JP6729077B2 - 車両周辺監視装置 - Google Patents
車両周辺監視装置 Download PDFInfo
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- JP6729077B2 JP6729077B2 JP2016129637A JP2016129637A JP6729077B2 JP 6729077 B2 JP6729077 B2 JP 6729077B2 JP 2016129637 A JP2016129637 A JP 2016129637A JP 2016129637 A JP2016129637 A JP 2016129637A JP 6729077 B2 JP6729077 B2 JP 6729077B2
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- 238000012806 monitoring device Methods 0.000 title claims description 35
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Images
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
-
- 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
- B60R1/28—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 an adjustable field of view
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- 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
- 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
- B60R2300/305—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 merging camera image with lines or icons
-
- 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
-
- 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
- B60R2300/8086—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 vehicle path indication
Description
次に、変形例について説明する。例えば、上記した図12のフローチャートのS120において、表示制御部14dは、後輪幅軌跡36を重畳表示する側方画像に、旋回する方向の側の前輪が空転していない場合はその前輪を併せて重畳表示してもよい。図13は、本実施形態にかかる車両周辺監視装置の変形例において、空転していない右前輪と右後輪の予測進路を側方画像に実線表示した表示例を示す図である。図11と同様の点については、説明を適宜省略する。
Claims (5)
- 車両の周辺を撮像する撮像部から出力される周辺画像を取得する周辺画像取得部と、
前記車両の車輪に関する物理量に基づいて、前記車輪の空転を判定する空転判定部と、
表示部に前記周辺画像を表示するとともに、前記周辺画像における前記車輪の予測進路の表示形態を、前記車輪の空転状況に応じて変更する表示制御部と、を備え、
前記表示制御部は、空転していない前記車輪に対応する予測進路を前記周辺画像に重畳表示し、空転している前記車輪に対応する予測進路を前記周辺画像に表示する表示形態を変更する、車両周辺監視装置。 - 前記車両の舵角を取得する舵角取得部と、
前記舵角に基づいて前記予測進路を算出する進路算出部と、をさらに備える、請求項1に記載の車両周辺監視装置。 - 前記車両は、四輪車であり、前記車輪の前輪と後輪の両方が転舵し、
前記表示制御部は、前記前輪と前記後輪のそれぞれについて、前記舵角に基づく予測進路の表示形態を空転状況に応じて変更する、請求項2に記載の車両周辺監視装置。 - 前記表示制御部は、空転していない前記車輪に対応する予測進路を前記周辺画像に重畳表示し、空転している前記車輪に対応する予測進路を前記周辺画像に重畳表示しない、請求項2または請求項3に記載の車両周辺監視装置。
- 前記車両は、自動で操舵を行う操舵制御部を備えている、請求項1から請求項4のいずれか1項に記載の車両周辺監視装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016129637A JP6729077B2 (ja) | 2016-06-30 | 2016-06-30 | 車両周辺監視装置 |
US15/611,915 US10353396B2 (en) | 2016-06-30 | 2017-06-02 | Vehicle periphery monitoring device |
DE102017112592.2A DE102017112592B4 (de) | 2016-06-30 | 2017-06-08 | Fahrzeugumfeldüberwachungseinrichtung |
CN201710515209.5A CN107554423B (zh) | 2016-06-30 | 2017-06-29 | 车辆周边监视装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016129637A JP6729077B2 (ja) | 2016-06-30 | 2016-06-30 | 車両周辺監視装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018006941A JP2018006941A (ja) | 2018-01-11 |
JP6729077B2 true JP6729077B2 (ja) | 2020-07-22 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2016129637A Active JP6729077B2 (ja) | 2016-06-30 | 2016-06-30 | 車両周辺監視装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10353396B2 (ja) |
JP (1) | JP6729077B2 (ja) |
CN (1) | CN107554423B (ja) |
DE (1) | DE102017112592B4 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10737284B2 (en) * | 2017-10-13 | 2020-08-11 | Cnh Industrial America Llc | Tire configuration system for an agricultural machine |
CN108820043B (zh) * | 2018-06-12 | 2021-06-01 | 上海工程技术大学 | 一种基于双侧轮速的汽车转向自动提醒方法及装置 |
DE102018222152A1 (de) * | 2018-12-18 | 2020-06-18 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Ermitteln eines dynamischen Reifenumfangs eines Fortbewegungsmittels |
JP2022094050A (ja) * | 2020-12-14 | 2022-06-24 | 株式会社デンソー | 車両用表示制御装置及び車両用表示制御方法 |
JP2022125859A (ja) | 2021-02-17 | 2022-08-29 | 株式会社デンソー | 周辺画像表示装置 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7366595B1 (en) * | 1999-06-25 | 2008-04-29 | Seiko Epson Corporation | Vehicle drive assist system |
EP2458574B1 (en) * | 2009-07-22 | 2016-03-30 | Toyota Jidosha Kabushiki Kaisha | Driving support device |
GB201112568D0 (en) * | 2011-07-22 | 2011-08-31 | Agco Int Gmbh | Tractor control system |
JP5862532B2 (ja) * | 2012-09-26 | 2016-02-16 | アイシン精機株式会社 | 車両運転支援装置 |
JP2015101310A (ja) * | 2013-11-28 | 2015-06-04 | トヨタ自動車株式会社 | 車両の走行状態表示装置 |
JP6340969B2 (ja) | 2014-07-14 | 2018-06-13 | アイシン精機株式会社 | 周辺監視装置、及びプログラム |
JP2016060219A (ja) * | 2014-09-12 | 2016-04-25 | アイシン精機株式会社 | 車両位置検出装置 |
JP6467838B2 (ja) * | 2014-09-26 | 2019-02-13 | アイシン精機株式会社 | 周辺監視装置、及び周辺監視システム |
JP6447060B2 (ja) * | 2014-11-28 | 2019-01-09 | アイシン精機株式会社 | 車両周辺監視装置 |
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2016
- 2016-06-30 JP JP2016129637A patent/JP6729077B2/ja active Active
-
2017
- 2017-06-02 US US15/611,915 patent/US10353396B2/en active Active
- 2017-06-08 DE DE102017112592.2A patent/DE102017112592B4/de active Active
- 2017-06-29 CN CN201710515209.5A patent/CN107554423B/zh active Active
Also Published As
Publication number | Publication date |
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US20180004222A1 (en) | 2018-01-04 |
JP2018006941A (ja) | 2018-01-11 |
DE102017112592B4 (de) | 2019-05-02 |
CN107554423A (zh) | 2018-01-09 |
US10353396B2 (en) | 2019-07-16 |
CN107554423B (zh) | 2022-08-26 |
DE102017112592A1 (de) | 2018-01-04 |
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