JP5803757B2 - Perimeter monitoring device and perimeter monitoring method - Google Patents

Description

  The present invention relates to a periphery monitoring device and a periphery monitoring method.

  2. Description of the Related Art Conventionally, there is a periphery monitoring device that displays an image of an area that becomes a blind spot of a driver of a vehicle and supports driver's safety confirmation. As this type of periphery monitoring device, for example, there is a parking assistance device in which an obstacle sensor and a wide-angle camera are mounted behind a vehicle (see Patent Document 1). In this parking assist device, when the vehicle moves backward and parks, the rear periphery of the vehicle is imaged with a wide-angle camera, and obstacles around the vehicle are detected with an obstacle sensor.

  Here, when an obstacle is not detected by the obstacle sensor, an image captured with the angle of view of the wide-angle camera as an angle of about 120 degrees, for example, is displayed, and when an obstacle is detected by the obstacle sensor, Switch to wide-angle display and display up to the vehicle corner. Thus, by displaying the image captured by the wide-angle camera, the driver can recognize obstacles around the corner of the vehicle.

JP 2009-65483 A

  By the way, when comparing the imaging range of the wide-angle camera and the obstacle detection range of the obstacle sensor, in general, the imaging range of the wide-angle camera is often wider than the obstacle detection range of the obstacle sensor. For this reason, in the parking assistance apparatus disclosed in Patent Document 1, when the obstacle sensor detects an obstacle and the wide-angle camera includes an obstacle in the captured image, the position of the obstacle relative to the vehicle is an obstacle. If the object sensor moves out of the detection range, the display captured by the wide-angle camera returns from a wide angle to a narrow angle, and the display of the vehicle corner portion ends.

  Here, the driver receiving the parking assistance visually recognizes the display of the image captured by the wide-angle camera, grasps the relative position of the vehicle and the obstacle based on the displayed image, and performs the driving. Yes. For this reason, if the display captured by the wide-angle camera returns from a wide angle to a narrow angle, the driver cannot confirm that the vehicle has completely avoided the obstacles, making it even more secure than before. There was a problem that it could not be given to the driver.

  Therefore, the problem of the present invention is that the driver confirms that the vehicle has completely avoided the obstacle even after the position of the obstacle relative to the vehicle has moved from within the detection range of the obstacle sensor to outside the detection range. Provided is a periphery monitoring device and a periphery monitoring method that can give a driver a greater sense of security.

The periphery monitoring apparatus according to the present invention includes a periphery searching unit that searches a periphery of a vehicle and detects an object around the vehicle, an image capturing unit that can capture an object around the vehicle, and an image that displays an image captured by the image capturing unit. A display means, a judgment means for judging whether or not an object around the vehicle is within the imaging range of the imaging means when an object around the vehicle is out of the search range of the surrounding search means, and an object around the vehicle Is present in the imaging range, the image display control means for maintaining the display of the image by the image display means, the vehicle motion state detection means for detecting the motion state of the vehicle, and the vehicle detected by the vehicle motion state detection means Vehicle movement amount calculation means for calculating the movement amount of the vehicle from the motion state of the vehicle, and the determination means uses the past detection result by the surrounding search means and the vehicle movement amount calculated by the vehicle movement amount calculation means. Hazuki, objects around the vehicle, calculates the current around the object position information, based on the current around the object position information, object around the vehicle is characterized by determining whether present in the imaging range.

In the periphery monitoring device according to the present invention, when an object around the vehicle deviates from the search range of the periphery search means, it is determined whether or not the object around the vehicle exists within the image pickup range of the image pickup means, The image display by the image display means is maintained when the object is within the imaging range. For this reason, even after an object around the vehicle deviates from the search range of the surrounding search means, the driver can grasp the position of the obstacle from the image displayed on the image display means. Therefore, even after the position of the obstacle relative to the vehicle has moved from within the detection range of the obstacle sensor to outside the detection range, the driver can confirm that the vehicle has completely avoided the obstacle, You can give your hands a greater sense of security. Further, in the present invention, based on the past detection result by the surrounding search means and the movement amount of the vehicle calculated by the vehicle movement amount calculating means, the current surrounding object position information of the object around the vehicle is calculated, Based on the surrounding object position information, it is determined whether or not an object around the vehicle exists within the imaging range. Therefore, the display of the camera image can be reliably maintained while the obstacle is in the imaging range, regardless of whether the obstacle is out of the search range of the surrounding search means.

  In the periphery monitoring device according to the present invention, the image display control means switches the image displayed by the image display means to an image captured by the imaging means when the periphery search means detects an object around the vehicle. It is characterized by.

  According to the present invention, when the surrounding search means detects an object around the vehicle, the driver displays the image displayed by the image display means to the image picked up by the image pickup means. Even when there is no room for switch operation, an image of an obstacle around the vehicle can be reliably displayed on the image display means.

  Furthermore, in the periphery monitoring device according to the present invention, the image display control means stops displaying the camera image by the image display means when it is determined that an object around the vehicle is out of the imaging range.

  When it is determined that an object around the vehicle is out of the imaging range, the obstacle is not photographed. For this reason, when it is determined that an object around the vehicle is out of the imaging range, the display of the camera image by the image display unit is stopped, so that it is possible to prevent useless image display.

Further, the periphery monitoring method of the present invention determines that an object around the vehicle is detected by the periphery searching means, an object around the vehicle is imaged by the imaging means, and an image captured by the imaging means is displayed by the image display means. When the object around the vehicle deviates from the search range of the surrounding search means, it is determined whether the object around the vehicle exists within the imaging range of the imaging means, and the image display control means When the object is within the imaging range, the display of the image is maintained by the image display means, the movement state of the vehicle is detected by the vehicle movement state detection means, and the vehicle movement state detection means is detected by the vehicle movement amount calculation means. The vehicle movement amount is calculated from the movement state of the vehicle, and the vehicle detected by the determination unit and the past detection result by the surrounding search unit and the vehicle movement amount calculation unit are calculated. Based on the amount of movement of an object around the vehicle, calculates the current around the object position information, based on the current peripheral object position information, the object around the vehicle to determine whether present in the imaging range It is characterized by.

  According to the present invention, a peripheral monitoring device and a peripheral that can maintain display of a camera image and confirm that the driver has completely avoided the obstacle even after the obstacle has moved to the blind spot area of the sensor. A monitoring method can be provided.

It is a block block diagram which shows the structure of the periphery monitoring apparatus which concerns on embodiment of this invention. It is a top view which shows the structure of the periphery monitoring apparatus which concerns on embodiment of this invention. It is a schematic diagram which shows the positional relationship of a vehicle and an obstruction, and the schematic diagram which shows the image displayed on a display corresponding to the positional relationship. It is a flowchart which shows the process sequence in a periphery monitoring apparatus.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted. For the convenience of illustration, the dimensional ratios in the drawings do not necessarily match those described.

  FIG. 1 is a block configuration diagram showing a configuration of a periphery monitoring device according to an embodiment of the present invention. A peripheral monitoring ECU (Electronic Control Unit) 1 is a computer of an electronically controlled automobile device, and includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an input / output interface, and the like. Has been. FIG. 2 is a plan view showing the configuration of the periphery monitoring apparatus according to the embodiment of the present invention.

  As shown in FIG. 1, a vehicle motion sensor 2, a clearance sonar 3, and a display 6 are connected to the periphery monitoring ECU 1, and a camera 5 is connected to the display 6. In addition, the periphery monitoring ECU 1 includes a movement amount calculation unit 10, a determination unit 11, a position information storage unit 12, and an image display control unit 13. In the periphery monitoring ECU 1, the movement amount calculation unit 10, the determination unit 11, the position information storage unit 12, and the image display control unit 13 monitor the periphery of the vehicle and control the image displayed on the display 6 based on the monitoring result. ing. In the present embodiment, the obstacle mainly refers to a stationary object, but may be a moving body such as another vehicle or a pedestrian traveling.

  The vehicle motion sensor 2 includes a sensor that can estimate the amount of movement of the vehicle, such as an internal sensor such as a wheel speed sensor or a steering angle sensor, or an external sensor. The vehicle motion sensor 2 detects the motion state of the vehicle such as the wheel speed and the steering angle, and transmits the detection result to the movement amount calculation unit 10. The vehicle motion sensor 2 constitutes vehicle motion state detection means.

  The clearance sonar 3 is an example of the periphery searching means of the present invention. The clearance sonar 3 is a radar device for detecting objects around the host vehicle 30 shown in FIG. 2 using sound waves. The clearance sonar 3 transmits a sound wave in a horizontal plane and receives a reflected sound wave, thereby scanning and searching for an object around the vehicle, and actual position information such as the direction and distance of an obstacle around the vehicle. To get. The clearance sonar 3 transmits the acquired actual position information of the obstacle to the determination unit 11. As long as the obstacle exists in the search range, the clearance sonar 3 continuously sends the acquired actual position information to the determination unit 11.

  As shown in FIG. 2, the clearance sonar 3 is attached to the bumper corner 7 on the left side of the host vehicle 30. In the case of a right-hand drive vehicle, the right side of the host vehicle 30 is easy to observe from the driver, but the vicinity of the left bumper corner 7 located away from the driver is a blind spot. Therefore, in the case of a right-hand drive vehicle, the clearance sonar 3 is preferably attached to the left bumper corner 7. Conversely, when the vehicle is a left steering wheel, it is preferable to attach it to the right corner for the same reason.

  The camera 5 captures an area including the search range of the clearance sonar 3. In this embodiment, a camera 5 having an angle of view of 120 degrees is used. The camera 5 is placed behind the sonar so that the entire search range of the clearance sonar 3 falls within the imaging range. An image captured by the camera 5 is output to the display 6. Hereinafter, an image taken by the camera 5 is referred to as a camera image. The camera 5 constitutes an imaging means of the present invention.

  In this embodiment, the display 6 installed in the vehicle shown in FIG. 2 is used as a display device for displaying a camera image. The display 6 may be a display provided exclusively for the periphery monitoring device of the present invention, but may also be used as a display of a peripheral device such as a navigation device or a vehicle-mounted television. The display 6 constitutes image display means of the present invention. In the present embodiment, the periphery monitoring device also uses the display 6 as a navigation device.

  The movement amount calculation unit 10 in the periphery monitoring ECU 1 calculates the movement amount of the vehicle from the movement state of the vehicle output from the vehicle movement sensor 2. In the present embodiment, wheel speed and steering angle are used as the motion state of the vehicle. The wheel speed sensor and the steering angle sensor for measuring the wheel speed and the steering angle constitute the vehicle motion state detecting means of the present invention. The movement amount calculation unit 10 calculates a translation amount that is a change in distance to a certain reference point and a rotation amount that is a change in azimuth as a movement amount of the host vehicle 30 from the wheel speed and the steering angle. The calculated movement amount is output to the determination unit 11 as movement amount information. The movement amount calculation unit 10 constitutes a vehicle movement amount calculation means of the present invention.

  When the determination unit 11 receives the actual position information of the obstacle from the clearance sonar 3, it determines that the obstacle exists in the search range, and generates the search range existence information. The search range presence information generated by the determination unit 11 is output to the image display control unit 13. While the actual position information is transmitted from the clearance sonar 3, the determination unit 11 continues to determine that an obstacle exists in the search range, and sequentially outputs the search range information to the image display control unit 13. When the actual position information is no longer transmitted from the clearance sonar 3, the determination unit 11 stops outputting the search range presence information to the image display control unit 13. The determination unit 11 constitutes determination means of the present invention.

  When the movement amount information is output from the movement amount calculation unit 10, the determination unit 11 reads past peripheral object position information from the position information storage unit 12. The determination unit 11 is a relative position of the obstacle with respect to the host vehicle 30 based on the movement amount information output from the movement amount calculation unit 10 and the past surrounding object position information read from the position information storage unit 12. Current peripheral object position information is calculated. The determination unit 11 compares the calculated current surrounding object position information with a preset imaging range of the camera, determines whether or not an obstacle exists in the imaging range, and generates in-imaging range presence information. To do. The imaging range presence information is output to the image display control unit 13.

  Further, the determination unit 11 stores the calculated current peripheral object position information in the position information storage unit 12. The peripheral object position information stored in the position information storage unit 12 is read as past peripheral object position information in subsequent calculations. Each time the movement amount information is output from the movement amount calculation unit 10, the determination unit 11 reads the latest past peripheral object position information and sequentially updates the current peripheral object position information. Further, every time the surrounding object position information is updated, the determination unit 11 sequentially determines whether or not an obstacle exists in the imaging range based on the calculated current surrounding object position information, and exists in the imaging range. Information is sequentially transmitted to the image display control unit 13.

  When the actual position information is no longer output from the clearance sonar 3, the determination unit 11 uses the actual position information transmitted last as the latest past peripheral object position information, and the current peripheral object position information. Start calculation.

  The surrounding object position information is obtained by the following equation when the movement amount transmitted from the movement amount calculation unit 10 is the translation amount (T) and the rotation amount (R) calculated from the vehicle speed and the steering angle in the determination unit 11. Is calculated by The relative position of the obstacle with respect to the host vehicle 30 can be calculated by the following equation, and it can be determined whether or not the obstacle exists within the imaging range.

NewP = P · R + T (1)
In the above equation (1), NewP: current surrounding object position information
P: Past surrounding object position information

  The position information storage unit 12 stores the peripheral object position information output from the determination unit 11, and outputs the stored peripheral object position information to the determination unit 11 in response to the reading of the determination unit 11. The position information storage unit 12 is composed of a rewritable memory.

  The image display control unit 13 controls display on the display 6 based on the search range presence information and the imaging range presence information output from the determination unit 11. When the search range presence information is input, the image display control unit 13 transmits a switching signal to the display 6 so as to switch the image on the display 6. When the switching signal is transmitted, the display 6 switches the image display from a display such as a map used for the navigation device to a camera image around the clearance sonar 3. While the search range presence information is input, the image display control unit 13 continues to transmit the switching signal to the display 6 and maintains the image display on the display 6. The image display control unit 13 constitutes image display control means of the present invention.

  On the other hand, even when there is no input of the search range presence information to the image display control unit 13, the image display control unit 13 maintains the display 6 if the imaging range presence information is input. On the other hand, when there is no longer any input of the in-imaging range presence information to the image display control unit 13, the image display control unit 13 displays the image on the display 6, from the image around the clearance sonar 3 to the map screen used for the navigation device, Switch to the display.

  As described above, when it is determined that an object around the vehicle is out of the imaging range, the display of the camera image by the image display means is automatically switched, so that the driver does not need to manually perform annoying switch operation and is comfortable. You can drive.

  Next, the operation of the periphery monitoring device according to the present embodiment will be described. FIG. 3 is a schematic diagram showing a positional relationship between the vehicle and the obstacle and a schematic diagram showing an image displayed on the display corresponding to the positional relationship. (A) is when the clearance sonar 3 is not detecting an obstacle, (b) is when the clearance sonar 3 is detecting an obstacle, and (c) is when the obstacle is in the imaging range, When the clearance sonar 3 is out of the detection range. (D), (e), and (f) show the image display of a display corresponding to the positional relationship between the own vehicle 30 and the obstacle 21 shown in (a), (b), and (c), respectively. FIG. 4 is a flowchart showing the operation of the periphery monitoring device.

  As shown in FIG. 4, in the periphery monitoring apparatus according to the present embodiment, first, a periphery search is performed by the clearance sonar 3 (S1). Next, it is determined whether or not an obstacle has been detected around the host vehicle 30 as a result of the surrounding search (S2). As shown in FIG. 3A, when the obstacle 21 is outside the search range 22 of the clearance sonar 3, the obstacle 21 is not detected. At this time, as shown in FIG. 3D, for example, a map screen used for the navigation device is displayed on the display 6. When the obstacle 21 is not detected, the surrounding search is continued.

  When the distance between the host vehicle 30 and the obstacle 21 decreases and the obstacle 21 enters the search range 22 of the clearance sonar 3 as shown in FIG. 3B, the obstacle 21 is detected. When the obstacle 21 is detected, the screen display on the display 6 is switched to the camera display, and the obstacle 21 is displayed on the display 6 (S3). In FIG. 3 (e), as an example of the obstacle 21, a sign post is displayed on the display 6.

  Further, in FIG. 3B, the obstacle 21 is displayed on the display 6, so that the driver turns right to avoid the obstacle 21 with an arrow. Since the vehicle turns right, the obstacle 21 is out of the search range 22 of the clearance sonar 3 and enters the region 24 that is within the imaging range 23 of the camera 5 but is the blind spot of the clearance sonar 3. Subsequently, it is determined whether or not the obstacle 21 is out of the search range 22 (S4). This determination is made based on whether or not the obstacle 21 that has been detected so far is still detected.

  Since the obstacle 21 is out of the search range 22, the determination unit 11 calculates the current peripheral object position information and updates the past history (S5). The determination unit 11 determines whether or not the obstacle 21 exists within the imaging range 23 of the camera 5 based on the calculated current peripheral object position information (S6). While it is determined that the obstacle 21 exists in the imaging range 23, the peripheral object position information is sequentially updated, and the camera image display on the display 6 is maintained.

  FIG. 3C shows a state where the host vehicle 30 turns right and the obstacle 21 is completely avoided. Since the obstacle 21 is also out of the imaging range 23 of the camera 5, the camera image display on the display 6 is stopped (S7). At this time, in FIG.3 (f), the display of the display 6 is switched to the map screen used for a navigation apparatus. Then, the periphery monitoring device returns to S1 in the flowchart and searches for the periphery of the host vehicle 30 again. Thereafter, steps 1 to 7 are repeated.

  As described above, according to the periphery monitoring device according to the present embodiment, even when the obstacle is out of the search range of the clearance sonar 3, the current surrounding object position is based on the past periphery search result and the movement amount of the vehicle. Information is calculated, and it is determined whether or not the obstacle 21 exists in the imaging range based on the current surrounding object position information. If the obstacle 21 exists in the imaging range of the camera 5, the camera 5 by the display 6 is used. Maintain image display. Therefore, since the image display is reliably maintained until the obstacle 21 is completely avoided, the driver can appropriately confirm the safety.

  Further, since the images are automatically switched, the driver can comfortably drive without troublesome switch operation. Furthermore, in this embodiment, since the periphery monitoring device also uses the display 6 as a navigation device, a map or the like used for the navigation device can be displayed when it is not necessary to monitor the periphery.

  The periphery monitoring device according to the present invention is not limited to the above-described embodiment, and may be modified as follows. In the above embodiment, the clearance sonar 3 is used as the surrounding search means. However, the clearance sonar 3 is not particularly limited as long as the sensor can search and detect an object around the vehicle other than the clearance sonar 3. For example, a sensor capable of measuring a distance from an object such as a lidar sensor or a millimeter wave radar can be used.

  In the above embodiment, the camera 5 has an angle of view of 120 degrees, but it may be a wide-angle camera that is larger than 120 degrees and about 180 degrees. A camera with a built-in processing device such as a DSP (Digital Signal Processor) may also be used.

  In the above embodiment, the clearance sonar 3 is installed in the bumper corner 7 on one side of the host vehicle 30, but may be mounted on the bumper corner 7 on both sides of the host vehicle 30. In this case, even when looking at the vicinity of the bumper corner 7 on the side where the steering wheel is present, the driver does not need to lose his posture or face out of the window, so it is possible to drive while maintaining a safe posture. it can. When the clearance sonar 3 is attached to the bumper corners 7 on both sides, the camera 5 may be attached to the rear of both clearance sonars 3 to photograph the periphery of each bumper corner 7. Each camera image may be divided and displayed on the display 6, or only the camera image on the side where the obstacle is detected may be displayed and switched each time it is detected. Alternatively, a wide-angle camera may be mounted at the front center of the vehicle body, and only the vicinity of the clearance sonar 3 in which an obstacle is detected by changing the angle of view may be photographed.

  Further, as a modification of the present embodiment, the clearance sonar 3 can be mounted on the rear portion of the vehicle. In this case, the clearance sonar 3 can be installed at one or both corners. Or the clearance sonar 3 can also be arrange | positioned in a vehicle back center part. By installing the clearance sonar 3 at the rear of the vehicle, the driver can confirm safety without turning around at the time of parking or the like, so that the driver can park safely without breaking his posture. In this case, an obstacle with a lower body height than the vehicle body can be confirmed by adjusting the imaging direction of the camera downward.

  The update of the peripheral object position information in the determination unit 11 may start from the time when the output from the clearance sonar 3 to the determination unit 11 starts. At that time, the actual position information output from the clearance sonar 3 and the current surrounding object position information may be compared to determine whether the obstacle is a stationary object or to correct the calculation of the surrounding object position information. It is also possible to add such a mode.

DESCRIPTION OF SYMBOLS 1 ... Perimeter monitoring ECU, 2 ... Vehicle motion sensor, 3 ... Clearance sonar, 5 ... Camera, 6 ... Display, 7 ... Bumper corner, 10 ... Movement amount calculation part, 11 ... Judgment part, 12 ... Position information storage part, 13 DESCRIPTION OF SYMBOLS ... Image display control part, 21 ... Obstacle, 22 ... Search range of clearance sonar, 23 ... Imaging range of camera, 24 ... Dead zone of clearance sonar in camera imaging range, 30 ... Own vehicle

Claims (4)

A peripheral search means for searching around the vehicle and detecting objects around the vehicle;
Imaging means capable of imaging an object around the vehicle;
Image display means for displaying an image picked up by the image pickup means;
A determination means for determining whether or not an object around the vehicle exists within an imaging range of the imaging means when an object around the vehicle is out of a search range of the surrounding search means;
An image display control means for maintaining display of an image by the image display means when an object around the vehicle is present in the imaging range;
Vehicle motion state detection means for detecting the motion state of the vehicle;
Vehicle movement amount calculation means for calculating the movement amount of the vehicle from the movement state of the vehicle detected by the vehicle movement state detection means,
The determination unit calculates current peripheral object position information of an object around the vehicle based on a past detection result by the peripheral search unit and a movement amount of the vehicle calculated by the vehicle movement amount calculation unit. ,
A periphery monitoring device that determines whether an object around the vehicle exists within the imaging range based on the current surrounding object position information. The image display control means, when the peripheral search means detects an object near the vehicle, switches the image displayed by said image display means in the image captured by the imaging unit, according to claim 1 Perimeter monitoring device. It said image display control means, when an object near the vehicle is judged to have deviated from the imaging range, to stop the display of the camera images by the image display unit, periphery monitoring device according to claim 1 or 2. Detecting objects around the vehicle by the surrounding search means,
The object around the vehicle is imaged by imaging means,
Displaying an image captured by the imaging means by an image display means;
When the object around the vehicle deviates from the search range of the periphery search means, the determination means determines whether the object around the vehicle exists within the imaging range of the imaging means,
When an object around the vehicle is present in the imaging range, the display of the image by the image display means is maintained by the image display control means,
The vehicle movement state detection means detects the vehicle movement state,
A vehicle movement amount calculating unit calculates a vehicle movement amount from the vehicle movement state detected by the vehicle movement state detection unit;
The determination means calculates current peripheral object position information of an object around the vehicle based on a past detection result by the peripheral search means and the movement amount of the vehicle calculated by the vehicle movement amount calculation means. A periphery monitoring method for determining whether or not an object around the vehicle exists within the imaging range based on the current surrounding object position information .

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