JP5605764B2 - Vehicle display device - Google Patents

Description

  The present invention relates to a vehicular display device that captures and displays a front area outside a vehicle.

  A technology for assisting driving by photographing the front of a vehicle with a camera and displaying the photographed image on a predetermined display unit has already been developed. For example, a navigation screen of a vehicle can be used as the captured image display unit (Patent Document 1). In such driving support technology, it is important not only to simply display an image in front of the vehicle, but also to enable the driver to quickly detect a target object such as a moving object in the image. In particular, it is important to be able to quickly and more intuitively detect a cautionary object present in the blind spot of a vehicle driver.

JP 2010-165087 A

  However, in the conventional case, it is difficult to detect the distance and position to the moving body with high accuracy even if the moving body to be a caution is possible, and the risk of the detected moving body is determined to the driver. It was difficult to recognize intuitively.

  In addition, when using a video in front of the vehicle, it is possible to notify the presence of a moving body in the blind spot area on the left and right sides of the vehicle in the video, but not only the presence but also its location and risk level are notified. It ’s difficult. In general, the shooting range of the vehicle front image displayed for the purpose of displaying the front of the vehicle does not include all of the driver's blind spot areas existing on the left and right sides of the vehicle. It is not an effective method to display an existing moving body at its existing position.

  The object of the present invention is to make it possible to quickly and more intuitively detect the presence position and the degree of danger of a target object existing in the blind spot of a driver outside the vehicle with a processing load and cost as low as possible. Another object of the present invention is to provide a vehicular display device.

Means for Solving the Problems and Effects of the Invention

In order to solve the above problems, a vehicle display device according to the present invention includes:
A vehicle display device comprising: an imaging unit that captures a predetermined front outside area of a vehicle; and a display unit that displays the captured image in a form that is visible to the driver,
Stop position specifying means for specifying a predetermined stop position on the road in the traveling direction of the vehicle;
Stop position arrival specifying means for specifying the arrival of the vehicle to the specified stop position;
Stop front position specifying means for specifying a predetermined stop front position that is closer to the vehicle traveling direction than the specified stop position;
Shooting control means for controlling the shooting means so that shooting is performed at least when the vehicle reaches a position before the stop; and
Moving body detecting means for detecting a moving body in a driver's blind spot area existing on each of the left and right front sides of the vehicle outside the vehicle;
When a moving body is detected by the moving body detecting means when the arrival position of the vehicle at the stop position is specified by the stop position arrival specifying means, the display means takes an image at the position before the stop that passed immediately before the arrival. While displaying the photographed image photographed by the means, the presence position of the detected moving body is specified on the photographed image, and a predetermined image for alerting is overlaid and displayed at the specified existence position. Display control means;
It is characterized by providing.

  According to the configuration of the present invention, when a vehicle arrives at a predetermined stop position such as an intersection or a stop line on the road (for example, a position before the stop line or the intersection), the vehicle is photographed immediately before reaching the stop position. The front image is displayed. The vehicle front image taken immediately before the vehicle reaches the stop position is an image obtained by pulling the vicinity of the stop position scheduled to arrive afterwards, that is, an image obtained by taking the stop position from a distance. Since the area around the stop position is widely projected, it is easy to intuitively grasp the situation around the stop position. After that, when the vehicle reaches the stop position, detection of the moving object to be alerted is started, and when the moving object is detected, a photographed image taken immediately before reaching the stop position is displayed. At the same time, an image for alerting is superimposed and displayed at the position where the moving body is present on the captured image. For this reason, in the vehicle that has reached the stop position, it is easy for the driver to grasp the position of the moving body to be noted from the superimposed image. In addition, the superimposed display (superimposed display) in the present invention may be a display in which two images are displayed and appear to overlap each other even if the display is not actually superimposed.

  In addition, the stop position is a sign of a stop line on the road (a temporary stop line), a sign of a temporary stop, and a predetermined stop position of the vehicle in front of an intersection (for example, an intersection without a stop line). That is.

  The display means of the present invention further comprises stop specifying means for specifying stop of the vehicle at the stop position specified by the stop position specifying means, and the display control means specifies stop of the vehicle at the stop position by the stop specifying means. When the moving body is detected by the moving body detecting means, the display means displays the photographed image photographed by the photographing means at the position before the stop passed immediately before the stop, while the photographing On the image, the presence position of the detected moving body can be specified, and a predetermined image for alerting can be superimposed and displayed at the specified presence position. According to the above configuration, when the stop position arrival specifying means specifies the arrival of the vehicle at a predetermined stop position such as an intersection or a stop line on the road, and when the stop of the vehicle is specified there, Since the existence position is detected, it is possible to detect a moving body with high accuracy.

  The photographing means in the present invention is for photographing a moving image of the front area outside the vehicle, and the display control means is a still image of the image at the time when the specified position before the stop is reached from the moving image captured by the photographing means. When the stop of the vehicle at the stop position is specified, the still image can be displayed on the display means. According to this configuration, it is possible to easily obtain a still image for display by capturing a moving image.

  The display means in the present invention can be a display means in a passenger compartment having a display surface on the front side of the driver. Since the image in front of the vehicle is displayed, if the display surface is located in front of the driver, especially in front of the driver, it is intuitively understood that the image displays the vehicle front. It's easy to do.

  For example, the display means of the present invention has its display surface from a display device provided inside a display surface of a vehicle meter display device located in front of the driver or a display surface of a display device arranged in a vehicle interior. The emitted light can be reflected on the windshield surface of the vehicle, and the vehicle head-up display device or the like can be used to visually recognize the reflected image in front of the driver.

  The stop position specifying means in the present invention can be stop line detecting means for detecting a stop line drawn on the road as the stop position. According to this configuration, for example, a known white line detection technique using a laser radar can accurately grasp a stop line (white line) on the road. The stop line can be specified. It can also be set as the structure which detects a stop line (white line) from the picked-up image by the imaging | photography means of this invention.

  The stop position specifying means in the present invention may be means for specifying an intersection on a road in the traveling direction of the vehicle and specifying a position before the specified intersection as a stop position. According to this configuration, various intersection information on the road registered and stored in advance in the navigation device or the like is used, and whenever an intersection arrives from the front of the vehicle, the intersection can be reliably identified.

  The pre-stop position specifying means in the present invention can be configured to specify the case where the distance to the stop position of the vehicle is a predetermined reference pre-stop distance as the pre-stop position. The captured image displayed on the display means in the present invention is an image captured by pulling around the stop position, i.e., an image captured from the far position of the stop position, so that the captured image is selected based on the distance, It is possible to acquire and display an image in which the periphery of the stop position is reliably projected.

  The pre-stop position specifying means in the present invention includes a reference pre-stop time that is estimated based on a vehicle speed of the vehicle and a distance to the stop position of the vehicle, and an estimated arrival time for the vehicle to reach the stop position. You may specify as a position before a stop.

  In the present invention, a distance specifying means for specifying the distance between the moving body and the vehicle can be provided, and the display control means can display a warning image according to the specified distance between the moving body and the vehicle. The display state of can be changed. According to this configuration, it is possible to specify the level of attention to the moving body existing outside the vehicle by the distance between the vehicle and the moving body. That is, the closer the moving body is to the vehicle, the higher the attention level of the moving body, and the display according to the attention level can be performed. Thereby, the driver | operator can perceive the attention level of a moving body more rapidly. In addition, for example, the higher the attention level is, the more emphasis is given to the display for alerting, so that the driver can easily detect the moving object with the higher attention level.

  The display control means in this invention can change the display color of the image for alerting according to the distance of the specified mobile body and vehicle. For example, the display for alerting may be performed in red when the distance between the specified moving object and the vehicle is closer than a predetermined reference distance, and in yellow when the distance is not closer than the reference distance. Good. Further, the display control means of the present invention always displays a display for alerting when the distance between the specified moving object and the vehicle is closer than a predetermined reference distance, and when not closer than the reference distance May be displayed in a blinking manner, or a combination of these display states. Such a difference in display state makes it possible to more intuitively understand the distance between the moving body and the vehicle, that is, the level of attention to the moving body.

  The mobile body detection means in the present invention can transmit a predetermined detection wave and detect the mobile body based on reception of the reflected wave, and the distance specifying means can transmit the detection wave from the transmission of the detection wave. The distance to the moving body can be calculated based on the time until reception of the reflected wave. According to this configuration, both the detection of the moving body and the calculation of the distance between the vehicle and the moving body can be performed using the detection wave, so that the configuration is efficient and low cost.

  Further, the moving body detection means in the present invention can be a laser radar. There are various distance detection methods, such as detecting the distance by analyzing the image captured by the camera, and detecting the distance using millimeter waves. However, by adopting laser radar, more accurate distance detection is possible. It becomes possible.

  Also, the presence of the moving body performed by the display control means of the present invention can be performed based on the detection result of the laser radar. A moving object is detected from the detection result by irradiating a laser beam with high directivity (laser wave) from end to end within the detection area or by simultaneously irradiating the detection area in multiple directions. In addition, the position of the detected moving body can be specified. Since this laser radar can also be used as a laser radar of the moving body detecting means, the entire configuration can be simplified.

  In the present invention, it is possible to provide a moving body discriminating means for discriminating the type of moving body. In this case, the display control means of the present invention can change the display state of the alerting display according to the determined type of the moving body. According to this configuration, since it is possible to grasp what type of moving body is present in the blind spot, it is possible to intuitively grasp the attention level for the moving body.

  Further, in this case, the display control means of the present invention provides a predetermined moving body type visual recognition image (moving body type identification image) that can visually recognize (identify) the determined moving body type as a display for alerting. ) Can be displayed. Thereby, it is possible to intuitively grasp the type of the moving object from the shape of the graphic image displayed as the alerting display.

  The display control means of the present invention can be configured to blink the moving body type visually recognized image. Thereby, since the moving body type visually recognized image is displayed in an emphasized manner, the moving body can be recognized more quickly.

  In the present invention, a display image acquisition unit that acquires a captured image captured by the imaging unit when the vehicle has reached the stop position by the stop position arrival specifying unit as a display image on which a warning image is superimposed; A moving body position specifying means for specifying the position of the moving body detected by the moving body detection means on the specified display image, and the display control means includes a display image specifying means in the display means. The display image specified by the above can be displayed, and the alerting image can be displayed at the presence position specified by the moving body position specifying means on the display image.

  The display control means in the present invention can be configured to prohibit the display of the captured image and the alerting image when the moving body is not detected by the moving body detecting means. According to this configuration, it is possible to reduce the processing load by omitting useless display processing when there is no mobile object to be noted. Further, the display image specifying means may prohibit the specification of the display image when the moving body is not detected by the moving body detecting means. According to this configuration, it is possible to omit the meaningless specification (capture) processing of the display image, and the processing burden can be reduced.

  In the present invention, the vehicle speed detection means for detecting the vehicle speed of the vehicle can be provided, and in this case, the display control means is a reference in which the detected vehicle speed is determined in advance at the specified position before the stop. When the speed is lower, the display means can be configured to display a display image. Since the present invention allows the driver to intuitively and quickly recognize the moving object to be noted when the vehicle is stopped, as described above, by omitting useless display processing during traveling, The processing burden can be reduced. Further, the display image specifying means may specify the display image when the detected vehicle speed falls below a predetermined reference speed at the specified position before stopping. According to this configuration, since the display image preparation process is omitted during traveling, the processing load can be reduced.

The block diagram which shows simply the structure of the display apparatus for vehicles which is one Embodiment of this invention. The vehicle interior inside view of embodiment which performs a mobile body alert display with a HUD display apparatus. The vehicle interior schematic diagram for demonstrating the structure of the display apparatus of FIG. 2 simply. The flowchart which shows the flow of the main process which performs a moving body alerting display. The flowchart which shows the flow of a mobile body alert display process. The schematic diagram for demonstrating imaging | photography in the position before a stop with the camera of the display apparatus for vehicles of FIG. An example of the image image | photographed in the state of FIG. The schematic diagram for demonstrating the mobile body detection by the mobile body detection part of the display apparatus for vehicles of FIG. The schematic diagram which showed simply the structure of the moving body detection part of the display apparatus for vehicles of FIG. The figure explaining the identification method of the presence position of the mobile body by the mobile body detection part of FIG. The figure explaining the identification method of the mobile body classification by the mobile body detection part of FIG. The 1st example of a display which superimposed and displayed the image for alerting on the picked-up image of FIG. The 2nd display example which superimposed and displayed the image for alerting on the picked-up image of FIG. The flowchart which shows the 1st modification of the moving body alerting display process of FIG. The flowchart which shows the 2nd modification of the mobile body alerting display process of FIG. The flowchart which shows the modification of the main process of FIG. The flowchart which shows the mobile body alerting display process implemented in FIG. The vehicle interior inside view of embodiment which performs a mobile body alert display with a meter display apparatus. The vehicle interior schematic diagram for demonstrating simply the structure of the display apparatus of FIG.

  Hereinafter, one embodiment of a display device for vehicles of the present invention is described with reference to drawings.

  FIG. 1 is a block diagram schematically showing the configuration of a vehicle display device 1 according to an embodiment of the present invention. The vehicle display device 1 in the embodiment of FIG. 1 has a camera (photographing means) 11 that captures a predetermined front outside area 110 of a vehicle (in this case, an automobile) 100, and the driver 3D can visually recognize the captured image. A display device (display means) 13 for displaying the mobile body 500, and a mobile body detection unit (mobile body detection means) 12 for detecting the mobile body 500 in the blind spot area of the driver 3D existing on each of the left and right front sides of the vehicle 100. A stop position detector 14 for detecting a predetermined stop position on the road in the traveling direction of the vehicle 100, an external storage device 17 such as a hard disk drive, and a control unit (shooting control means and Display control means) 10.

  The stop position in the present embodiment is a predetermined position determined based on stop position information existing on the road. Here, the front end of the vehicle is determined based on the position of the stop line (white line) drawn on the road. It is a position in front of the stop line that is close to the stop line but does not cross the stop line.

  The display device 13 is disposed so as to be visible by the driver 3D, and here is the display device 13 that displays on the front side of the driver 3D. As shown in FIGS. 2 and 3, the display device 13 of the present embodiment reflects light emitted from the display surface of a liquid crystal display device or the like on the windshield (windshield) surface of the vehicle 100 and reflects the reflected image. Is a vehicle head-up display device 13H that allows the driver 3D to be visually recognized in front of the driver 3D, and the liquid crystal display device, which is the main body, extends to the inside of the vehicle 100 from below the windshield 4WS. When light is emitted from a backlight as a light source to a liquid crystal display that displays a display image, the light that has passed through the liquid crystal display is incident on the windshield 4WS and is seated in the driver's seat 4D Reflected toward the eyes of the driver 3D, the display image is captured by the driver 3D as a virtual image 13V.

  As shown in FIGS. 18 and 19, the display device 13 has a meter display surface 13N serving as a display unit for vehicle speed and engine speed located in front of the driver 3D, and is separately provided in the meter display surface 13N. It can also be set as the vehicle meter display device 13M provided with the display surface 13L.

  The camera 11 captures a moving image of the front area 110 outside the vehicle. Control is performed by the control unit (shooting control means) 10 so that shooting is executed at least when the vehicle 100 reaches a position before stopping, which will be described later. In the present embodiment, as shown in FIG. 6, the vehicle 100 is fixedly installed so that the fixed area 110 in front of the vehicle is within the photographing range, and the ignition switch (IG switch) 16 of the vehicle 100 is operated to be turned on. As a result, the moving image shooting is started, and the moving image shooting is ended as the operation is turned off. The captured moving image is stored and accumulated in a predetermined storage area (vehicle forward image storage unit) provided in the storage device 17, and stored and held for a certain period. As shown in FIG. 6, the camera 11 of the present embodiment is fixedly installed at the same position as the position of the driver 3D in the left-right direction of the vehicle, and is arranged so that the front of the driver 3D is photographed.

  The moving body detection unit 12 (12R, 12L) is provided for the vehicle 100 such that each detection area includes a blind spot area of the driver 3D. In the present embodiment, the left and right sides of the shooting range of the camera 11 can be detected so that a moving body (in this case, a pedestrian, a two-wheeled vehicle, an automobile, etc.) 500 existing in the front blind spot area 120 located in front of the driver 3D can be detected. The moving body detectors 12R and 12L are provided so as to include the front left and right blind spots 120R and 120L located outside the vehicle in the detection area. Here, the front blind spot areas 120R and 120L have an angle range of 20 degrees toward the front side of the vehicle from a line extending in the left-right direction of the vehicle with the left and right end positions of the front end of the vehicle as the center. In addition, the detection ranges on the left and right outside the vehicle of the moving body detection unit 12 (12R, 12L) are provided so as to include the left and right ends of the shooting range 110 of the camera 11.

  As shown in FIG. 9, the mobile body detection unit 12 (12R, 12L) of the present embodiment transmits a predetermined detection wave and detects the mobile body 500 based on whether or not the reflected wave is received. To do. It is also possible to calculate the distance to the moving body 500 based on the time from when the detection wave is transmitted until the reflected wave is received.

  Further, as shown in FIG. 10, the moving body detection unit 12 (12R, 12L) according to the present embodiment transmits a detection wave to be transmitted from the end to the end in the detection area (from the vehicle front side end position of the detection range to the rear side). By repeating the transmission while the detection unit 12 is rotationally driven by the rotation driving unit (motor) 12M so as to scan to the end position), not only the presence / absence of the moving body 500 and the distance thereof are determined from the reception result of those reflected waves. The position of the detected moving body 500 can also be specified.

  Furthermore, as shown in FIG. 11, the moving body detection unit 12 (12R, 12L) of the present embodiment can also specify the type of the moving body 500 from the reception result of the reflected wave. That is, as shown in FIG. 9, the moving body detection unit 12 is configured such that the reception surface 12A that receives the reflected wave of the detection wave is preliminarily covered with a plurality of reception cells 12a, and is received by each reception cell 12a. Each piece of waveform information of the reflected wave is transmitted to the control unit 10, and the control unit 10 specifies the reception intensity (the amplitude of the received wave) of the reflected wave in each receiving cell. Thereby, after the detection wave is transmitted, the control unit 10 can obtain the distribution of the reception intensity of the reflected wave in each reception cell 12a as shown on the right side of FIG. In the case of FIG. 11, the squares arranged in the vertical and horizontal directions correspond to the reception cells 12a spread on the reception surface 12A. The higher the density of dots in the square, the higher the reception intensity of the reflected wave in the corresponding reception cell 12a. Is high. Since the reflection direction of the reflected wave reflected by the moving body 500 changes depending on the shape of the moving body 500, the distribution of the received wave intensity of the reflected wave in each receiving cell 12a is as shown in FIG. It has a unique distribution pattern according to the type. For this reason, the distribution pattern of the reception intensity of the reflected wave corresponding to the various types of the mobile object 500 is stored in advance as model information in the control unit 10 or the storage device 17, and the reflected wave is received after the detection wave is transmitted. Accordingly, the control unit 10 specifies the distribution of the reception intensity of the reflected wave in each reception cell 12a, and refers to the model information for a distribution pattern in which the distribution of the reception intensity is equal to or higher than a predetermined reference level. When the distribution pattern that matches at the reference level or higher is specified, the detected mobile object 500 is specified as the type of mobile object 500 corresponding to the distribution pattern.

  Note that the moving body detection unit 12 (12R, 12L) here may be any one that can detect the specific moving body 500, and may use a millimeter wave or a radar wave as a detection wave. Are laser radars 12R and 12L that output laser light with high directivity and receive the reflected light, and are respectively provided on the left and right of the bumper portion at the front end of the vehicle.

  The stop position detection unit 14 is for specifying a predetermined stop position on the road in the traveling direction of the vehicle 100. In the present embodiment, the stop position detecting unit 14 is a laser beam (laser wave) in front of the vehicle 100 (traveling direction). ) Is used. The control unit 10 can specify the white line region drawn on the road from the detection result of the laser radar (the reception result of the reflected wave) by using a well-known white line detection technique. A stop line 201 that is a position is specified, and a position where the front end of the vehicle is close to the stop line 201 is specified as a stop position of the vehicle 100 (stop position specifying means). In addition, the structure which detects the stop line 201 by the pattern matching with respect to the picked-up image of the camera (shooting device) which image | photographs the vehicle front may be sufficient. The camera in this case may be the camera 11 described above.

  The control unit 10 is a control unit configured as a normal computer including a known CPU, ROM, RAM, and the like. In addition to the above, a vehicle speed sensor (vehicle speed detection unit) that detects the speed (vehicle speed) of the vehicle 100. 15 and the ignition switch 16 and is connected to the navigation device 2 via the in-vehicle LAN 3.

  The navigation device 2 includes a position detector 21, a display device (liquid crystal display, etc.) 22, a voice output unit (voice synthesis circuit and speaker) 23, an operation input unit (mechanical switch, touch switch, remote controller, voice input unit, etc.) 24, A storage device (hard disk drive or the like) 25 is connected to the control unit 20.

  The position detector 1 is current position specifying means for specifying the current position of the vehicle 100, and is a well-known geomagnetic sensor, a gyroscope for detecting the rotational angular velocity of the vehicle 100, a distance sensor for detecting the travel distance of the vehicle 100, and a satellite. And a GPS receiver that detects the position of the vehicle 100 based on radio waves from the vehicle.

  The control unit 20 is a normal computer configured with a well-known CPU, ROM, and RAM. The CPU performs control based on a navigation program and data stored in the storage device 25, for example, a destination. Route guidance can be performed by display within the display device 22 or voice output from the voice output unit 23.

  The storage device 25 is a map database that is a map database that includes so-called map matching data for improving the accuracy of position detection and road data representing road connections, in addition to the well-known navigation program for executing the route guidance and the like. Data is stored. The map data stores predetermined map image information for display and road network information including link information and node information. Further, in the storage device 25, the user can independently write data such as route guidance auxiliary information and entertainment information, and the data is stored as user data. Data and various information necessary for the operation of the navigation device 2 are also stored as a database.

  By the way, the control unit 10 of the present embodiment performs various controls based on programs and data stored in the ROM, the external storage device 17 and the like. Here, as shown in FIG. A display process for calling attention to 500 is executed.

  FIG. 4 is a flowchart showing the flow of the main process for executing the moving object alert display process of FIG. 5 executed by the control unit 10.

  First, in S1001, the control unit 10 determines whether or not the ignition switch 16 is turned on. If it is not ON, this process is terminated, and the alert display process of FIG. 5 is not executed. If it is ON, the process proceeds to S1002.

  In S1002, the control unit 10 instructs the camera 11 to start moving image shooting (shooting control means), and moving image shooting by the camera 11 is started. In continuing S1003, the control part 10 starts a moving body alerting display process.

  In S1004, the control unit 10 determines whether or not the ignition switch 16 is turned off. If it is not OFF, the process returns to S1003, and the alert display process of FIG. 5 is continuously executed. If it is OFF, the process proceeds to S1005 to end the moving image by the camera 11 (shooting control means) and store the moving image in the storage device 17 (shooting image storage means) in S1006. Become. This process is repeatedly executed at a predetermined cycle.

  According to this process, the alert display process of S1003 is executed when the ignition switch 16 is turned on, and is forcibly terminated when the ignition switch 16 is turned off. Similarly, the moving image shooting executed in S1002 is also executed when the ignition switch 16 is turned on, and is forcibly terminated when the ignition switch 16 is turned off. That is, this moving image shooting is always performed while the vehicle 100 is traveling, and a front image of the traveling vehicle 100 is recorded.

  Next, the alert display process of FIG. 5 will be described.

  First, in S <b> 1, the control unit 10 starts specifying a predetermined stop position (here, a stop line 201 drawn on the road) on the road in the traveling direction of the vehicle 100 (stop position specifying means). The stop position detection unit 14 of the present embodiment is a laser radar, and in S1, the control unit 10 outputs a command signal for irradiating the stop position detection unit 14 with a laser beam as a detection wave, and the reflected wave thereof. (Reflected light) is received. And the control part 10 acquires the reception result, and performs the detection of the stop position information (here stop line 201 drawn on the road) which shows the stop position of a vehicle on the road ahead of a vehicle based on it If it is detected, the stop position is specified with reference to the stop line 201. If the stop position is not specified (S2: No), the process proceeds to S15 and the present process ends. If the stop position is specified (S2: Yes), the process proceeds to S3.

  In S <b> 3, the control unit 10 specifies the stop front position on the front side in the traveling direction of the vehicle 100 with respect to the specified stop position (stop front position specifying means). Since the position before the stop in the present embodiment is determined as a position 202 where the distance to the stop position 201 of the vehicle 100 is a predetermined reference pre-stop distance, the position is specified as the position before the stop.

  Here, the reference pre-stop distance is a distance at which a predetermined stop reason area (intersection) existing ahead of the stop line is projected widely in the photographing range of the camera 11, and in this case, in particular, the stop position is determined. It is defined as the distance at which stop position information (stop line) on the road is projected. Specifically, the reference pre-stop distance of this embodiment is stored in advance in the storage device 17 as 10 m, and the position 10 m before the stop position is the stop front position.

  In S4, the control unit 10 determines whether or not the vehicle 100 has reached the position before the stop specified in S3 (stop position reaching specifying means). In the present embodiment, since the position detector 21 of the navigation device 2 specifies the current position of the vehicle 100, the position before the stop 202 (see FIG. 6) based on information acquired from the control unit 20 of the navigation device 2. ), The control unit 10 determines whether or not the vehicle 100 has traveled by a reference pre-stop distance D (in this case, 10 m) from the current position. This determination process is repeated until it is determined that the vehicle 100 has reached the specified position before the stop, and when it is determined (specified) that the vehicle 100 has reached, the process proceeds to S5. If it is not determined in S4 that the predetermined time has elapsed, the process is forcibly terminated.

  In S5, the control unit 10 superimposes a captured image 501 captured by the camera (imaging means) 11 when the vehicle 100 arrives at the position before the stop specified in S3, with a warning image 5 described later. Obtained as a display image 501 to be displayed (display image obtaining means). In this embodiment, as the control unit 10 is determined to have reached the near-stop position specified in S3, the control unit 10 determines from the moving image captured by the camera (imaging means) 11 The video (moving image frame) at the time is captured as a still image, and this is used as the display image 501. FIG. 6 is a diagram when the vehicle 100 reaches the position before the stop, and FIG. 7 is a still image 501 captured at that time.

  In S6, the control unit 10 specifies the arrival of the vehicle 100 at the stop position specified in S2 (stop position arrival specifying means). In the present embodiment, the current position information is acquired from the control unit 20 of the navigation device 2 that specifies the current position of the vehicle 100 in real time, or the travel distance from the position before the stop is calculated, and based on them. The control unit 10 determines whether or not the current position of the vehicle 100 at the current time has reached the stop position specified in S2. This determination process is repeated until it is determined that the vehicle 100 has reached the specified stop position. If it is determined that the vehicle 100 has reached, the process proceeds to S7. In S6, if it is not determined that the predetermined time has elapsed, the process is forcibly terminated.

  In S7, the control unit 10 specifies the stop of the vehicle 100 at the stop position determined to have been reached in S6 (stop specifying unit). In this embodiment, the control part 10 acquires the detection result of the vehicle speed sensor 15, and determines the stop of the vehicle 100 based on whether the vehicle speed became zero. This determination process is repeated until it is determined that the vehicle 100 has stopped at the specified stop position. When it is determined that the vehicle 100 has stopped, the process proceeds to S8. In S7, if it is not determined that the operation has stopped even after a predetermined time has elapsed, this processing is forcibly terminated.

  In S <b> 8, the control unit 10 outputs a command signal for starting the detection process of the moving body 500 in the blind spot area of the driver 3 </ b> D existing on the left and right sides of the vehicle 100 outside the vehicle to the moving body detection units 12 </ b> R and 12 </ b> L. At the same time, the control unit 10 acquires the detection result (moving body detection means). FIG. 8 schematically shows how the moving body is detected at the stop position. Here, reference numerals 120R and 120L are detection areas of the moving body detectors 12R and 12L, respectively.

  Note that the process of S8 is a process of detecting the moving object 500. Here, a moving object detection process is performed a plurality of times (for example, twice) at different timings, and when the position of the moving object is changed during the detection, the object is determined to be a moving object. . As already described, the position of the moving body can be specified from the detection results of the moving body detection units 12R and 12L.

  In subsequent S9, the control unit 10 determines the presence or absence of the moving body 500 in the blind spot areas 120R and 120L of the driver 3D based on the detection result acquired from the moving body detection units 12R and 12L. If the moving body 500 is detected, the process proceeds to S10, and if not detected, the process proceeds to S14.

  In S10, the control unit 10 specifies the presence position of the moving object 500 detected by the moving object detection unit 12 on the display image 501 acquired (captured) in S5 (moving object position specifying unit). In the present embodiment, as already described (see FIGS. 9 and 10), based on the detection result of the moving body detection unit 12, the position of the moving body 500 with respect to the vehicle 100 located at the stop position (the direction of existence). And the distance) in the captured image (display image) 501 taken by the camera 11 of the vehicle 100 located at the position before the stop, and the moving body detection of the vehicle 100 located at the stop position is detected. Since the detection range of the part 12 can also be specified, the presence position of the moving body 500 on the display image 501 is specified based on these. That is, since the shooting range of the camera 11 and the detection range of the moving object detection unit 12 are fixedly determined with respect to the vehicle 100, the movement at the current stop position is moved to a predetermined area on the image shot at the position before the stop. The detection range of the body detection unit 12 can be fixedly determined, and the detection position of the moving body 500 within the detection range can also be specified within a predetermined region on the image.

  In S11, the control part 10 discriminate | determines the classification of the mobile body 500 detected by the mobile body detection part 12 (mobile body discrimination | determination means). In the present embodiment, as already described (see FIG. 11), the type of the detected moving body 500 can be determined based on the detection result of the moving body detection unit 12. When the determination is completed, in S12, the alerting image 5 corresponding to the determined type of the moving body 500 is specified. In the storage device 17 according to the present embodiment, the alerting images 5 are stored in association with various types of predetermined mobile objects 500, and therefore, the alerting images 5 are here according to the correspondence relationship. Is identified.

  In S13, the control unit 10 causes the display device 13 to display the display image 501 acquired (captured) in S5, and specifies the position specified in S10 on the display image in S12. A command signal for superimposing the displayed image 5 for alerting is output to the display device 13 (display control means). FIGS. 11 and 12 are examples of an image 502 in which the alerting image 5 is superimposed on the display image 501. In FIG. 12, the type of the moving object 500 is a pedestrian, and attention indicating a pedestrian is shown. A call image 5A (5) is displayed in a superimposed manner. In FIG. 13, the type of the moving body 500 is a two-wheeled vehicle, and a warning image 5B (5) indicating a two-wheeled vehicle is displayed in a superimposed manner. These alerting images 5 are stored in advance in the storage device 17, and are read out and used for display in the superimposed display.

  Note that the superimposed display (superimposed display) here may be a display that looks like two images are displayed in the display area, and needs to be displayed in a superimposed manner. There is no.

  In S14, the control unit 10 determines whether or not the vehicle 100 has passed through the stop position and has reached a position separated from the stop position by a predetermined distance or more. That is, it is determined whether or not the vehicle 100 has passed the stop position (currency determination means). If the vehicle 100 has passed, the process proceeds to S15. If not, the process returns to S8 to detect the moving object again, and the moving object is detected. If so, S9 to S13 are executed again. Thereby, when the position of the moving object 500 is changed, the background image (display image) 501 is not changed, but the position of the alerting image 5 is changed corresponding to the position change.

  In S15, the control unit 10 performs a display end process related to the superimposed display (superimposed display) performed in S15. Specifically, the control unit 10 ends the display on the display device 13 and erases the captured image. After this process ends, this process ends.

  According to this process, the moving body 500 detected after reaching the stop position is displayed on the image captured at the stop front position 202 that is in front of the stop position, so that the mobile body 500 is displayed to the driver 3D. Can be accurately notified of the presence, the position of the presence, and the degree of danger at a necessary timing.

  In addition, the image taken at the position before the stop 202 is captured at the position before the stop line 201 so that the stop line 201 drawn on the road in the traveling direction of the vehicle 100 is projected. FIG. 7). Then, against this background, an image 5 that alerts the presence of the moving object 500 detected when the vehicle 100 reaches the stop line is superimposed (see FIG. 12 and FIG. 13: image 502). The superimposed image 5 is displayed at the detection position (existing position: see FIG. 6) of the moving body 500 on the photographed image 501 (see FIG. 7) as the background. For this reason, the presence position can be grasped from the display position of the image 5. Furthermore, since the photographed image 501 as the background is an image in which the periphery of the intersection can be widely confirmed as if the intersection was viewed with a pull, the position where the moving object 500 exists at the intersection can be quickly recognized.

  If the captured image 501 serving as the background is an image captured by the camera 11 with the vehicle 100 stopped at the stop line 201, the camera 11 is too close to the intersection, and the area ahead of the intersection is determined. Since the photographed image is mainly taken, the vicinity of the intersection is not projected, and the situation around the intersection is difficult to grasp. Also, in this case, the blind spot area located in front of the driver 3D on the left and right is projected only at both ends of the image, and a part thereof may not be projected. Therefore, the moving body 500 around the intersection on the image. It is difficult to call attention.

  On the other hand, when the image is taken at the position 202 before the stop, the moving object detection may be performed at the same time, and the alerting image 5 may be displayed from this stage. However, as shown in FIG. There is a possibility that the moving object 500 to be aroused is hidden behind a fixed structure 302 (see FIGS. 6 and 8) on a fence or a utility pole and cannot be detected. By detecting the moving object after reaching the stop position as in this process, it is possible to reliably detect the presence of the moving object 500 that is hidden in the fence or the utility pole. And a warning image 5 are superimposed on the position of the moving body on the captured image 501 on which the electric pole and the like are projected (see FIGS. 12 and 13). That is, even if the moving body 500 is hidden behind a fence or a power pole as shown in FIG. 6 and is not displayed in the captured image 501, if it is detected as shown in FIG. 8, it is defined on the captured image 501. Since the image 5 for alerting is simply superimposed and displayed on the content (electric pole or urn) displayed on the predetermined area (area corresponding to the detection range of the moving object detection unit 12 at the stop position). (Refer to FIG. 12 and FIG. 13) The driver 3D can be surely notified of the presence of the moving body 500.

  Although one embodiment of the present invention has been described above, this is merely an example, and the present invention is not limited to this, and the knowledge of those skilled in the art can be used without departing from the spirit of the claims. Various modifications based on this are possible.

  For example, in the above-described embodiment, the mobile object detection and the mobile object alert display are repeated until the mobile object is alerted in steps S8 to S14 of the mobile object alert display process shown in FIG. However, for simplification of processing, as shown in FIG. 14, the moving object detection and the moving object warning display may not be repeated. In the case of FIG. 14, the display in S <b> 13 is continuously displayed without changing the position until the vehicle 100 subsequently leaves the stop position.

  Moreover, in the said embodiment, although the stop of a vehicle is determined in S8 of the moving body alert display process shown in FIG. 5, it is not a stop, but instead of a stop, a predetermined low speed (stop) It may be determined whether it falls below (for example, 5 km / h or less). Thereby, even when traveling at a low speed corresponding to a stop, it is possible to perform a warning display of the moving body as shown in FIGS. In addition, each process of S101-S115 of FIG. 14 is the same as that of S1-S15 of FIG.

  Moreover, as shown in FIG. 15, you may abbreviate | omit about S8 of the mobile body alert display process shown in FIG. That is, instead of stopping at the stop position of the vehicle, detection of the moving body (S207) and moving body alert display (S209 to S212) can be performed as the vehicle reaches the stop position. In addition, each process of S201-S214 of FIG. 15 is the same as that of S1-S7 and S9-S15 of FIG.

  In the above embodiment, as shown in the main process of FIG. 4, while the vehicle 100 is traveling (when the ignition switch is turned on), the video shooting by the camera 11 is always performed, and the vehicle that is traveling like a drive recorder. 100 forward images are recorded, but as shown in FIG. 16 and FIG. 17, when a moving object is detected at the stop position, still image shooting is performed at the position before the stop without moving image shooting. You may make it display. In FIG. 16, S1002, S1005, and S1006 in FIG. 4 are omitted, and in FIG. 17, the process corresponding to S5 in FIG. 5 is still image shooting (S305), and a warning image is superimposed on the captured image. Processing to display is executed (S310 to S313). Other processes in FIG. 17 are the same as those in FIG.

  In the above embodiment, the stop position is in front of the stop line (pause line) drawn in white on the road. However, the stop position is not limited to the stop line, and is a signboard for a temporary stop (such as a snowy area). Furthermore, it may be a predetermined temporary stop position of the vehicle that is in front of an intersection (for example, an intersection without a stop line). In the above embodiment, the stop line is specified from the detection result of the laser radar. However, the stop line (white line) 201 may be detected from the image captured by the camera (imaging unit) 11. Alternatively, the determination of reaching the position before the stop may be specified by calculating the distance to the stop line 201 from the detection result of the laser radar that detects the stop line (white line) 201.

  Further, the display device (display means) 13 for performing the alert display is preferably a display means in the passenger compartment having a display surface on the front side of the driver 3D, and in addition to the HUD display device 13H of the above embodiment. As shown in FIGS. 17 and 18, the display surface 13 </ b> L on which the alert display is made may be provided inside the meter display surface 13 </ b> N located in front of the driver 3 </ b> D.

  Moreover, in the said embodiment, the alerting display displayed and controlled by the control part 10 is displayed on the alerting image 5 corresponding to the moving body 500 according to the distance between the vehicle 100 and the detected moving body 500. It is possible to change the state so that the danger level of the moving object 500 is indicated. Specifically, the display color can be changed. For example, when the detected distance between the moving body 500 and the vehicle 100 is closer than a predetermined reference proximity distance, the red color can be used, and when the detected distance is not closer than the reference distance, the yellow color can be used. Further, it is possible to always display a case where the detected distance between the moving body 500 and the vehicle 100 is closer than a predetermined reference proximity distance, and to display a case where the distance is not shorter than the reference distance by blinking display.

  Moreover, in the said embodiment, the display state (shape in FIG.12 and FIG.13) of the image 5 for alerting is changed according to the classification of the detected moving body 500. FIG. More specifically, a predetermined mobile body type visual image 5 (5A, 5B, etc.) that allows the type of the mobile body 500 to be visually recognized / identified is displayed as the alert image 5. The alerting image 5 may be displayed blinking. Thereby, it becomes possible to grasp the state of the portion where the image 5 for alerting is overlapped in the background image.

  In the above embodiment, the stop position is specified by detecting the stop line 201 existing on the road, but the intersection 200 is specified by the navigation device 20 on the road in the traveling direction of the vehicle. The position before the specified intersection 200 may be specified as the stop position. Thereby, even at the intersection 200 where the stop line is thin and cannot be seen, it is possible to reliably identify the intersection 200 and recognize the stop position. The stop position determined based on the intersection 200 can be a position before the intersection where the front end of the vehicle 100 is close to the intersection 200 but has not entered the intersection 200.

  Moreover, in the said embodiment, the mobile body detection part 12 (12R, 12L) sends out a detection wave to multiple directions within a detection area simultaneously, From the reception result of those reflected waves, the position of the mobile body 500 is also changed. Can be identified.

DESCRIPTION OF SYMBOLS 1 Display apparatus for vehicles 3D Driver 4D Driver's seat 5 Image for alerting 10 Control part (Shooting control means and display control means)
DESCRIPTION OF SYMBOLS 11 Camera 110 Image | photographing range 12 (12R, 12L) Moving body detection part 120R Blind spot area | region 120L right front of vehicle 120L Blind spot area | region of vehicle front left side 13 Display apparatus 14 Stop position detection part 20 Vehicle navigation apparatus 100 Vehicle 500 Moving body 501 Background image (Photo taken)
502 Warning display image

Claims (13)

A vehicle display device comprising: an imaging unit that captures a predetermined front outside area of a vehicle; and a display unit that displays the captured image in a form that is visible to the driver,
Stop position specifying means for specifying a predetermined stop position on the road in the traveling direction of the vehicle;
Stop position arrival specifying means for specifying the arrival of the vehicle to the specified stop position;
A pre-stop position specifying means for specifying a predetermined pre-stop position that is closer to the vehicle traveling direction than the specified stop position;
Shooting control means for controlling the shooting means so that shooting is performed at least when the vehicle reaches the position before the stop;
A moving body detection means for detecting a moving body in the driver's blind spot area existing on each of the left and right front sides of the vehicle outside the vehicle;
When the moving body is detected by the moving body detection means when the stop position arrival specifying means specifies the arrival of the vehicle at the stop position, the display means passes immediately before the arrival. While displaying the photographed image photographed by the photographing means at the position before the stop, the presence position of the detected moving body is identified on the photographed image, and is determined in advance as the identified existence position. Display control means for displaying a warning image in an overlapping manner;
A vehicle display device comprising: Comprising stop specifying means for specifying the stop of the vehicle at the stop position specified by the stop position specifying means,
In the display means, when the moving body is detected by the moving body detecting means when the vehicle has reached the stop position and the stop is specified by the stop specifying means, While displaying the photographed image photographed by the photographing means at the position before the stop that passed immediately before the stop, the presence position of the detected moving body is identified and identified on the photographed image. The vehicular display device according to claim 1, wherein a predetermined image for alerting is displayed in an overlapping manner at an existing position. The photographing means is for photographing a moving image of the front area outside the vehicle,
From the moving image captured by the imaging unit, comprising: a display image acquisition unit that captures a video as a still image when the specified position before the stop is reached,
3. The vehicle according to claim 1, wherein the display control unit is configured to display the captured still image on the display unit when the stop of the vehicle at the stop position is specified. Display device.   The vehicle display device according to any one of claims 1 to 3, wherein the display means is a display means in a vehicle compartment having a display surface on the front side of the driver.   5. The vehicle display device according to claim 1, wherein the stop position specifying unit is a stop line detecting unit that detects a stop line drawn on the road as the stop position. 6.   6. The vehicle display device according to claim 5, wherein the stop position specifying means is a laser radar.   5. The stop position specifying means is means for specifying an intersection on the road in the traveling direction of the vehicle and specifying a position before the specified intersection as the stop position. The vehicle display device according to claim 1.   8. The stop front position specifying unit is configured to specify, when the distance to the stop position of the vehicle is a predetermined reference stop distance, as the stop front position. The vehicle display device according to claim 1. A distance specifying means for specifying a distance between the moving body and the vehicle;
The said display control means changes the display state of the said image for alerting | calling according to the distance of the specified said mobile body and the said vehicle. Vehicle display device. The moving body detecting means sends out a predetermined detection wave and detects the moving body based on reception of the reflected wave.
The vehicle display device according to claim 9, wherein the distance specifying unit calculates a distance from the moving body based on a time from transmission of the detection wave to reception of the reflected wave.   The vehicle display device according to claim 10, wherein the moving body detection means is a laser radar. A moving object determining means for determining the type of the moving object;
The vehicle display according to any one of claims 1 to 11, wherein the display control unit is configured to superimpose and display the warning image in a different display state according to the determined type of the moving body. Display device.   The vehicle display device according to claim 12, wherein the display control unit displays a predetermined moving body type visually recognizable image in which the determined type of the moving body can be visually recognized as the alerting image. .