JP5083137B2 - Driving assistance device - Google Patents

Description

  The present invention combines images captured by a plurality of imaging devices provided in a vehicle, displays a bird's-eye view image of the entire circumference of the vehicle centered on the vehicle, and designates the displayed target by specifying the displayed target. The present invention relates to a driving support device that cuts out and displays a target from the overhead image.

Conventionally, a vehicle is provided with a plurality of imaging devices, and by combining images captured by the imaging devices, a bird's-eye view of the entire periphery of the vehicle is generated and displayed on a driver's seat monitor, thereby driving in a parking lot or the like. There is a driving assistance device that can be operated easily and safely.
FIG. 12 is an explanatory diagram showing the front camera 1, the rear camera 2, the right camera 3, the left camera 4, and the imaging areas of these cameras, which are attached to the host vehicle 21 in the conventional driving support device.
Reference numeral 31 denotes an imaging area of the front camera 1, reference numeral 32 denotes an imaging area of the rear camera 2, reference numeral 33 denotes an imaging area of the right camera 3, and reference numeral 34 denotes an imaging area of the left camera 4.
FIG. 13 shows an overhead video display screen 101 on which an overhead video that is a synthesized video of the images captured by the front camera 1, the rear camera 2, the right camera 3, and the left camera 4 in the conventional driving support device is displayed. It is a screen figure which shows the video cut-out frame 102 of the bird's-eye view video of the bird's-eye view video display screen 101 and the enlarged display screen 121 on which the video at the video cut-out position is enlarged and displayed.
On the enlarged display screen 121, the target displayed in the video cutout frame 102 of the bird's-eye view video, that is, the tree 131 and the rear part of the host vehicle 21 in the example shown in FIG.

The following is proposed as such a driving assistance device.
That is, it has an imaging unit that images the surroundings of the vehicle with individual cameras attached to a plurality of camera installation units installed in the vehicle, and a display unit that provides information to the driver. A start scene selection unit that selects a normal driving scene at the start, a vehicle speed sensor that detects a vehicle speed, a shift position detection unit that detects a shift position, a winker detection unit that detects the direction of a winker, and a steering angle of a steering wheel are detected. There has been proposed a driving support device that includes a steering angle sensor that performs the above operation and a screen mode switching unit that switches a display screen configuration based on information detected by each sensor and each detection unit (see Patent Document 1).
In this driving support device, it is possible to change the area to be shown in the rear side by the information of the blinker and the steering angle of the steering wheel. Especially when the blinker input is detected in the high speed mode, the composite image of the blinker direction is enlarged. indicate.
JP 2002-109697 A

Therefore, in the conventional driving support apparatus, the image of the target or the like to be noticed displayed on the enlarged display screen 121 moves relatively in the enlarged display screen with the movement of the host vehicle. There is a problem that the display screen 121 is removed and the target cannot be continuously displayed in the enlarged screen.
In addition, if the target part is movable and is actually moving, even if the target is initially displayed in the enlarged screen, the target part moves away from the enlarged screen as the target moves. Therefore, there is a problem that the target cannot be continuously displayed on the screen.
The present invention has been made in view of such circumstances, and when the target is cut out from the overhead image and displayed, the target is displayed on the screen even if the host vehicle or the target moves. An object of the present invention is to provide a driving support device that can be continued.

In order to achieve the above-mentioned object, the present invention is a driving support device that displays a video around a vehicle on a monitor, and is mounted on the vehicle, and a plurality of imaging devices that respectively image the vehicle periphery in different directions; A video composition unit that synthesizes a bird's-eye view image centered on the vehicle from a video around the vehicle imaged by each of the imaging devices and displays it on the monitor; The target position calculating means for calculating the position of the target with respect to the vehicle, the feature point detecting means for extracting the feature point of the selected target object and calculating the motion vector of the feature point, and the feature point detecting means. Moving object detection means for detecting whether or not the selected target is an approaching target approaching the vehicle from the motion vector of each feature point of the selected selected target, and the feature inspection When the selected target is detected as approaching the vehicle by means, the approach target is tracked on the overhead image centered on the vehicle based on the feature point of the approach target and the approach is detected. A feature point tracking means for capturing a target and its position ; estimating the movement of the vehicle; calculating an estimated position of the vehicle when the vehicle travels with the estimated movement; and an estimated position of the vehicle; Based on the position of the target calculated by the target position calculating means or the position of the approaching target captured by the feature point tracking means, the vehicle travels when the vehicle travels with the estimated movement . positional relationship and the relative position calculation means for calculating a, the target and the estimated location of the vehicle calculated by the relative position calculating means or the approaching eye between the estimated position and the position of the target or the approaching target Based on the positional relationship between the object, the image for adjusting the image extraction position for cutting out a portion of the video imaged directly by the overhead image of a part or the camera including the selected target or the approaching target And a cutout position adjusting means.

  According to the present invention, even if the host vehicle or the target moves, the target that is cut out and displayed from the overhead image is not deviated from the display screen, and the target is continuously displayed on the screen. There is an effect that it is possible to provide a driving support device that can be used.

(First embodiment)
FIG. 1 is a block diagram showing a configuration of a driving support apparatus when applied to an automobile according to a first embodiment of the present invention.
This driving support apparatus is composed of a front camera 1 that images the front of the host vehicle, a rear camera 2 that images the rear, a right camera 3 that images the right side, a left camera 4 that images the left side, and a microcomputer. An ECU (electronic control unit) 5, a monitor device 6, a vehicle speed sensor 7, a handle angle (steering angle) sensor 8, a gateway 9 and a touch panel 16 are provided.
The ECU 5 includes a relative position calculation unit 11, a video cutout position adjustment unit 12, and a video composition unit 13.

The front camera 1 is a camera that is attached to, for example, the center of the front grill at the front of the host vehicle and images the front of the host vehicle.
The rear camera 2 is a camera that is attached to the rear portion of the host vehicle provided with a rear window, for example, and images the rear of the host vehicle.
The right camera 3 is a camera that is attached to a protruding end of a door mirror support part that supports a right door mirror, for example, and images the right side of the host vehicle.
The left camera 4 is a camera that is attached to a protruding end of a door mirror support portion that supports a left door mirror, for example, and images the left side of the host vehicle.

The ECU 5 is constituted by a microcomputer that controls each part.
The ECU 5 performs various processes for realizing functions unique to the driving support device, including a synthesis process of images captured by the front camera 1, the rear camera 2, the right camera 3, and the left camera 4.
The relative position calculation means 11 of the ECU 5 calculates the distance and angle from the own vehicle to the target object 45 (FIG. 2), obtains the own vehicle accompanying the movement of the own vehicle 21 from the steering angle, the tire movement amount and the vehicle speed. 21 (virtual reference point) and a target 45 are estimated, and the distance and angle from the virtual center point to the target 45 when the host vehicle 21 moves are calculated and obtained.
The video cut-out position adjusting unit 12 determines a video cut-out position that defines an enlarged display range of the bird's-eye view image including the target selected from the bird's-eye view image displayed and output on the screen of the monitor device 6 as the relative position calculation unit. 11 is provided with a function of adjusting according to the positional relationship between the host vehicle calculated by 11 and the target, that is, the distance and the angle.

The image synthesizing unit 13 synthesizes a bird's-eye view image centered on the host vehicle from images captured by the front camera 1, the rear camera 2, the right camera 3, and the left camera 4.
The monitor device 6 is provided on the front panel of the driver's seat where various instruments are provided.
The monitor device 6 displays a bird's-eye view image by the images taken by the front camera 1, the rear camera 2, the right camera 3, and the left camera 4 by this driving support device, and an enlarged image of a region cut out from this bird's-eye view image. It also serves to display the current position on the map image by the GPS device, display the operation icons for operating the GPS device, and display the operation icons for the air conditioner and the car audio device.
The vehicle speed sensor 7 is a sensor that detects the speed of the host vehicle, and can detect the amount of movement of the host vehicle by integrating the output speed information.
The handle angle (steering angle) sensor 8 is a sensor that detects operation angle information of the steering being operated, and detects the traveling direction of the host vehicle.
The gateway 9 is a device for ensuring consistency so that the vehicle speed sensor 7 and the handle angle sensor 8 can be connected to the ECU 5 so that the ECU 5 can process the outputs of the vehicle speed sensor 7 and the handle angle sensor 8.
The touch panel 16 is disposed on the screen of the monitor device 6 and outputs a signal that makes it possible to specify the touched position on the screen.

FIG. 2 is an explanatory diagram showing an example of a bird's-eye view image of the host vehicle 21 displayed and output on the monitor device 6 of the driving support device of this embodiment.
In FIG. 2, the host vehicle 21, the imaging area 31 of the front camera 1, the imaging area 32 of the rear camera 2, the imaging area 33 of the right camera 3 and the imaging area 34 of the left camera 4, and a target 45 to be focused on, Background objects 46 and 47 located behind the target 45 and a virtual center point P are shown.
Reference numeral 41 denotes an enlarged display range of the target object 45 to be focused selected by a touch operation on the touch panel 16 on the screen of the monitor device 6.
The video in the enlarged display range 45 is displayed and output on the screen of the monitor device 6 together with the overhead view video shown in FIG.
The virtual center point P is a reference point for specifying the distance and angle (azimuth) from the host vehicle 21 to the selected target 45.
The relative position calculation means 11 of the ECU 5 shown in FIG. 1 has a function of calculating and obtaining the distance L1 and the angle θ1 from the host vehicle 21 to the target object 45 based on the bird's-eye view image shown in FIG.
Further, the video cut-out position adjusting means 12 is a video cut-out that defines an enlarged view range 41 of the overhead view video corresponding to the target 45 selected from the overhead view video shown in FIG. 2 displayed and output on the screen of the monitor device 6. A function of correcting the position according to the distance L and the angle θ between the host vehicle 21 calculated by the relative position calculation means 11 and the target 45 is provided.

FIG. 3 is an explanatory diagram showing an operation when the image cut-out position is not corrected in the driving support device of this embodiment.
FIG. 4 is an explanatory diagram showing an enlarged display range 41 and its video accompanying the movement of the host vehicle 21 when the video cut-out position shown in FIG. 3 is not corrected.
FIG. 5 is an explanatory diagram showing an operation when the image cut-out position is corrected in the driving support device of this embodiment.
FIG. 6 is an explanatory diagram showing an enlarged display range 41 and its video accompanying the movement of the host vehicle 21 when the video cutout position shown in FIG. 5 is corrected.
FIG. 7 is a flowchart showing the operation of the driving support apparatus of this embodiment.
FIG. 8 is an overhead view video display screen 61 displaying a bird's-eye view video centered on the host vehicle 21 in the monitor device 6, and an enlargement that enlarges and displays a video to be focused on among the videos displayed on the overhead view video display screen 61. It is a screen figure which shows the display screen 62. FIG.

The operation will be described below with reference to the flowchart shown in FIG.
In this driving support device, the images captured by the front camera 1, the rear camera 2, the right camera 3, and the left camera 4 attached to the host vehicle 21 are synthesized by the image synthesizing unit 13 and centered on the host vehicle 21. As shown in FIG. 8, the overhead view video is displayed on the overhead view video display screen 61 of the monitor device 6.
In this bird's-eye view image, a target object 45 to be noticed captured by the front camera 1 and the right camera 3 and background objects 46 and 47 located behind the target object 45 are displayed.
The user, in this case, the driver of the host vehicle 21 performs a touch operation of touching the target 45 to be focused on the overhead view video display screen 61 shown in FIG.
As a result, the touch panel 16 outputs a signal that makes it possible to specify the position touched by the fingertip (position where the touch operation is performed).
The ECU 5 determines that the target subject to the touch operation is the target object 45 based on the video that is displayed and output at this time and a signal that enables the touch-operated position to be specified.
That is, the target 45 selected from the overhead view video is determined (step S1).

Next, a distance L and an angle θ (azimuth) from the virtual center point P of the host vehicle 21 to the selected target 45 are calculated from the overhead view video (step S2).
The distance L and the angle θ are obtained as follows.
In the overhead view image shown in FIG. 8, the values of “A” and “B” are known, the values of “a” and “b” from the virtual center point P to the target object 45, the overhead view video display screen shown in FIG. The position coordinates of the target object 45 with reference to the host vehicle 21 on 61 can also be obtained.
That is, the distance can be obtained by the square root of (a ² + b ² ).
When the target unit 45 is viewed from the virtual center point, the angle with respect to the optical axis of the right camera 3 that can image the target object 45 can be obtained by tan ⁻¹ (b / a).
When the distance at this time is L1 and the angle is θ1, an enlarged display range centering on the direction of the angle θ1 is set.
In FIG. 5, the set enlarged display range is indicated by a broken line by reference numeral 41 '.
At this time, the video shown in FIG. 6A is displayed and output to the enlarged display output unit 162 of FIG. 8 as an image of the enlarged display range 41 ′.

Next, the positional relationship between the host vehicle 21 and the target object 45 accompanying the movement of the host vehicle 21 is estimated from the steering angle, the tire movement amount, and the vehicle speed (step S3).
The positional relationship between the host vehicle 21 and the target object 45 is estimated as follows.
The behavior of the host vehicle 21 is analyzed from various sensors including the vehicle speed sensor 7 and the handle angle sensor 8.
That is, a model when the host vehicle 21 is moved is expressed by using a two-wheel model, where the yaw rate γ, the vehicle speed V, the wheel base length l, and the steering angle δ can be obtained as Vδ / l.
That is, the yaw rate γ is determined by the speed, the wheel base length, and the steering angle.
As a result, by integrating Vδ / l, the direction of the host vehicle 21 after t seconds from the origin, that is, the virtual center point P, and the amount of movement of the virtual center point P can also be calculated.
As a result, based on the direction of the host vehicle 21 after t seconds calculated from the yaw rate γ and the movement amount of the virtual center point P, the virtual of the host vehicle 21 after t seconds is displayed on the overhead view video display screen 61 shown in FIG. The center point P is reflected.
FIG. 5 shows a new virtual center point P2 reflected on the bird's-eye view image based on the direction of the host vehicle 21 after t seconds calculated in this way and the movement amount of the virtual center point, and this virtual center point. An enlarged display range 41 ″ set corresponding to P2 is shown.
In FIG. 5, the direction of the host vehicle 21 at the virtual center point P1 is indicated by a broken line. At this time, if the steering angle θc and the tire movement amount are Lc, the direction of the host vehicle 21 after t seconds is indicated by a solid line. Thus, the virtual center point moves to the position P2 based on the movement amount calculated from the yaw rate γ (the speed is obtained from the tire movement amount Lc), and the position is specified.
Further, the positional relationship between the calculated virtual center point P2 after t seconds and the target object 45, that is, the angle θ2 when the target object 45 is viewed from the virtual center point P2 is obtained.
This angle θ <b> 2 is an angle with respect to the optical axis of the right camera 3 that can image the target 45. As a result of specifying the position coordinates of the target object 45 and the position of the virtual center point P2, the distance L2 and the angle θ2 from the virtual center point P2 of the host vehicle 21 to the target object 45 can be calculated from the overhead image.

Then, an enlarged display range centering on the direction of the angle θ2 is set (step S4).
In FIG. 5, the set enlarged display range is indicated by a solid line as an enlarged display range 41 ″.
At this time, the image shown in FIG. 6B is displayed and output to the enlarged display output unit 162 of FIG. 8 as an image of the enlarged display range 41 ″.

As described above, in this embodiment, the positional relationship between the host vehicle 21 (virtual reference point) and the target object 45 associated with the movement of the host vehicle 21 is estimated from the steering angle, the tire movement amount, and the vehicle speed, A distance L2 and an angle θ2 from the virtual center point P2 to the target object 45 when the vehicle 21 moves are obtained, and an enlarged display range and an image cutout position centering on the direction of the angle θ2 are set.
Alternatively, the positional relationship between the host vehicle 21 (virtual reference point) and the target object 45 associated with the movement of the host vehicle 21 is estimated from the steering angle, the tire movement amount, and the vehicle speed, and the virtual center point when the host vehicle 21 moves. A distance L2 and an angle θ2 from P2 to the target object 45 are obtained, and based on the angle θ2, the enlarged display range and the image cutout position set before the estimation are adjusted.
Therefore, in the related art in which the estimation of the positional relationship between the host vehicle 21 and the target object 45, the enlarged display range, and the image cutout position are not corrected, the enlarged display range and the image cutout position are at an angle θ1 with the host vehicle 21 as the center. 3, the direction imaged by the right camera 3 moves with respect to the target 45 as shown in FIGS. 3 and 4, so that the target 45 is set. Inconveniently, the enlarged display range and the image cutout frame are not within a short time.
On the other hand, in this embodiment, as the host vehicle 21 moves, the enlarged display range and the image cutout position are set around the direction of the angle θ2 as shown in FIG. The range 41 ″ is displayed in the approximate center of the video cutout frame.
In other words, in the first embodiment, the image cut-out position adjusting unit 12 selects the target object based on the positional relationship between the estimated vehicle position calculated by the relative position calculating unit 11 and the target object. By adjusting the video cutout position to cut out a part of the bird's-eye view image including the target object that is cut out and displayed does not deviate from the display screen, the target object can be continuously displayed in the screen An effect is produced. Note that the video clipped by the video cropping position adjusting unit 12 may be a part of a video image directly captured by the camera including the selected target, and in this case also, the above-described effect is achieved.

(Second Embodiment)
Next, the driving assistance apparatus of the 2nd Embodiment of this invention is demonstrated.
FIG. 9 is a block diagram illustrating a configuration of the driving support apparatus according to the second embodiment. 9, parts that are the same as or equivalent to those in FIG. 1 are given the same reference numerals, and descriptions thereof are omitted.
In the second embodiment, a case where the target object 45 is a movable object and is actually moving with respect to the host vehicle 21 will be described.
In this case, an optical flow technique (a technique for detecting a motion vector) is used to supplement the target object 45, calculate the distance to the target object 45, and the optical flow of the feature points of the target object 45 that appear when moving. The target vehicle 45 and the target object 45 can be estimated when the host vehicle 21 and the target object 45 are moved, so that the target object 45 is accurately placed in the enlarged display range 41 ″ and substantially in the center of the image cutout frame. indicate.

In FIG. 9, the ECU 5 makes it possible to use an optical flow technique in addition to the relative position calculating means 11, the image cutout position adjusting means 12, and the image synthesizing means 13 configured in the same manner as in the first embodiment. Feature point detecting means 91, moving object detecting means 92, feature point tracking means 93, and motion vector relative position calculating means 111 are further provided.
The feature point detection means 91 detects a target selected from an overhead image centered on the host vehicle, that is, a plurality of feature points of the selected target, and calculates an optical flow of each of the feature points to thereby calculate the motion vector. It has the function to ask for.
The moving object detection unit 92 detects whether or not the selected target is an approaching target approaching the host vehicle 21 from the motion vector of each feature point of the selected target obtained by the feature point detecting unit 91. It has a function. In other words, the moving object detection unit 92 has a function of detecting an approaching moving object approaching the host vehicle 21 from the motion vector of each feature point obtained by the feature point detection unit 91.
The feature point tracking unit 93 tracks the approach target on the overhead image centered on the host vehicle 21 based on the feature point of the approach target detected as approaching by the feature point detection unit 91. It has a function to capture the approaching target and its position. In other words, the feature point tracking unit 93 specifies the image area of the approaching moving object detected by the feature point detection unit 91, and based on the feature point of the specified image area, the overhead image centering on the own vehicle 21. It has a function to supplemently track the approaching target and its position.
The motion vector relative position calculation means 111 estimates the motion of the host vehicle 21, calculates the estimated position of the host vehicle 21 when the host vehicle 21 travels with the estimated motion, and the estimated position of the host vehicle 21; Based on the estimated movement based on the position of the approaching target captured by the feature point tracking means 93 or the estimated position of the approaching target estimated based on the movement of the captured approaching target such as speed and direction. A function of calculating a positional relationship between the estimated position of the host vehicle 21 and the position of the approaching target when the host vehicle 21 travels is provided.

FIG. 10 is a flowchart showing the operation of the driving support apparatus according to this embodiment.
The operation will be described below with reference to this flowchart.
Also in this driving support device, the bird's-eye view image centered on the own vehicle 21 shown in FIG.
In this bird's-eye view image, a target object 45 to be noticed captured by the front camera 1 and the right camera 3 and background objects 46 and 47 located behind the target object 45 are displayed.
The user, in this case, the driver of the host vehicle 21 performs a touch operation of touching the target 45 to be focused on the overhead view video display screen 61 shown in FIG.
As a result, the touch panel 16 outputs a signal that makes it possible to specify the position touched by the fingertip and the touch-operated position.
The ECU 5 determines that the target subject to the touch operation is the selected target based on the video that is being displayed and output at this time and a signal that enables the touch-operated position to be specified.
That is, the selected target selected from the overhead view video is determined (step S11).
Next, a plurality of feature points of the determined selected target are extracted (step S12).

Subsequently, an optical flow of the extracted feature points is calculated (step S13).
That is, the feature point detecting means 91 detects a plurality of feature points of the selected target selected from the overhead image centered on the own vehicle 21, and calculates the motion vector by calculating the optical flow of each feature point. Ask.
Then, the moving object detection unit 92 detects whether or not the selected target is the approaching target 45 approaching the host vehicle 21 from the motion vector of each feature point obtained by the feature point detection unit 91. . In other words, the moving object detection unit 92 uses the motion vector of each feature point obtained by the feature point detection unit 91 as the approaching moving object 45 having a vector in the direction in which the selected target approaches the host vehicle 21. To detect.
Then, the feature point tracking unit 93 detects the approach target 45 on the overhead image centered on the host vehicle 21 based on the feature point of the approach target 45 detected as approaching by the feature point detection unit 91. The target object 45 and its position are tracked and captured (step S14). In other words, the feature point tracking unit 93 specifies the image area of the approaching moving object from which the feature point is detected by the feature point detection unit 91, and the vehicle is centered on the basis of the feature point of the specified image area. The approach target 45 and its position are supplementarily tracked on the bird's-eye view image, and the moving direction and speed with respect to the host vehicle 21 are specified.
Then, the distance L and the angle θ (azimuth) from the virtual center point P of the host vehicle 21 to the approaching target 45 captured in step S14 are calculated from the overhead view image in the same manner as in the first embodiment ( Step S15).

Next, the positional relationship between the host vehicle 21 and the approach target 45 accompanying the movement of the host vehicle 21 is estimated from the speed and moving direction of the approach target 45, the steering angle of the host vehicle 21, the tire movement amount, and the vehicle speed ( Step S16).
The positional relationship between the host vehicle 21 and the approach target 45 is estimated as follows.
FIG. 11 is an explanatory diagram illustrating an operation of estimating the positional relationship between the host vehicle 21 and the approach target 45 according to this embodiment.
In this embodiment, the behavior of the approaching target 45 is analyzed by the optical flow method, and the behavior of the host vehicle 21 is analyzed from various sensors including the vehicle speed sensor 7 and the handle angle sensor 8.
That is, the model when the host vehicle 21 moves is represented by using a two-wheel model, and the yaw rate γ, the vehicle speed V, the wheel base length l, and the steering angle δ are set as in the first embodiment.
The yaw rate γ can be obtained from Vδ / l. By integrating Vδ / l, the direction of the host vehicle 21 after t seconds from the origin, that is, the virtual center point P, and the amount of movement of the virtual center point P can also be calculated. .
As a result, based on the direction of the host vehicle 21 after t seconds calculated from the yaw rate γ and the movement amount of the virtual center point P, the virtual of the host vehicle 21 after t seconds on the overhead view video display screen 61 shown in FIG. The center point P is reflected.
For the approaching target 45 as well, the speed and moving direction of the feature point of the approaching target 45 obtained by the optical flow technique by using the motion vector relative position calculating unit 111 to determine the position of the approaching target 45 after t seconds with respect to the host vehicle 21. The position of the approaching target 45 with respect to the host vehicle 21 after t seconds is reflected on the overhead view video display screen 61 shown in FIG.
FIG. 11 shows a new virtual center reflected on the bird's-eye view image based on the position of the approach target 45 after t seconds calculated in this way, the direction of the host vehicle 21, and the amount of movement of the virtual center point. Point P2 is shown.

Further, an angle θ2 when the approach target 45 at the position calculated from the calculated virtual center point P2 after t seconds is viewed is obtained. This angle θ2 is an angle with respect to the optical axis of the right camera 3 that can image the approaching target 45.
Therefore, when the host vehicle 21 turns suddenly and the rear camera 2 is ready to image the approach target 45, the rear camera 2 when the approach target 45 is viewed from the virtual center point P at that time. The angle with respect to the optical axis is obtained.
That is, the distance L2 and the angle θ2 from the virtual center point P2 of the host vehicle 21 to the approaching target 45 are calculated from the overhead view image.
The distance L2 and the angle θ2 can be obtained from the positional relationship between the host vehicle 21 and the approaching target 45 estimated and calculated in step S16. Then, an enlarged display range 41 ″ centered on the direction of the angle θ2 is set (step S17).

As described above, according to the second embodiment, even if the host vehicle 21 and the approach target 45 are moving, the positions of the host vehicle 21 and the approach target 45 after a certain time have elapsed. Since the relationship can be estimated, the approaching target 45 can be accurately displayed in the enlarged display range 41 ″ and substantially at the center of the image cutout frame.
That is, in the second embodiment, the video cropping position adjusting unit 12 is based on the positional relationship between the estimated position of the vehicle calculated by the motion vector relative position calculating unit 111 and the approaching target. By adjusting the video cut-out position to cut out a part of the bird's-eye view image including, the approaching target that is cut out and displayed does not deviate from the display screen, and the approaching target can continue to be displayed in the screen The effect that it can be produced. Note that the video clipped by the video cropping position adjusting unit 12 may be a part of a video image directly captured by the camera including the approach target, and in this case, the above-described effect is also achieved.

It is a block diagram which shows the structure of the driving assistance device which is the 1st Embodiment of this invention. It is explanatory drawing which shows an example of the bird's-eye view image of the own vehicle displayed and output on the monitor apparatus of the driving assistance device of the 1st Embodiment of this invention. It is explanatory drawing which shows operation | movement when the correction | amendment of an image | video cutout position is not performed in the driving assistance device in the 1st Embodiment of this invention. It is explanatory drawing which shows the expansion display range accompanying the movement of the own vehicle when the correction | amendment of an image | video cutout position is not performed in the driving assistance device of the 1st Embodiment of this invention, and its image | video. It is explanatory drawing which shows operation | movement when the correction | amendment of an image | video cutout position is performed in the 1st Embodiment of this invention. It is explanatory drawing which shows the expansion display range accompanying the movement of the own vehicle when the correction | amendment of the image | video cutout position in the 1st Embodiment of this invention was performed, and its image | video. It is a flowchart which shows operation | movement of the driving assistance apparatus of the 1st Embodiment of this invention. It is a screen figure which shows the bird's-eye view video display screen and expansion display screen in the driving assistance device of the 1st Embodiment of this invention. It is a block diagram which shows the structure of the driving assistance device which is the 2nd Embodiment of this invention. It is a flowchart which shows operation | movement of the driving assistance apparatus of the 2nd Embodiment of this invention. It is explanatory drawing which shows the estimation operation | movement of the positional relationship of the own vehicle and approach target of the 2nd Embodiment of this invention. It is explanatory drawing which shows the imaging area of each camera attached to the own vehicle in the conventional driving assistance device. It is a screen figure which shows the bird's-eye view video display screen on which the bird's-eye view image which is the synthetic | combination image | video of the image imaged with each camera in the conventional driving assistance apparatus is displayed, the video cutting frame of a bird's-eye view image, and an enlarged display screen.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Front camera, 2 ... Back camera, 3 ... Right camera, 4 ... Left camera, 5 ... ECU, 6 ... Monitor device, 7 ... Vehicle speed sensor, 8 ... Steering angle sensor, 11 ... ... Relative position calculation means, 12 ... Video cut-out position adjustment means, 13 ... Video composition means, 91 ... Feature point detection means, 92 ... Moving object detection means, 93 ... Feature point tracking means, 111 ... Motion vector relative position calculation means.

Claims (4)

A driving support device for displaying an image around a vehicle on a monitor,
A plurality of imaging devices mounted on the vehicle and imaging the surroundings of the vehicle in different directions;
Video synthesizing means for synthesizing a bird's-eye view image centered on the vehicle from a video around the vehicle imaged by each of the imaging devices and displaying it on the monitor;
Target position calculation means for calculating a position of the selected target selected on the overhead view image synthesized by the video composition means with respect to the vehicle;
Feature point detection means for extracting feature points of the selected target and calculating a motion vector of the feature points;
A moving object detecting means for detecting whether or not the selected target is an approaching target approaching the vehicle from a motion vector of each feature point of the selected target obtained by the feature point detecting means;
When the feature point detection means detects that the selected target is approaching the vehicle, the approach target on the overhead image centered on the vehicle is determined based on the feature point of the approach target. Feature point tracking means for tracking and capturing the approaching target and its position;
The movement of the vehicle is estimated, the estimated position of the vehicle when the vehicle travels with the estimated movement is calculated, and the estimated position of the vehicle and the position of the target calculated by the target position calculating means Alternatively, based on the position of the approaching target captured by the feature point tracking means, the estimated position of the vehicle when the vehicle travels with the estimated movement and the position of the target or the approaching target Relative position calculating means for calculating the positional relationship between
Based on the positional relationship between the relative positions the target object and the estimated position of the vehicle calculated by the arithmetic unit or the approaching target, the overhead image including the selected target or the approaching target A video cut-out position adjusting means for adjusting a video cut-out position for cutting out a part or a part of a video directly captured by a camera;
A driving support device characterized by that. The relative position calculating means estimates a speed, a moving amount, and a traveling direction of the vehicle, and an angle and a distance between the estimated position of the vehicle when the vehicle travels with the estimated movement and the target. The driving support apparatus according to claim 1, wherein: Before Symbol Relative position calculating means, the speed of the vehicle, the movement amount, and estimate the traveling direction, and the estimated position of the vehicle when the vehicle travels by the estimated motion, was captured by the feature point tracking means The driving support device according to claim 1, wherein an angle and a distance between the estimated position of the vehicle and the approaching target are calculated based on the position of the moving target. The image cropping position adjustment means, according to claim 1, wherein the adjusting the image extraction position at which the enlarged display cutting out a portion of the overhead image including the selected target or the approaching target The driving support device according to any one of the above.

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