G (A distance from the camera 3 to the object) may be detected, and an object within a predetermined distance (for example, 5 m) from the camera 3 may be regarded as an obstacle. In this way, even if the obstacle is a stationary object, the obstacle can be detected appropriately.

  Further, the predetermined distance may be set to a different value depending on whether the obstacle is a person or a vehicle (for example, 2 m for a person and 5 m for a vehicle). In addition, as a method of identifying whether an obstacle is a person or a vehicle, you may identify by pattern matching, for example. That is, the reflection shape on the captured image G of the person and the reflection shape on the captured image G of the vehicle are stored in the storage unit (for example, 5c), and these reflection shapes and the detected obstacles are stored. Compared with the projected shape on the captured image G, the projected shape of the obstacle matches the projected shape of the person (car), or the reflected shape of the obstacle is that of the vehicle (person). If the person (vehicle) has a higher similarity than the projected shape, the obstacle may be determined to be a person (vehicle). In this way, by changing the value of the predetermined distance according to the person and the vehicle, more appropriate obstacle detection can be performed.

<Modification 5>
In the above-described embodiment, when the obstacle detection unit 5g detects an obstacle, a notification unit that notifies the fact may be provided. More specifically, the notification means may be a voice / sound output means for notifying the fact by voice or sound, or by superimposing characters or figures on the captured image G displayed on the monitor 7. May be an image superimposing means for informing the user.

<Modification 6>
In the above-described embodiment, a viewpoint conversion processing unit is further provided, and when the captured image G is displayed on the monitor 7 by the viewpoint conversion processing unit, the captured image G is viewed from the viewpoint conversion process (for example, looking down from directly above to below). A viewpoint conversion process to a state overhead image or a viewpoint conversion process to an overhead image obliquely looking down from a high place) may be displayed on the monitor 7. In this way, even if the installation position of the camera 3 is not good, it is possible to display an image from an easy-to-view angle. Note that the processing of the viewpoint conversion processing unit may be performed by, for example, the image processing unit 5f.

<Modification 7>
The above embodiment may further include a predicted trajectory calculation unit that calculates a predicted trajectory of the host vehicle based on the steering angle and superimposes the calculated predicted trajectory on the captured image G displayed on the monitor 7. In this way, the handle operation can be further improved.

1 is a schematic configuration diagram of a vehicle periphery monitoring device according to an embodiment of the present invention. It is an example figure when the whole area | region of the captured image of a camera is displayed on the monitor of FIG. It is an example figure when the center part of the captured image of a camera is expanded and displayed on the monitor 7 of FIG.

Explanation of symbols

1 vehicle periphery monitoring device 3 camera 5 image processing ECU
5a Video I / F
5b Image processing ASIC
5c frame memory 5d CPU
5e Monitor 7I / F
5f Image processing unit 5g Obstacle detection unit 7 Monitor G Captured image g1 First region g2 Second region g3 Region that does not overlap with the first region of the second region

Claims (4)

A camera installed in the host vehicle for capturing an image of the periphery of the host vehicle, an image processing unit for processing a captured image of the camera, and a display unit for displaying the captured image processed by the image processing unit;
The image processing means includes
A first process of enlarging a first area of the captured image and displaying the enlarged image on the display unit; and a second area including the first area of the captured image and having a wider viewing angle than the first area. The second process to be displayed on the display means is selectively switched ,
An obstacle detection means for detecting whether there is an obstacle in a region of the second region that does not overlap with the first region;
The image processing means performs the first process when no obstacle is detected by the obstacle detection means, and performs the second process when an obstacle is detected by the obstacle detection means. A vehicle periphery monitoring device.   The vehicle periphery monitoring apparatus according to claim 1, wherein the obstacle detection unit detects an obstacle based on a captured image of the camera.   3. The vehicle periphery monitoring device according to claim 2, wherein the obstacle detection means regards an object moving in a direction different from the traveling direction of the host vehicle as an obstacle.   The obstacle detection unit detects a distance to an object shown in the captured image based on the captured image, and regards an object within a predetermined distance from the camera as an obstacle. Vehicle periphery monitoring device.

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