JP4999748B2 - Side mirror device - Google Patents

Description

  The present invention relates to a side mirror device in which a driver can visually recognize a wide range and can perform sufficient safety confirmation.

  In general, the driver of the vehicle checks the safety of both sides and the rear of the vehicle by side mirrors provided on both sides of the vehicle, and operates the vehicle while checking the safety of the rear of the vehicle by a rearview mirror (room mirror) provided indoors. is doing. However, such a safety confirmation method has a problem that the field of view is limited by the positions of the side mirror and the rearview mirror, and thus is not sufficient for safety confirmation.

In order to solve such a problem, a technique for securing a necessary field of view by driving a mirror has been proposed. For example, in Patent Document 1 (Japanese Patent Laid-Open No. 8-253078), a mirror provided on a side portion of a vehicle body, mirror driving means for rotating the mirror to an arbitrary position, and a dead angle of the mirror are disclosed. Detecting a rear obstacle and outputting an obstacle detection signal and an obstacle detection means for detecting that an operation for changing the steering angle of the vehicle has been performed and outputting a steering angle change signal And when the steering angle change signal is input from the steering angle change operation detection means, the obstacle detection means is operated, and when the obstacle detection signal is input from the obstacle detection means, the detected obstacle And a control means for outputting to the mirror driving means a control signal for rotating the mirror angle to a position where the mirror can be visually recognized.
Japanese Patent Laid-Open No. 8-253078

  However, in the side mirror device described in Patent Document 1, since the mirror is operated by following a predetermined object, the field of view range that can be confirmed by the driver There was a problem that it was limited to the range to be projected and was not sufficient for safety confirmation. Further, in the side mirror device described in Patent Document 1, the image that is reflected when the mirror moves is limited to a local image, and it is difficult for the driver to grasp what is being viewed and what. There was a problem.

In order to solve the above problems, the invention according to claim 1 displays an image captured by a side mirror drive control unit that drives a rotatable side mirror and an imaging unit provided in the vicinity of the side mirror. A display processing unit, a lane change determination unit for determining a lane change of the vehicle, and a control processing unit capable of controlling the side mirror drive control unit and the display unit of the vehicle based on a determination result of the lane change determination unit of the vehicle When the lane change determination means detects that the lane change is performed, the control processing unit rotates the side mirror in a direction in which the lane change is made to a predetermined rotation position. controls the side mirror drive control unit such that, while controlling the side mirror drive control section, by said display means, shooting an image captured by the image pickup means Controlled to be displayed while, after the side mirror drive control unit was positioned a side mirror to a predetermined position, so seamlessly displaying the images reflected in the image and the side mirror imaged by the imaging means It is characterized by controlling.

According to a second aspect of the present invention, in the side mirror device according to the first aspect , the control processing unit detects the lane change determining means to change the lane and then detects the side mirror drive control unit. During the control, the display means is controlled so that seamless display is not performed.

According to a third aspect of the present invention, in the side mirror device according to the first or second aspect , the control processing unit determines that the lane change determining means has finished the lane change and then the side While the mirror drive control unit is being controlled, the display means is controlled so that seamless display is not performed.

According to a fourth aspect of the present invention, in the side mirror device according to any one of the first to third aspects, the display means is based on an image of a rear imaging means that captures an image behind the vehicle and the imaging. The captured image can be displayed, and the control processing unit controls the image captured by the imaging unit to be displayed between an image of the rear imaging unit and a side mirror. .

  According to the side mirror device of the present invention, the display range of the side mirror and the display of the image of the side camera that complements the range can be displayed seamlessly on the display means, so that the driver can visually recognize a wide range. It is possible to enforce sufficient safety confirmation. Further, since the side mirror image and the image of the display means seamlessly project a sufficiently wide range, it is possible for the driver to grasp what is being viewed instantaneously.

  Further, according to the side mirror device of the present invention, since the seamless display is not performed during the side mirror driving by the side mirror driving means, the image picked up by the image pickup means is displayed as it is, so what the driver sees. There is no such thing as losing sight.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing two positions taken by the side mirror of the side mirror device according to the embodiment of the present invention. FIG. 2 shows the position (Y) of the side mirror of the side mirror device according to the embodiment of the present invention. FIG. 3 is a diagram showing a state around the driver's seat when the side mirror of the side mirror device according to the embodiment of the present invention is in the position (X). 4 is a view showing a state around the driver's seat when the side mirror of the side mirror device according to the embodiment of the present invention is in the position (Y), and FIG. 5 is a side mirror device according to the embodiment of the present invention. It is a figure which shows the outline of this block structure.

  1 to 5, 10 is a vehicle, 100 is an ECU (control processing unit), 200 is a vehicle information acquisition unit, 210 is a direction indicator detection unit, 300 is a side mirror drive control unit, 310 is a drive motor unit, 320 Is a position detection unit, 350 is a side mirror, 500 is an image information acquisition unit, 510 is a driver camera, 520 is a side camera (imaging unit), 530 is a rear camera (rear imaging unit), 600 is an interface unit, and 610 is a first unit. 1 monitor (display means), 620 a second monitor (display means), 800 a navigation system unit, 810 a navigation system, and 820 a database for the navigation system.

The configuration according to the side mirror device of the present embodiment is assumed to be mounted on a vehicle 10 such as an automobile, a hybrid vehicle, or an electric vehicle, but may be mounted on other moving means. The following description is based on the assumption that the side mirror device of this embodiment is mounted on a right-hand drive vehicle 10. However, when the side mirror device of this embodiment is applied to a left-hand drive vehicle, physical hardware is used. What is necessary is just to comprise a wear structure symmetrically.

  The side mirror 350 of the side mirror device according to the embodiment of the present invention is rotatably arranged on the vehicle 10 and may be driven by the side mirror drive control unit 300 to take a number of different positions. For example, the position (X) and (Y) which are two predetermined rotation positions can be taken. For the sake of distinction, the position (X) will be described as a first predetermined rotation position and the position (Y) will be described as a second predetermined rotation position as necessary. Further, the position that is the predetermined rotation position is arbitrarily stored based on the speed of the vehicle or the position of the vehicle on the road, even if it is stored in advance in the side mirror drive control unit 300 or the ECU (control processing unit) 100. You can decide. The side camera 520 covers the view range B in FIG. 2, and the rear camera 530 (not shown as hardware) is configured to cover the view range A.

  Fig. 3 shows the cockpit (A) when the side mirror is in position (X) and details of the instrument panel and side mirror (B). Fig. 4 shows the state when the side mirror is in position (Y). The details (B) of the cockpit (A) and the instrument panel and side mirror are shown.

  When the side mirror is in the position (X), the captured image data acquired by the side camera 520 and the rear camera 530 is not displayed on the instrument panel on the instrument panel, but the side mirror 350 is in the position ( Y), the image of the view range A of the rear camera 530 is displayed on the first monitor 610 on the instrument panel, and the image of the view range B of the side camera 520 is displayed on the second monitor 620. ing. Further, when the side mirror 350 is in the position (Y), the range reflected by the side mirror 350 is indicated by C. Thus, in the side mirror device of the present invention, the driver can visually recognize a wide range by the display of the side mirror 350, the first monitor 610, and the second monitor 620.

  The cockpit is provided with a driver camera 510 that takes a picture of a driver who sits in the driver's seat and drives the vehicle as shown in FIG.

  Next, the block configuration of FIG. 5 will be described. The side mirror device of this embodiment mainly includes an ECU 100, a side mirror drive control unit 300, an image information acquisition unit 500, an interface unit 600, and a navigation system unit 800.

  The ECU 100 is configured by a general-purpose computer system including various parts such as a CPU, a ROM, a RAM, and an interface, and based on a predetermined program, a side mirror drive control unit 300, an image information acquisition unit 500, an interface unit 600, a navigation system The system unit 800 is controlled.

  The direction indicator detection unit 210 included in the vehicle information acquisition unit 200 detects whether the direction indicator of the vehicle 10 has been operated or an instruction in the left or right direction has been issued.

  The side mirror drive control unit 300 includes a drive motor unit 310 that drives the side mirror 350 and a position detection unit 320 that detects the position of the side mirror 350. The drive motor unit 310 is controlled by the ECU 100, and the position detection unit 320 sends a position detection signal to the ECU 100.

An interface unit 600 is configured by the first monitor 610 and the second monitor 620 displayed on the instrument panel, and their display is controlled by the ECU 100.

  The driver camera 510, the side camera 520, and the rear camera 530 that constitute the image information acquisition unit 500 are all imaging devices that can capture a moving image. Image data captured by the driver camera 510 and the rear camera 530 is subjected to image analysis by the ECU 100. The driver's head position is detected from the image data from the driver camera 510, and the white line behind the vehicle 10 is detected from the image data from the rear camera 530.

  As shown in the block configuration of FIG. 5, the navigation system unit 800 includes a navigation system 810 and a navigation system database 820 such as map information referred to by the navigation system 810. The navigation system 810 can acquire vehicle position information by using a GPS positioning unit that receives GPS signals from GPS satellites and calculates its own position. In the in-vehicle device of the present invention, if positioning information can be acquired, other positioning methods can be used without using such a GPS positioning method.

  The white line between the lanes is detected by analyzing the image data acquired by the rear camera 530. The position information of the own vehicle in the navigation system unit 800, the map information based on the position information, and the previously detected white line are detected. From the information, when there are a plurality of lanes on one side, it is possible to grasp which lane the vehicle 10 is traveling.

  Next, the operation of the side mirror device configured as described above will be described. FIG. 6 is a flowchart showing the control of the side mirror device according to the embodiment of the present invention. The flowchart of FIG. 6 is periodically executed by the ECU 100 at a sufficiently short time interval. In execution, if necessary, it is possible to forcibly exit the loop and perform other processing. Further, the side mirror 350 rotates the side mirror in the direction in which the lane is changed. For example, when changing the lane to the right (left) lane, the right (left) side mirror is rotated. That is, the side mirror is controlled by the side mirror drive control unit controlled by the control processing unit so that the mirror image of the side mirror viewed from the driver is not captured by the control processing unit.

  In FIG. 6, when the flow of side mirror device control is started in step S100, the operation of the direction indicator is detected by the direction indicator detection unit 210 in step S101.

  In step S102, the position information of the host vehicle is acquired by the navigation system unit 800 or the like.

In step S103, the driver is changing the lane by combining the position information of the own vehicle, the lane information in which the own vehicle is traveling, and the direction indicator direction, or the own vehicle Whether the lane change has been completed is determined by a lane change determination means (not shown). In this embodiment, the lane change determination means is described as being the vehicle position information, lane information, and direction indicator detection unit 210 via the navigation system 810, but is not limited to this embodiment.
When the result of determination in step 103 is YES, the process proceeds to step S104. When the result of determination in step 103 is NO, the process proceeds to step S114, and the side mirror device control process is terminated in step S114.

In step S104, full image display is started on the first monitor 610 and the second monitor. Here, all-image display is to display an image with the widest angle of view taken by the camera.

  Next, in step S105, the drive motor unit 310 starts moving the side mirror 350 (position X → position Y). That is, in step S105, the side mirror drive control unit 300 controls the ECU 100 so that the side mirror 350 is positioned from the position X that is the predetermined first rotation position to the position Y that is the predetermined second rotation position. Is done.

  In step S106, the position detection unit 320 determines whether or not the side mirror 350 has been moved to the position (Y). When the result of determination in step S106 is YES, the process proceeds to step S107, and when the result of determination in step S106 is NO, the process returns to step S106.

  In step S107, an image processing subroutine for seamless display by the second monitor 620 and the side mirror 350 is executed. The image processing for seamless display will be described later.

Next, in step S108, the position information of the host vehicle is acquired by the navigation system unit 800 or the like.
In step S109, it is determined whether or not the host vehicle has completed the lane change by combining the position information of the host vehicle, the lane information in which the host vehicle is traveling, and information such as the direction of the direction indicator. . When the determination result of step S109 is YES, the process proceeds to step S110, and when the determination result of step S109 is NO, the process returns to step S107.

  In step S110, full image display is started on the first monitor 610 and the second monitor. In step S111, the drive motor unit 310 starts moving the side mirror 350 (position Y → position X). That is, in step S110, the ECU 100 controls the side mirror drive control unit 300 to position the side mirror 350 from the position Y that is the predetermined first rotation position to the position X that is the predetermined second rotation position. Is done.

  In step S112, the position detector 320 determines whether or not the side mirror 350 has been moved to the position (X). When the determination result at step S112 is YES, the process proceeds to step S113, and when it is NO, step S112 is looped.

  In step S113, the display of all images is terminated on the first monitor 610 and the second monitor, and in step S114, the flow of side mirror device control is terminated.

  Next, the timing of each control in the operation of the side mirror device will be described. FIG. 7 is a diagram showing a time chart in the control of the side mirror device according to the embodiment of the present invention.

Although it is effective to change the position of the side mirror 350 at a speed that cannot be understood by human senses, it actually takes a predetermined time. Therefore, in the control of the side mirror device, while the side mirror 350 moves from the X position to the Y position (T1), the first monitor 610 and the second monitor perform full screen display, and the driver is the widest overall. You can have a field of view. Similarly, in the control of the side mirror device, while the side mirror 350 is moved from the Y position to the X position (T2), the full screen display of the first monitor 610 and the second monitor is performed again. Note that the full screen display is displayed on the first monitor 610 and the second monitor 620 which are display means corresponding to the images taken by the side camera 520 as the imaging means and the rear camera 530 as the rear imaging means. This means that the images displayed on the monitor 610 and the monitor 620 are not related to each other, and the visual field range is interrupted or blurred.

  When the side mirror 350 reaches the Y position, seamless display by the second monitor 620 and the side mirror 350 is executed. That is, in step S106, the position detection unit 320 determines whether or not the side mirror 350 has been moved to the position (Y). In step S107, the second monitor 620 and the side mirror 350 perform seamless display. That the image processing subroutine is executed corresponds to the flowchart. Specifically, the control processing unit controls the side mirror drive control unit so that the side mirror is rotated in the direction in which the lane change is made to reach a predetermined rotation position, and the side mirror drive control unit is the side mirror. Is controlled so as to seamlessly display an image reflected on the side mirror after the lens is positioned at a predetermined rotational position. This seamless display is a display that prevents the visual field range from being interrupted or blurred at the boundary between the second monitor 620 and the side mirror 350. FIG. 9 is a view for explaining seamless display of the side mirror device according to the embodiment of the present invention.

  As described above, if the seamless display is not performed while the side mirror 350 is driven by the side mirror drive control unit 300, the image captured by the side camera 520 is displayed on the second monitor 620 as it is. Never lose sight of what the driver sees while driving.

  The image processing in the seamless display is a process for determining which range of the imaging range of the side camera 520 is displayed on the second monitor 620. In order to perform such image processing, the driver camera 510 detects the position of the driver's head.

  Now, assuming that the head position of the driver is P, the range that the driver can visually recognize with the side mirror 350 is the range of the double arrow shown in (1). Therefore, in order to achieve seamless display by image processing, the range indicated by (1 ′) in the imaging range of the side camera 520 is displayed on the second monitor 620.

  Assuming that the head position of the driver has moved from P to Q, the range that the driver can visually recognize with the side mirror 350 is the range of the double-headed arrow in (2). In accordance with this, in the image processing, a range indicated by (2 ′) in the imaging range of the side camera 520 is displayed on the second monitor 620.

  Next, the seamless display flow as described above will be described. An image processing subroutine for seamless display in step S107 will be described. FIG. 8 is a flowchart of a seamless display image processing subroutine of the side mirror device according to the embodiment of the present invention.

  In FIG. 8, when the seamless display image processing subroutine is started in step S <b> 200, the process proceeds to step S <b> 201, and the driver's head position is detected by the driver camera 510.

Subsequently, in step S202, the ECU 100 executes image processing for cutting out an image region for displaying a seamless image with the side mirror 350 on the second monitor 620 from the head position of the driver.
In step S203, the cropped image area is displayed on the second monitor 620, and in step S204, the process returns and returns to the main routine.

  According to the configuration as described above, the display range of the side mirror 350 and the display of the image of the side camera 520 that complements the display range can be seamlessly displayed on the second monitor 620, so that the driver can visually recognize a wide range. It is possible to enforce sufficient safety confirmation. Further, since the side mirror 350 image and the second monitor 620 image seamlessly project a sufficiently wide range, it is possible for the driver to grasp what is being viewed instantaneously.

It is a figure which shows two positions which the side mirror of the side mirror apparatus which concerns on embodiment of this invention takes. It is a figure which shows the visual field range when the side mirror of the side mirror apparatus which concerns on embodiment of this invention exists in a position (Y). It is a figure which shows the mode around a driver's seat when the side mirror of the side mirror apparatus which concerns on embodiment of this invention exists in a position (X). It is a figure which shows the mode around a driver's seat when the side mirror of the side mirror apparatus which concerns on embodiment of this invention exists in a position (Y). It is a figure showing the outline of the block composition of the side mirror device concerning an embodiment of the invention. It is a figure which shows the flowchart of control of the side mirror apparatus which concerns on embodiment of this invention. It is a figure which shows the time chart in control of the side mirror apparatus which concerns on embodiment of this invention. It is a figure which shows the flowchart of the seamless display image processing subroutine of the side mirror apparatus which concerns on embodiment of this invention. It is a figure explaining the seamless display of the side mirror apparatus which concerns on embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Vehicle, 100 is ECU (control processing part), 200 ... Vehicle information acquisition part, 210 ... Direction indicator detection part, 300 ... Side mirror drive control part, 310 ... Drive motor 320, position detection unit, 350 ... side mirror, 500 ... image information acquisition unit, 510 ... driver camera, 520 ... side camera, 530 ... rear camera, 600 ..Interface part 610... First monitor 620... Second monitor 800... Navigation system part 810... Navigation system 820.

Claims (4)

A side mirror drive control unit for driving a rotatable side mirror;
Display means for displaying an image taken by an imaging means provided in the vicinity of the side mirror;
Lane change judging means for judging a lane change of the vehicle;
In the side mirror device having a control processing unit capable of controlling the side mirror drive control unit and the display unit of the vehicle based on the determination result of the vehicle lane change determination unit,
The control processing unit drives the side mirror so that the side mirror is rotated in a direction in which the lane change is made to reach a predetermined rotation position when the lane change determination unit detects that the lane change is performed. While controlling the control unit and controlling the side mirror drive control unit, the display unit performs control so that the image captured by the imaging unit is displayed as captured, and the side mirror drive control unit After the side mirror is positioned at a predetermined position, the side mirror device is controlled so as to seamlessly display an image captured by the imaging unit and an image reflected on the side mirror. The control processing unit
Claim During is characterized in that for controlling the display means so as not to perform seamless display the lane change determining means is controlling the side mirror drive control unit from the detection of performing the lane change side mirror device according to 1. The control processing unit
The display means is controlled so that seamless display is not performed while the side mirror drive control unit is controlled after the lane change determination means determines that the lane change has been completed. The side mirror apparatus of Claim 1 or Claim 2 . The display unit can display an image of a rear imaging unit that captures an image behind the vehicle and an image captured by the imaging, and the control processing unit displays the image captured by the imaging unit. side mirror according to any one of claims 1 to 3, characterized in that controls to display between the image and the side mirrors.

Images