JP6388267B2 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
- Publication number
- JP6388267B2 JP6388267B2 JP2017205423A JP2017205423A JP6388267B2 JP 6388267 B2 JP6388267 B2 JP 6388267B2 JP 2017205423 A JP2017205423 A JP 2017205423A JP 2017205423 A JP2017205423 A JP 2017205423A JP 6388267 B2 JP6388267 B2 JP 6388267B2
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- image
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- camera
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- 238000003384 imaging method Methods 0.000 claims description 110
- 238000001514 detection method Methods 0.000 claims description 40
- 240000004050 Pentaglottis sempervirens Species 0.000 claims description 23
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 claims description 23
- 230000002194 synthesizing effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 description 36
- 238000000034 method Methods 0.000 description 19
- 239000002131 composite material Substances 0.000 description 18
- 238000006243 chemical reaction Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 14
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000003786 synthesis reaction Methods 0.000 description 3
- 239000000470 constituent Substances 0.000 description 2
- 230000008034 disappearance Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
- B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
Description
以下、本発明の実施形態1の運転支援装置について図面を参照しながら説明する。なお、本実施形態において、車両は右ハンドルを一例として説明する。左ハンドルの場合は左右が逆になる。
次に、本発明の実施形態2の運転支援装置について図面を参照しながら説明する。実施形態1と同様の記載については同じ符号を付して詳細な説明を省略する。
3 画像処理手段
5 制御手段
7 第1撮像手段
12 ソナー
14 第2撮像手段
Claims (4)
- 自車両周囲を撮像する第1撮像手段と、
自車両周囲に存在する立体物を検出するセンサと、
前記第1撮像手段とは別に設けられ、前記センサによる検出範囲を画角内に包含して撮像する第2撮像手段と、
前記第1撮像手段から入力された自車両周囲の撮像画像を合成した俯瞰画像を表示する表示手段と、を備え、
前記表示手段は、前記センサが立体物を検出しないとき、前記第2撮像手段の撮像画像を用いずに、前記第1撮像手段の撮像画像を用いて自車両の全周囲を示す俯瞰画像を表示し、
前記表示手段は、前記センサが立体物を検出したとき、前記第1撮像手段の撮像画像と前記第2撮像手段の撮像画像とを用いて自車両の全周囲を示す俯瞰画像を表示する、
運転支援装置。 - 前記センサは、自車両の所定の位置に設置された複数のセンサで構成され、
前記第2撮像手段は、前記複数のセンサのそれぞれに対応して設置された複数のカメラで構成され、
前記第2撮像手段は、前記センサが立体物を検出したとき、この立体物を検出したセンサに対応するカメラを選択して撮像し、
前記表示手段は、前記センサが立体物を検出したとき、前記第1撮像手段の撮像画像と、選択された前記カメラの撮像画像とを合成して俯瞰画像を表示し、この俯瞰画像のうち前記カメラの撮像画像に基づく俯瞰画像の領域内に前記センサによる検出範囲を包含させる、
請求項1に記載の運転支援装置。 - 前記複数のセンサは、自車両の四隅の少なくとも1つのコーナに存在する立体物を検出する位置に配置されたセンサを含む、
請求項2に記載の運転支援装置。 - 前記第2撮像手段は、前記センサのうち複数のセンサが立体物を検出したとき、車両に最も接近する立体物を検出したセンサに対応するカメラを選択する、
請求項2または3に記載の運転支援装置。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011184419 | 2011-08-26 | ||
JP2011184416 | 2011-08-26 | ||
JP2011184416 | 2011-08-26 | ||
JP2011184419 | 2011-08-26 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016138376A Division JP6241687B2 (ja) | 2011-08-26 | 2016-07-13 | 運転支援装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018034794A JP2018034794A (ja) | 2018-03-08 |
JP6388267B2 true JP6388267B2 (ja) | 2018-09-12 |
Family
ID=47755691
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013531065A Active JP5979505B2 (ja) | 2011-08-26 | 2012-08-24 | 運転支援装置 |
JP2016138376A Active JP6241687B2 (ja) | 2011-08-26 | 2016-07-13 | 運転支援装置 |
JP2017205423A Active JP6388267B2 (ja) | 2011-08-26 | 2017-10-24 | 運転支援装置 |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013531065A Active JP5979505B2 (ja) | 2011-08-26 | 2012-08-24 | 運転支援装置 |
JP2016138376A Active JP6241687B2 (ja) | 2011-08-26 | 2016-07-13 | 運転支援装置 |
Country Status (5)
Country | Link |
---|---|
US (3) | US10235575B2 (ja) |
EP (1) | EP2750382B1 (ja) |
JP (3) | JP5979505B2 (ja) |
CN (2) | CN107097721B (ja) |
WO (1) | WO2013031161A1 (ja) |
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-
2012
- 2012-08-24 WO PCT/JP2012/005321 patent/WO2013031161A1/ja active Application Filing
- 2012-08-24 EP EP12827913.0A patent/EP2750382B1/en active Active
- 2012-08-24 US US14/241,735 patent/US10235575B2/en active Active
- 2012-08-24 CN CN201611201818.5A patent/CN107097721B/zh active Active
- 2012-08-24 CN CN201280040835.9A patent/CN103782591B/zh active Active
- 2012-08-24 JP JP2013531065A patent/JP5979505B2/ja active Active
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2016
- 2016-07-13 JP JP2016138376A patent/JP6241687B2/ja active Active
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2017
- 2017-10-24 JP JP2017205423A patent/JP6388267B2/ja active Active
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2019
- 2019-01-31 US US16/263,159 patent/US10970562B2/en active Active
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2021
- 2021-03-08 US US17/194,595 patent/US11657618B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN107097721A (zh) | 2017-08-29 |
JP6241687B2 (ja) | 2017-12-06 |
JP2018034794A (ja) | 2018-03-08 |
EP2750382B1 (en) | 2017-06-28 |
US10235575B2 (en) | 2019-03-19 |
WO2013031161A1 (ja) | 2013-03-07 |
US11657618B2 (en) | 2023-05-23 |
CN107097721B (zh) | 2020-03-06 |
CN103782591A (zh) | 2014-05-07 |
US20190163987A1 (en) | 2019-05-30 |
US20140218531A1 (en) | 2014-08-07 |
US20210192230A1 (en) | 2021-06-24 |
CN103782591B (zh) | 2017-02-15 |
JP2016219025A (ja) | 2016-12-22 |
EP2750382A4 (en) | 2014-08-13 |
EP2750382A1 (en) | 2014-07-02 |
JP5979505B2 (ja) | 2016-08-24 |
US10970562B2 (en) | 2021-04-06 |
JPWO2013031161A1 (ja) | 2015-03-23 |
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