JP6760211B2 - Display control device, display control system, display control method and display control program - Google Patents

Description

The present invention relates to a display control device, a display control system, a display control method, and a display control program.

In recent years, when the vehicle is reversing, a guide line showing the prediction of the trajectory of the retreating motion is superimposed on the rear image taken by the rear camera mounted on the rear of the vehicle and displayed on a display unit such as a monitor. By doing so, the technology of guiding the vehicle to the parking lot easily and accurately has become widespread.

For example, the in-vehicle imaging device described in Patent Document 1 captures an image of the rear of the vehicle when the vehicle is parked, displays the image of the rear of the vehicle on a monitor inside the vehicle, and displays the image of the rear of the vehicle on the image of the rear of the vehicle. The predicted locus of the traveling direction is superimposed and displayed.

Japanese Unexamined Patent Publication No. 2011-211432

FIG. 18 shows an example of the prior art. The illustrated image 40 is an image taken by a rear camera mounted on the rear of the vehicle, and a guide line 70 showing a prediction of the trajectory of the vehicle's backward movement is superimposed. The driver is moving the vehicle 10 to the parking lot 33 including the parking borders 30 and 31. The guide line 70 corresponds to the width of the vehicle 10 and is drawn along the planned trajectory of the vehicle. The parking frame line 30 and the guide line 70 overlap each other.

In the prior art, the guide line superimposed on the rear image may overlap with the parking frame line in this way. In this case, it becomes difficult for the driver to identify the parking border from the displayed image. Therefore, it may be difficult for the driver to grasp the positional relationship between the vehicle and the parking lot.

The present invention has been made to solve such a problem, and is a display control device, a display control system, a display control method, and a display that suppress the parking frame line displayed on the display unit from becoming difficult to see. The purpose is to provide a control program.

The display control device according to the present invention includes a video data acquisition unit that acquires video data from a camera that captures the traveling direction of the vehicle while moving the vehicle to the parking section where the parking frame line is displayed, and the vehicle. A vehicle motion detection unit that detects motion information including steering angle, a first predicted traveling route extending along the travel schedule of the vehicle starting from the central portion in the width direction of the vehicle, and both ends in the width direction of the vehicle. A second predicted line including a pair of lines extending along the progress schedule of the vehicle starting from the unit, a predicted line generating unit for generating a predicted line, and a first predicted line or a second predicted line. Superimposition that is a judgment unit that determines which of the two is superimposed on the video data, and video data in which the video data and the first predicted advance line or the second expected advance line are superimposed according to the judgment of the determination unit. A superposed image generation unit that generates data and a display control unit that transmits the superposed data to the display unit in order to display the image related to the superposed data on the display unit are provided, and the determination unit is the parking frame. When the line and the second expected advance line are displayed close to each other, it is determined to superimpose the first expected advance line on the video data.

Further, the display control method according to the present invention acquires video data from a camera that captures the traveling direction of the vehicle while moving the vehicle to the parking section where the parking frame line is displayed, and determines the steering angle of the vehicle. The first predicted traveling route that detects the motion information including the vehicle and extends along the traveling schedule of the vehicle starting from the central portion in the width direction of the vehicle, and the traveling of the vehicle starting from both ends in the width direction of the vehicle. A second predicted line including a pair of lines extending along a schedule is generated, and when the parking frame line and the second predicted line are displayed close to each other, the first predicted line is displayed. Alternatively, it is determined that the first predicted traveling route is superimposed on the video data among the second predicted traveling routes, and the video data and the first predicted traveling route or the second predicted traveling route are combined according to the determination. The superimposed data, which is the superimposed image data, is generated, and the superimposed data is transmitted to the display unit in order to display the image related to the superimposed data on the display unit.

Further, the display control program according to the present invention causes a computer to acquire video data from a camera that captures the traveling direction of the vehicle while moving the vehicle to the parking section where the parking border is displayed, and the display control program of the vehicle. The operation information including the steering angle is detected, and the first expected traveling route extending along the traveling schedule of the vehicle starting from the central portion in the width direction of the vehicle and the both ends in the width direction of the vehicle as starting points. When a second expected traveling route including a pair of lines extending along the traveling schedule of the vehicle is generated and the parking frame line and the second expected traveling route are displayed in close proximity to each other, the first expected traveling route is generated. It is determined that the first predicted advance route is superimposed on the video data among the expected advance route or the second expected advance route, and the video data and the first expected advance route or the second expected advance route are determined according to the determination. Superimposed data, which is video data superposed with a route, is generated, and the superposed data is transmitted to the display unit in order to display the video related to the superposed data on the display unit.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide a display control device, a display control system, a display control method, and a display control program that prevent the parking frame line from becoming difficult to see visually.

FIG. 5 is a functional block diagram of the display control system 100 according to the first embodiment. It is a top view which showed an example of the state which the vehicle 10 equipped with the display control system 100 is moving to a parking lot. It is a figure which shows the example of the image which displayed the image data taken by the camera of the vehicle 10 on the display unit 220. It is a figure which shows the example of the image which superposed the 1st predicted advance line on the image data in the display control system 100 which concerns on Embodiment 1. FIG. It is a figure which shows the example of the image which superposed the 2nd predicted advance line on the image data in the display control system 100 which concerns on Embodiment 1. FIG. It is a figure which shows the flowchart in the display control apparatus 200 which concerns on Embodiment 1. FIG. It is a figure which shows the example of the image | image in the display control system 100 which concerns on Embodiment 2. FIG. It is a figure which shows the flowchart in the display control apparatus 200 which concerns on Embodiment 2. FIG. It is a functional block diagram of the display control system 101 which concerns on Embodiment 3. FIG. It is a top view which showed an example of the state which the vehicle 10 which mounted the display control system 100 which concerns on Embodiment 3 is moving to a parking lot. It is a figure which shows the example of the image | image in the display control system 101 which concerns on Embodiment 3. FIG. It is a figure which shows the flowchart in the display control apparatus 201 which concerns on Embodiment 3. FIG. It is a figure which shows the example of the image | image in the display control system 101 which concerns on Embodiment 4. FIG. It is a figure which shows the flowchart in the display control apparatus 201 which concerns on Embodiment 4. FIG. It is a figure which shows the example of the image which superposed the 1st predicted advance line and the vehicle width guide line on the image data. It is a figure which shows the example of the image which superposed the 1st predicted line and the 2nd predicted line with high transmittance on the video data. It is a figure which shows the image which illustrated the variation of the 1st expected advance line. It is a figure which shows the example of the rear image in the prior art.

Embodiment 1
Hereinafter, Embodiment 1 of the present invention will be described with reference to the drawings. FIG. 1 is a functional block diagram of the display control system 100 according to the first embodiment. In the following description and drawings, common reference numerals are given to configurations common to a plurality of drawings. Therefore, the description of the configuration with a common reference numeral will be omitted as appropriate.

The display control system 100 is mounted in front of or behind the vehicle when the driver moves the vehicle to the parking lot, and the direction in which the vehicle is scheduled to travel with respect to an image captured by the camera 210 that captures the traveling direction of the vehicle. It is a system that superimposes the expected traveling route showing the above and displays it on the display unit 220. The display control system 100 may be realized as a part of functions such as a navigation system and a drive recorder that can be retrofitted to the vehicle, for example. Further, the display control device 200 may be realized, for example, as a part of a function of a system incorporated in the vehicle when assembling the vehicle in a factory. Further, the display control device 200 may be realized, for example, by combining a system incorporated in the vehicle when assembling the vehicle in a factory and a device that can be retrofitted to the vehicle. The display control system 100 includes a display control device 200 and at least one of a camera 210 and a display unit 220.

The display control device 200 acquires video data which is data of the video captured by the camera 210, superimposes the predicted advance route, and displays it on the display unit 220. The display control device 200 can be realized as a device of various forms such as a computer device that operates by executing a program stored in a memory by a processor. The processor is, for example, a microprocessor, an MPU (Micro Processing Unit), or a CPU (Central Processing Unit). The memory is a volatile memory or a non-volatile memory, and may be composed of a combination of the volatile memory and the non-volatile memory. The processor executes one or more programs including a set of instructions for causing the computer to perform the processing according to the embodiment. The display control device 200 is connected to a CAN (Controller Area Network) or the like, which is an in-vehicle network. Further, the display control device 200 is connected to the camera 210 and the display unit 220. Note that CAN or the like is not limited to CAN, but means that it may be an in-vehicle network such as MOST (Media Oriented Systems Transport) or Ethernet (registered trademark).

Programs can also be stored and supplied to a computer using various types of non-transitory computer readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-temporary computer-readable media include magnetic recording media (eg, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, It includes a CD-R / W, a semiconductor memory (for example, a mask ROM, a PROM (Programmable ROM), an EPROM (Erasable PROM), a flash memory, and a RAM (random access memory)). The program may also be supplied to the computer by various types of transient computer readable media. Examples of temporary computer-readable media include electrical, optical, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

Subsequently, the details of the display control device 200 will be described. The display control device 200 includes a vehicle motion detection unit 300, a predicted advance route generation unit 310, a video data acquisition unit 320, a parking border recognition unit 330, a determination unit 340, a superimposed image generation unit 350, and a display control unit 360.

The vehicle motion detection unit 300 receives motion information, which is information related to the motion of the vehicle, from CAN or the like, which is an in-vehicle network. The operation information is, for example, information including a part or all of information indicating the range in which the transmission of the vehicle is set, information indicating the steering angle of the vehicle, or information indicating the traveling speed of the vehicle. That is, the vehicle motion detection unit 300 can detect a preset signal among the signals sent from the CAN or the like and send it to the predicted route generation unit 310, the determination unit 340, or the display control unit 360. By receiving the motion information, the vehicle motion detection unit 300 can detect, for example, that the transmission is set to the reverse range. Further, the vehicle motion detection unit 300 can detect, for example, that the transmission is set to the low speed mode of the drive range. Further, the vehicle motion detection unit 300 can detect information indicating the steering angle of the vehicle and monitor the angle of the steering wheel of the vehicle. Further, the vehicle motion detection unit 300 can detect information indicating the traveling speed of the vehicle and monitor the traveling speed of the vehicle.

The predicted route generation unit 310 receives the operation information transmitted by the vehicle operation detection unit 300. Then, the predicted route generation unit 310 generates the predicted route based on the motion information transmitted by the vehicle motion detection unit 300. The predicted route is line information indicating the progress schedule of the vehicle by being superimposed on the data of the image captured by the camera 210. The predicted route generation unit 310 calculates the predicted route based on, for example, the information indicating the steering angle transmitted by the vehicle motion detection unit 300. The predicted route generation unit 310 generates a predicted route from the calculated expected route. Any existing method can be applied to the generation of the predicted route by the predicted route generation unit 310. For example, the predicted route generation unit 310 calculates one or two or more points as the predicted route points. Then, the predicted route generation unit 310 generates information on the predicted route passing through the predicted route point by a preset method. As an example of the expected traveling route, it is line information that extends the width of the vehicle when the vehicle goes straight. Further, another example of the expected traveling route is line information related to the steering angle of the vehicle. The predicted route generation unit 310 transmits the generated information on the predicted route to the determination unit 340 and the superimposed image generation unit 350. The predicted route generation unit 310 generates and transmits information on one or a plurality of predicted routes among the above-mentioned predicted routes.

The video data acquisition unit 320 acquires the video data generated by the camera 210. The video data acquisition unit 320 acquires uncompressed digital video data or analog video data from the camera 210. The video data acquisition unit converts these video data into uncompressed digital video data or, for example, H.I. 264 or H. It is transmitted to the superimposed video generation unit 350 as compressed video data in a format using a method such as 265. Further, the video data acquisition unit 320 may generate video data in a compressed video format such as MPEG (Moving Picture Experts Group), 2-TS (Transport Stream) or AVI (Audio Video Interleave). The video data acquisition unit 320 transmits the video data to the parking border recognition unit 330 and the superimposed video generation unit 350.

The parking frame line recognition unit 330 recognizes the parking frame line displayed in the parking zone from the video data transmitted by the video data acquisition unit 320. The parking border recognition unit 330 calculates the luminance gradient of each pixel of the video data, and recognizes the parking border based on a preset method such as edge detection. A method of calculating the brightness gradient of each pixel of the video data and recognizing a preset object is a known technique. Therefore, detailed description will be omitted. By recognizing the parking frame line, the parking frame line recognition unit 330 generates information regarding whether or not the parking frame line exists in the video data and the position of the parking frame line in the video data. The parking border recognition unit 330 transmits the generated information to the determination unit 340. Further, when the parking frame line recognition unit 330 does not recognize the parking frame line, the parking frame line recognition unit 330 transmits to the determination unit 340 that the parking frame line is not included in the video data.

The determination unit 340 receives the information transmitted by the vehicle motion detection unit 300, the information transmitted by the predicted route generation unit 310, or the information transmitted by the parking border recognition unit 330, and displays the information on the predicted route on the display unit 220. Judge the display mode. The determination unit 340 transmits information related to these determinations to the superimposed image generation unit 350.

The determination unit 340 can determine, for example, the display mode of the predicted route based on the information transmitted by the vehicle motion detection unit 300. Further, the determination unit 340 uses, for example, information on the expected advance route transmitted by the expected advance route generation unit 310 and information on the parking frame line transmitted by the parking frame line recognition unit 330 to determine the parking frame line and the expected advance route. Calculate the distance of. Then, the determination unit 340 can determine the display mode of the expected route based on the calculation result. The determination unit 340 may instruct the expected advance route generation unit 310 of the mode of the expected advance route to be generated when determining the display mode of the expected advance route. In that case, the predicted route generation unit 310 may generate the predicted route based on the instruction from the determination unit 340.

When the determination unit 340 determines the display mode, for example, when there are a plurality of expected advance routes, the determination unit 340 may determine which expected advance route is to be superimposed. Further, when the determination unit 340 determines the display mode, for example, when there are a plurality of expected advance routes, the determination unit 340 makes one of the plurality of expected advance routes inconspicuous. It may be to judge.

The inconspicuous display mode means that the image displayed on the display unit 220 is relatively less conspicuous than other displays. That is, the inconspicuous display mode is, for example, to reduce the thickness of the predicted route to be superimposed on the video data. Further, the inconspicuous display mode is, for example, to increase the transmittance of the predicted route to be superimposed on the video data. Further, the inconspicuous display mode may include, for example, not displaying the expected route to be superimposed on the video data.

The superimposed video generation unit 350 receives the information transmitted by the predicted route generation unit 310, the video data transmitted by the video data acquisition unit 320, and the information transmitted by the determination unit 340. Then, the superposed image generation unit 350 superimposes the video data and the expected advance route based on the information transmitted by the determination unit. That is, the superimposed video generation unit 350 superimposes the video data transmitted by the video data acquisition unit 320 and the information on the predicted route transmitted by the predicted route generation unit 310 on the information transmitted by the determination unit 340. The display mode of the expected route can be changed accordingly.

For example, when the determination unit 340 transmits information for determining that the predicted advance route is to be displayed in an inconspicuous display mode, the superimposed image generation unit 350 is superimposed on the video data in an inconspicuous display mode. Alternatively, when the determination unit 340 transmits information for determining that the predicted advance route is not displayed in an inconspicuous display mode, the superimposed image generation unit 350 superimposes the predicted route on the video data without making the predicted route inconspicuous. .. When the predicted route generation unit 310 transmits information on a plurality of predicted routes, the superimposed image generation unit 350 receives a plurality of predictions according to the information on the display mode of each predicted route transmitted by the determination unit 340. Superimpose the route on the video data. In this case, the superimposed video generation unit 350 may superimpose the predicted advance route determined to be superimposed on the video data among the plurality of expected advance routes according to the information transmitted by the determination unit 340. That is, the superposed image generation unit 350 can prevent the superimposition video generation unit 350 from superimposing the predicted route that the determination unit 340 does not determine to superimpose on the video data. The superimposed image generation unit 350 transmits the superimposed data, which is the image data obtained by superimposing the predicted route and the image data, to the display control unit 360. The determination unit 340 may be included in the superimposed image generation unit 350.

The display control unit 360 receives the superimposed data transmitted by the superimposed image generation unit 350. The display control unit 360 transmits the received superimposed data to the display unit 220. The display control unit 360 may transmit the superimposed data to the display unit 220 or stop the transmission, for example, in response to an instruction from a display instruction unit (not shown). The display control unit 360 may monitor the vehicle motion detection unit 300 and transmit video data or superimposed data to the display unit 220 or stop transmission according to the information detected by the vehicle motion detection unit 300. .. Further, the display control unit 360 can be connected to the vehicle motion detection unit 300 to acquire vehicle motion information.

The display control unit 360 may change the viewing angle of the image to be displayed on the display unit by processing the received superimposed data. Further, the display control unit 360 may perform distortion correction processing of the image to be displayed on the display unit by processing the received superimposed data. Further, the display control unit 360 may change the image to be displayed on the display unit into an image that looks like a bird's-eye view from above the vehicle by processing the received superimposed data. Further, the display control unit 360 may change the image to be displayed on the display unit by processing the received superimposed data, not limited to the above-mentioned contents.

The camera 210 generates video data of the front of the vehicle or the rear of the vehicle. The camera 210 may be installed in front of the vehicle. Further, the camera 210 may be installed at the rear of the vehicle. Further, the camera 210 may be installed in front of the vehicle and behind the vehicle, respectively. The camera 210 transmits the generated video data to the video data acquisition unit 320 included in the display control device 200.

The display unit 220 displays video data or superimposed data received from the display control unit 360 of the display control device 200. The display unit 220 is, for example, a display device such as a liquid crystal display device, an organic EL (organic electroluminescence) display device, or a head-up display. The display unit 220 is installed at a position that can be visually recognized when the driver operates the vehicle. Visible positions when the driver operates the vehicle are, for example, the center console, dashboard, meter panel, rearview mirror, steering wheel, windshield, etc. of the vehicle.

Next, a vehicle equipped with the display control system 100 will be described with reference to FIG. FIG. 2 is a top view showing an example of a state in which the vehicle 10 equipped with the display control system 100 is moving to the parking lot 33. The vehicle 10 has a display control device 200 at an arbitrary position. Further, the vehicle 10 has a front camera 210F and a rear camera 210R. Further, the vehicle 10 has a display unit 220 at a position that can be visually recognized when the driver operates the vehicle. In FIG. 2, the vehicle 10 is moving backward toward the parking lot 33. The parking lot 33 has parking borders 30 to 32. The driver is trying to move the vehicle 10 to a position surrounded by parking borders 30 to 32. In this case, the display control system 100 acquires the data of the image captured by the rear camera 210R.

Subsequently, the video data taken by the camera of the vehicle 10 will be described. FIG. 3 is a diagram showing an example of an image in which the image data taken by the camera of the vehicle 10 is displayed on the display unit 220. The image 40 includes a part of the vehicle 10 and parking borders 30 to 32. The lower side of the image 40 is closer to the vehicle 10, and the upper side of the image 40 is farther from the vehicle 10.

Note that FIG. 3 includes xy coordinates. In FIG. 3, the x-coordinate indicates the horizontal direction of the image 40. The right direction in FIG. 3 is the plus direction of the x-axis. In FIG. 3, the y coordinate indicates the vertical direction of the image 40. The upward direction in FIG. 3 is the positive direction of the y-axis. The xy coordinates shown in FIG. 3 are all for convenience to explain the positional relationship of the components. Further, the xy coordinates shown in the images 40 after FIG. 4 are shown for the same purpose as the xy coordinates in FIG.

Next, the first expected route will be described with reference to FIG. FIG. 4 is a diagram showing an example of an image in which the first predicted route is superimposed on the image data in the display control system 100 according to the first embodiment. The image 40 in FIG. 4 includes the first expected advance line 50 in addition to the image described in FIG. The first expected traveling route 50 extends along the traveling schedule according to the steering angle, starting from the central portion 11 in the width direction of the vehicle 10. That is, the first predicted traveling route 50 is line information indicating the traveling course of the vehicle according to the steering angle of the vehicle 10. The first expected traveling route 50 becomes a curve according to the steering angle of the vehicle 10, except when the vehicle 10 is traveling straight. The curvature of the first expected traveling line 50 increases as the steering angle of the vehicle 10 increases.

The starting point 50s is included in the central portion 11 of the vehicle. The central portion 11 refers to an area in the central portion of about one-third of the display of the vehicle width of the vehicle 10 in the image 40. The starting point 50s may coincide with the central point 11c in the central portion 11. The end point 50e is a point where the starting point 50s is located on a curve extending along the traveling schedule according to the steering angle of the vehicle.

The end point 50e may indicate a position where the distance from the actual vehicle corresponds to a preset value. In the image 40, the dimension 50y in the y-axis direction from the starting point 50s to the ending point 50e corresponds to, for example, a distance of 3 meters from the central portion 11 of the vehicle 10. In this case, the dimension 50y of the end point 50e in the y-axis direction can be fixed. Further, the position of the end point 50e in the x-axis direction changes according to the steering angle of the vehicle 10. That is, the larger the steering angle of the vehicle, the larger the absolute value of the dimension 50x in the x direction. Then, when the steering direction of the vehicle is to the right of the image 40, the first expected traveling line 50 extends in the y-axis plus direction and the x-axis plus direction starting from the central portion 11. Similarly, when the steering direction is to the left of the image 40, the first expected traveling line 50 extends in the y-axis plus direction and the x-axis minus direction starting from the central portion 11.

The dimension 50y of the end point 50e in the y-axis direction is not fixed, and may be changed so as to draw the circumference of a circle or an ellipse centered on the start point 50s. The dimension 50y in the y-axis direction of the end point 50e is not fixed, and may be changed so that the length of the first expected traveling line 50 becomes substantially the same even if the steering angle changes.

The first expected traveling line 50 may be a broken line or a dotted line instead of the solid line as shown in FIG. The first predicted advance line 50 is not a line having a uniform thickness, and the thickness may change from the starting point 50s to the ending point 50e.

Further, the position of the central portion 11 in the present embodiment points to a region of the central portion of about one-third of the display of the vehicle width of the vehicle 10 in the image 40. The starting point 50s may coincide with the central point 11c in the central portion 11.

The display mode in which the first predicted route 50 is superimposed on the video data is referred to as the first display mode.

As described above, the first expected traveling route 50 extends along the traveling direction of the vehicle 10 starting from the central portion 11 of the vehicle 10. Therefore, when the driver moves the vehicle to the parking lot, the possibility that the parking frame line and the first expected advance line are displayed overlapping is reduced.

Next, the second expected route will be described with reference to FIG. FIG. 5 is a diagram showing an example of an image in which the second predicted route is superimposed on the image data in the display control system 100 according to the first embodiment. The image 40 in FIG. 5 includes the second expected line 60, the second expected line 61, and the distance display lines 66 to 68 in addition to the image described in FIG. The second expected traveling line 60 extends along the traveling schedule of the vehicle starting from the left end portion 12 in the width direction of the vehicle in the image 40. The second expected traveling line 61 extends along the traveling schedule of the vehicle starting from the right end portion 13 in the width direction of the vehicle in the image 40. That is, the second expected traveling lines 60 and 61 are a pair of line information extending along the traveling schedule of the vehicle starting from both ends in the width direction of the vehicle. The second predicted traveling routes 60 and 61 may be line information that is associated with the steering angle of the vehicle and predicts the traveling course of the vehicle according to the steering angle of the vehicle. The dimensions of the second predicted traveling lines 60 and 61 in the y-axis direction correspond to, for example, a distance of 3 meters from both ends of the vehicle 10, similar to the dimensions 50y of the first predicted traveling line 50 described with reference to FIG.

The distance display lines 66 to 68 are line information extending in the horizontal direction so as to connect the second predicted line 60 on the left side and the second predicted line 61 on the right side in the image 40. Distance display lines 66 to 68 indicate a preset distance from the end of the vehicle 10. For example, the distance display line 66 indicates a distance of 0.4 meters from the rear end of the vehicle 10. The distance display line 67 indicates, for example, a distance of 1.0 meter from the rear end of the vehicle 10. The distance display line 68 indicates, for example, a distance of 2.0 meters from the rear end of the vehicle 10.

FIG. 5A shows the second expected traveling routes 60 and 61 when the steering angle is 0 degrees, that is, the vehicle travels straight. FIG. 5B shows the second expected traveling routes 60 and 61 in a state where the steering wheel of the vehicle 10 is operated in the steering direction indicated by the arrow. When the driver moves the vehicle, the driver sees the video data on which the second predicted route 60, the second predicted route 61, and the distance display lines 66 to 68 are superimposed, so that the driver can see the predicted route and parking frame of the vehicle. The distance between the 32 and the vehicle can be grasped.

The determination unit 340 can calculate the distance between the parking frame line 30 on the left side included in the image 40 and the second expected traveling line 60 on the left side. Specifically, for example, the determination unit 340 sets the reference point 62 and the reference point 63 along the second expected advance line 60. The vertical positions of the reference point 62 and the reference point 63 can be preset positions. Further, the horizontal positions of the reference point 62 and the reference point 63 may change corresponding to the positions of the second expected traveling line 60. Then, the determination unit 340 calculates the horizontal distance D62 between the reference point 62 and the parking frame line 30. Further, the determination unit 340 calculates the horizontal distance D63 between the reference point 63 and the parking frame line 30. Then, the determination unit 340 can determine whether or not the calculated distance D62 and the distance D63 are within the preset ranges, respectively.

When the distance D62 and the distance D63 are within the preset ranges, when the distance between the parking frame line 30 and the second expected line 60 is short, the parking frame line 30 and the second expected line 60 are in contact with each other. This includes the case where the parking frame line 30 and the second expected advance line 60 intersect. The range preset for the distance D62 and the range preset for the distance D63 are appropriately set, and may be the same range or different ranges. May be good.

The determination unit 340 calculates the distance between the parking frame line 31 on the right side included in the image 40 and the second expected traveling line 61 on the right side, as in the example on the left side described above. That is, as in the case of calculating the distance between the parking frame line 30 on the left side and the second expected advance line 60 on the left side, the determination unit 340 determines the reference point 64 and the reference point 65 along the second expected advance line 61. To set. Then, the determination unit 340 calculates the horizontal distance D64 between the reference point 64 and the parking frame line 31. Further, the determination unit 340 calculates the horizontal distance D65 between the reference point 65 and the parking frame line 31. Then, the determination unit 340 can determine whether or not the calculated distance D64 and the distance D65 are within the preset range.

The determination unit 340 can determine the display mode of the second expected advance routes 60 and 61 according to the distance information calculated in this way. The determination unit 340 determines that, for example, either the distance between the parking frame line 30 and the second expected line 60 or the distance between the parking frame 31 and the second expected line 61 is closer than the preset distance. When it is determined, it may be determined that the second expected advance lines 60 and 61 are displayed in an inconspicuous manner. Further, the determination unit 340 determines that either the distance between the parking frame line 30 and the second expected advance line 60 or the distance between the parking frame line 31 and the second expected advance line 61 is closer than the preset distance. When it is determined, it may be determined to display the first expected advance route described with reference to FIG. 4 instead of the second expected advance routes 60 and 61.

The second expected advance lines 60 and 61 may be associated with the steering angle of the vehicle. In that case, the distances D62 to D65 change according to the steering angle of the vehicle. For example, when the distance D63 in FIG. 5 (A) and the distance D63 in FIG. 5 (B) are compared, the distance D63 in FIG. 5 (B) is longer than the distance D63 in FIG. 5 (A). In this case, the steering angle is close to 0 degrees in FIG. 5 (A) and changes to the right as shown by the arrow in FIG. 5 (B). The steering angle in FIG. 5B is the steering angle Ad. Similarly, comparing the distance D65 in FIG. 5 (A) with the distance D65 in FIG. 5 (B), the distance D65 in FIG. 5 (B) is shorter than the distance D65 in FIG. 5 (A).

The display mode in which the second expected advance lines 60 and 61 are superimposed on the video data is referred to as a second display mode.

With such a configuration, the driver can adjust the steering angle of the vehicle while looking at the second expected advance lines 60 and 61 when moving the vehicle to the parking lot. Further, the driver can adjust the stop position in the front-rear direction of the vehicle while looking at the distance display lines 66 to 68. However, the second expected advance lines 60 and 61 may overlap with the parking frame line. In this case, it becomes difficult for the driver to identify the parking border from the displayed image. Therefore, it may be difficult for the driver to grasp the positional relationship between the vehicle and the parking lot.

In the display control system 100 according to the first embodiment, the determination unit 340 sets the display mode to the first display mode when the parking frame lines 30 and 31 and the second expected advance lines 60 and 61 are displayed in close proximity to each other. Judge to.

For example, when the vehicle 10 is traveling with a steering angle close to straight ahead, the second expected traveling routes 60 and 61 displayed along the traveling direction of the vehicle 10 and the parking frame lines 30 and 31 are parallel to each other. It is likely to be displayed. In this case, the parking frame lines 30 and 31 and the second expected advance lines 60 and 61 are likely to be displayed close to each other. Therefore, the determination unit 340 determines the display mode depending on whether or not the steering angle Ad is smaller than the preset angle. Therefore, the determination unit 340 determines that the display mode is set to the first display mode when the steering angle Ad is smaller than the preset angle. The case where the steering angle Ad is smaller than the preset angle is, for example, the case where the steering angle Ad is smaller than 10 degrees.

Next, the processing of the display control device 200 according to the first embodiment will be described with reference to FIG. FIG. 6 is a diagram showing a flowchart of the display control device 200 according to the first embodiment.

First, in the display control device 200, the vehicle motion detection unit 300 detects information regarding the transmission setting of the vehicle 10 detected from CAN or the like, which is an in-vehicle network. Then, the display control unit 360 acquires the information regarding the transmission setting of the vehicle 10 detected by the vehicle motion detection unit 300, and determines whether or not the vehicle 10 moves backward (step S100).

When the vehicle 10 does not move backward, that is, when the transmission setting of the vehicle 10 is not in the reverse range (step S100: No), the display control unit 360 relates to the transmission setting of the vehicle 10 detected by the vehicle motion detection unit 300. The information is acquired, and the process of step S100 is performed again.

On the other hand, when the vehicle 10 is moving backward, that is, when the transmission setting of the vehicle 10 is in the reverse range (step S100: Yes), the display control device 200 starts a process of transmitting superimposed data to the display unit 220. In order to do so, the process proceeds to step S101.

Subsequently, the determination unit 340 acquires information regarding the transmission setting of the vehicle 10 detected by the vehicle motion detection unit 300, and determines whether or not the steering angle Ad is smaller than the preset angle A1 (step S101). ). When the determination unit 340 determines that the steering angle Ad is smaller than the preset angle A1 (step S101: Yes), the determination unit 340 superimposes information instructing that superimposed data is generated by the first display mode. It is transmitted to the image generation unit 350 (step S102). Therefore, the superimposed video generation unit 350 superimposes the video data transmitted by the video data acquisition unit 320 and the video data transmitted by the predicted route generation unit 310 in the first display mode. The display control unit 360 transmits the superimposed data in the first display mode transmitted by the superimposed image generation unit 350 to the display unit 220.

On the other hand, when the determination unit 340 does not determine that the steering angle Ad is smaller than the preset angle A1 (step S101: No), the determination unit 340 outputs information instructing that the superimposed data is generated by the second display mode. , Is transmitted to the superimposed image generation unit 350 (step S105). Therefore, the superimposed video generation unit 350 superimposes the video data transmitted by the video data acquisition unit 320 and the video data transmitted by the predicted route generation unit 310 in the second display mode. The display control unit 360 transmits the superimposed data in the second display mode transmitted by the superimposed image generation unit 350 to the display unit 220.

Next, in step S102 or step S105, after the determination unit 340 determines the display mode, the display control unit 360 determines whether or not to end the display of the expected route (step S103). Specifically, the display control unit 360 determines, for example, whether or not the transmission setting of the vehicle 10 is in the reverse range by monitoring the vehicle motion detection unit 300. When the transmission setting of the vehicle 10 is not in the reverse range (step S103: Yes), the display control device 200 determines to end the expected route display. On the other hand, when the transmission setting of the vehicle 10 is in the reverse range (step S103: No), the display control device 200 does not end the expected route display. In this case, returning to step S101, the determination unit 340 acquires information regarding the transmission setting of the vehicle 10 detected by the vehicle motion detection unit 300, and the determination unit 340 continues the process.

The display control system 100 according to the first embodiment can prevent the parking frame line displayed on the display unit from becoming difficult to see by performing such a process.

Embodiment 2
Next, the second embodiment will be described with reference to FIG. 7. The display control system 100 according to the second embodiment is different from the first embodiment in that the determination unit 340 makes a determination based on the distance between the parking frame line and the second expected advance routes 60 and 61.

FIG. 7 is a diagram showing an example of an image in the display control system 100 according to the second embodiment. In FIG. 7A, the second expected advance lines 60 and 61 and the distance display lines 66 to 68 are superimposed on the video data acquired by the video data acquisition unit 320. That is, the display mode of the image 40 shown in FIG. 7A is the second display mode.

As described with reference to FIG. 5, the determination unit 340 calculates the distance between the parking frame line 30 on the left side and the second expected traveling line 60 on the left side in the image 40. Similarly, the determination unit 340 calculates the distance between the parking frame line 31 on the right side and the second expected traveling line 61 on the right side in the image 40. That is, the determination unit 340 calculates the distances D62 to D65, respectively.

In FIG. 7A, the distance D62 and the distance D63 are within a preset range. In other words, the parking frame line 30 and the second expected advance line 60 are close to each other. In such a case, it becomes difficult for the driver to identify the parking frame line 30 from the image 40. Therefore, it may be difficult for the driver to grasp the positional relationship between the vehicle and the parking lot. Therefore, when the distance between the second predicted advance lines 60 and 61 and the parking frame lines 30 and 31 is within a preset range, the determination unit 340 sets the parking frame lines 30 and 31 and the second predicted advance. It is determined that the routes 60 and 61 are displayed in close proximity.

The determination unit 340 sets the display mode of the image 40 to the first display mode when the distances between the second expected advance lines 60 and 61 and the parking frame lines 30 and 31 are within a preset range. to decide. In FIG. 7B, the first predicted advance route 50 is superimposed on the video data acquired by the video data acquisition unit 320. That is, the display mode of the image 40 shown in FIG. 7B is the first display mode.

The first expected traveling line 50 extends along the traveling direction of the vehicle 10 starting from the central portion 11 of the vehicle 10. Therefore, when the driver moves the vehicle to the parking lot, the possibility that the parking frame line and the first expected advance line are displayed overlapping is reduced. Therefore, the display control system 100 according to the second embodiment can prevent the parking frame line from becoming difficult to see.

Next, the process in the display control device 200 according to the second embodiment will be described with reference to FIG. FIG. 8 is a diagram showing a flowchart of the display control device 200 according to the second embodiment. The flowchart of the display control device 200 according to the second embodiment is different from the flowchart of the display control device 200 according to the first embodiment in the processing between steps S100 and S102.

When the vehicle 10 is retracted, that is, when the transmission setting of the vehicle 10 is in the reverse range (step S100: Yes), the display control device 200 starts a process of transmitting superimposed data to the display unit 220. Then, the process proceeds to step S201.

In step S201, the determination unit 340 determines whether or not the parking frame line recognition unit 330 recognizes the parking frame line (step S201). When the parking frame line recognition unit 330 does not recognize the parking frame line (step S201: No), the determination unit 340 outputs information instructing that the superimposed data is generated in the second display mode to the superimposed image generation unit 350. (Step S105).

On the other hand, when the parking frame line recognition unit 330 recognizes the parking frame line (step S201: Yes), the determination unit 340 generates information on the parking frame line transmitted by the parking frame line recognition unit 330 and the expected advance route generation. From the information on the expected advance route transmitted by the unit 310, it is determined whether or not the parking frame line and the second expected advance route are close to each other (step S202). More specifically, for example, as described with reference to FIG. 7, the determination unit 340 calculates the distances D62 to D65. Then, the determination unit 340 determines whether or not the calculated distances D62 to D65 are within a preset range.

When the determination unit 340 does not determine that the parking frame line and the second expected advance line are close to each other (step S202: No), the determination unit 340 superimposes information instructing that superimposed data is generated by the second display mode. It is transmitted to the image generation unit 350 (step S105).

When the determination unit 340 determines that the parking frame line and the second expected advance line are close to each other (step S202: Yes), the determination unit 340 generates superimposed data in the superimposed image generation unit 350 in the first display mode. Is transmitted to the superimposed image generation unit 350 (step S102).

Next, in step S102 or step S105, after the determination unit 340 determines the display mode, the display control unit 360 determines whether or not to end the display of the expected route (step S103). Specifically, the display control unit 360 determines, for example, whether or not the transmission setting of the vehicle 10 is in the reverse range by monitoring the vehicle motion detection unit 300. When the transmission setting of the vehicle 10 is not in the reverse range (step S103: Yes), the display control device 200 determines to end the expected route display. On the other hand, when the transmission setting of the vehicle 10 is in the reverse range (step S103: No), the display control device 200 does not end the expected route display. In this case, returning to step S101, the determination unit 340 acquires information regarding the transmission setting of the vehicle 10 detected by the vehicle motion detection unit 300, and the determination unit 340 continues the process.

The display control system 100 according to the second embodiment can prevent the parking frame line displayed on the display unit from becoming difficult to see by performing such a process.

Embodiment 3
Next, the third embodiment will be described. The display control device according to the third embodiment further includes an object detection sensor and a sensor detection unit that detect an object existing around the vehicle.

The functional configuration of the display control system 101 will be described below with reference to FIG. FIG. 9 is a functional block diagram of the display control system 101 according to the third embodiment. The display control system 101 according to the third embodiment is different from the display control system 100 according to the first embodiment in that it has an object detection sensor 230 and a sensor detection unit 370. The function of the determination unit 340 is still different from that of the display control system 100 according to the first embodiment.

The display control system 101 is mounted in front of or behind the vehicle when the driver moves the vehicle to the parking lot, and the direction in which the vehicle is scheduled to travel with respect to the image captured by the camera 210 that captures the traveling direction of the vehicle. It is a system that superimposes the expected traveling route showing the above and displays it on the display unit 220. Further, the display control system 101 includes an object detection sensor 230, and further includes a display control device 201 and at least one of a camera 210 and a display unit 220.

The object detection sensor 230 is a sensor that detects the distance of an object existing around the vehicle from the vehicle. The object detection sensor 230 is, for example, an ultrasonic sensor, an infrared sensor, a laser sensor, a millimeter wave radar, or the like. Further, the object detection sensor 230 may be a stereo camera. Further, the number of object detection sensors 230 may be plural. Further, the object detection sensor 230 may be configured by a combination of these. The object detection sensor 230 is connected to the sensor detection unit 370 included in the display control device 201.

Subsequently, the display control device 201 will be described. The display control device 201 is different from the display control device 200 according to the first embodiment in that it has a sensor detection unit 370 and a determination unit 340 that connects to the sensor detection unit 370 instead of the determination unit 340.

The sensor detection unit 370 detects the information transmitted by the object detection sensor 230. The sensor detection unit 370 also transmits the detected information to the determination unit 340. For example, the sensor detection unit 370 may integrate the information transmitted by the plurality of object detection sensors 230 and transmit it to the determination unit 340. Further, the sensor detection unit 370 may, for example, transmit the information transmitted by the plurality of object detection sensors 230 to the determination unit as it is. Further, the sensor detection unit 370 may, for example, extract only preset information from the information transmitted by the plurality of object detection sensors 230 and transmit it to the determination unit 340. The preset information may be, for example, whether or not an object exists within a preset distance from the vehicle. Further, the preset information may be, for example, distance information from the vehicle to the object.

The determination unit 340 receives and displays the information transmitted by the vehicle motion detection unit 300, the information transmitted by the predicted route generation unit 310, the information transmitted by the parking border recognition unit 330, or the information transmitted by the sensor detection unit 370. The display mode of the expected route to be displayed on the unit 220 is determined. The determination unit 340 transmits information related to these determinations to the superimposed image generation unit 350.

The determination unit 340 can determine the display mode of the predicted route based on the information transmitted by the vehicle motion detection unit 300 and the sensor detection unit 370, for example. Further, the determination unit 340 uses, for example, information on the expected advance route transmitted by the expected advance route generation unit 310 and information on the parking frame line transmitted by the parking frame line recognition unit 330 to determine the parking frame line and the expected advance route. Distance can be calculated. Then, the determination unit 340 can determine the display mode of the expected route based on the calculation result and the information transmitted by the sensor detection unit 370.

Next, a vehicle equipped with the display control system 101 will be described with reference to FIG. FIG. 10 is a top view showing an example of a state in which the vehicle 10 equipped with the display control system 101 is moving to the parking lot 33. The vehicle 10 has a display control device 201 at an arbitrary position. Further, the vehicle 10 has a front camera 210F and a rear camera 210R. Further, the vehicle 10 has a display unit 220 at a position that can be visually recognized when the driver operates the vehicle. Further, the vehicle 10 has an object detection sensor 230 for detecting the presence or absence of an object around the vehicle 10. In FIG. 10, the vehicle 10 is moving backward toward the parking lot 33. The parking lot 33 has parking borders 30 to 32. The driver is trying to move the vehicle 10 to a position surrounded by parking borders 30 to 32. In this case, the display control system 100 acquires the data of the image captured by the rear camera 210R. Further, another vehicle 15 exists in the parking lot 34 adjacent to the parking lot 33. Therefore, the driver of the vehicle 10 moves the vehicle 10 to the parking lot 33 while ensuring a distance between the vehicle 10 and the other vehicle 15.

Next, the display control system 101 according to the third embodiment will be further described with reference to FIG. FIG. 11 is a diagram showing an example of an image in the display control system 101 according to the third embodiment.

FIG. 11A is a diagram showing an example of an image in which the second predicted route is superimposed on the image data in the display control system 101 according to the third embodiment. In FIG. 11A, the vehicle 10 is moving to the parking lot 33. The steering angle Ad of the vehicle 10 is smaller than a preset angle. The vehicle 10 is traveling with a steering angle close to straight ahead. Therefore, there is a high possibility that the second expected advance lines 60 and 61 displayed along the traveling direction of the vehicle 10 and the parking frame lines 30 and 31 are displayed in parallel. In this case, the parking frame lines 30 and 31 and the second expected advance lines 60 and 61 are likely to be displayed close to each other.

However, another vehicle 15 is parked in the parking lot 34 adjacent to the parking lot 33. In such a case, the driver needs to move the vehicle 10 to the parking lot 33 and secure a distance from the other vehicle 15. Therefore, when the determination unit 340 detects an object adjacent to the vehicle 10 at a preset distance regardless of the value of the steering angle Ad, the display mode (second) in which the second expected traveling routes 60 and 61 are superimposed. 2 Determine to switch to display mode).

FIG. 11B is a diagram showing an example of an image in which the first predicted route is superimposed on the image data in the display control system 101 according to the third embodiment. In FIG. 11B, no other vehicle 15 is parked in the parking lot 34. Therefore, when the determination unit 340 does not detect an object adjacent to the vehicle 10 at a preset distance, the determination unit 340 determines the display mode depending on whether the steering angle Ad is smaller than the preset angle. Therefore, when the steering angle Ad is smaller than the preset angle, the determination unit 340 determines to set the display mode (first display mode) in which the first expected traveling route is superimposed.

With such a configuration, in the display control system 101 according to the third embodiment, when the driver moves the vehicle to the parking lot, the parking border is difficult to see after securing the distance from the adjacent object. It can be suppressed from becoming.

Next, the process of the display control device 201 according to the third embodiment will be described with reference to FIG. FIG. 12 is a diagram showing a flowchart of the display control device 201 according to the third embodiment. The flowchart of the display control device 201 according to the third embodiment is different from the flowchart of the display control device 200 according to the second embodiment in the processing between steps S202 and S102.

In step S202, when the determination unit 340 determines that the parking frame line and the second expected advance route are close to each other (step S202: Yes), the determination unit 340 determines whether or not there is an adjacent object around the vehicle 10. Is determined (step S301). That is, the determination unit 340 determines whether or not there is an adjacent object around the vehicle 10 from the information transmitted by the sensor detection unit 370.

When the determination unit 340 determines that an adjacent object exists around the vehicle 10 (step S301: Yes), the determination unit 340 generates superimposed video for instructing the generation of superimposed data in the second display mode. It is transmitted to the unit 350 (step S105).

On the other hand, when the determination unit 340 does not determine that an adjacent object exists around the vehicle 10 (step S301: No), the determination unit 340 superimposes information instructing that superimposed data is generated in the first display mode. It is transmitted to the image generation unit 350 (step S102).

After that, the process is the same as that of the above-described first and second embodiments. In the process according to the third embodiment, step S301 may be before step S201 or before step S202.

The display control system 101 according to the third embodiment described above uses the steering angle Ad in determining whether or not the parking frame line and the second expected traveling line are close to each other. However, the values of the distances D62 to D65 described in the second embodiment may be used for determining whether or not the parking frame line and the second expected advance line are close to each other.

The display control system 101 according to the third embodiment can prevent the parking frame line displayed on the display unit from becoming difficult to see by performing such a process.

Embodiment 4
Next, the fourth embodiment will be described with reference to FIGS. 13 and 14. The display control system 101 according to the fourth embodiment is the same as the functional block diagram described with reference to FIG. In the display control system 101 according to the fourth embodiment, in the determination unit 340, the distance between the parking frame line and the adjacent object is obtained from the information transmitted by the parking frame line recognition unit 330 and the information transmitted by the sensor detection unit 370. Is different from the third embodiment in that the above is calculated.

First, the fourth embodiment will be described in detail with reference to FIG. FIG. 13 is a diagram showing an example of an image in the display control system 101 according to the fourth embodiment.

FIG. 13A is a diagram showing an example of an image in which the second predicted route is superimposed on the image data in the display control system 101 according to the fourth embodiment. In FIG. 13A, the vehicle 10 is moving to the parking lot 33.

The determination unit 340 calculates the distance between the parking frame line 30 on the left side and the second expected line 60 on the left side in the image 40 in order to determine whether the parking frame line and the second predicted line are close to each other. .. Similarly, the determination unit 340 calculates the distance between the parking frame line 31 on the right side and the second expected traveling line 61 on the right side in the image 40. That is, the determination unit 340 calculates the distances D62 to D65, respectively.

In FIG. 13 (A), the distance D62 and the distance D63 are within a preset range. In other words, the parking frame line 30 and the second expected advance line 60 are close to each other. In such a case, it becomes difficult for the driver to identify the parking frame line 30 from the image 40. Therefore, it may be difficult for the driver to grasp the positional relationship between the vehicle and the parking lot. When the distance between the second expected advance lines 60 and 61 and the parking frame lines 30 and 31 is within a preset range, the determination unit 340 sets the parking frame lines 30 and 31 and the second expected advance line 60. And 61 are judged to be displayed in close proximity.

However, another vehicle 15 is parked in the parking lot 34 adjacent to the parking lot 33. In such a case, the driver needs to move the vehicle 10 to the parking lot 33 and secure a distance from the other vehicle 15. Therefore, when the determination unit 340 detects an object adjacent to the parking frame line 30 or 31 at a preset distance regardless of the values of the distances D62 to D65, the second predicted advance lines 60 and 61 are superimposed. It is determined to set the display mode (second display mode) to be set. In FIG. 13A, the distance D30 is the distance between the parking frame line 30 and the other vehicle 15. The determination unit 340 calculates the distance D30 from the information about the position and distance of the other vehicle 15 detected by the object detection sensor 230 and the information about the parking frame line 30 recognized by the parking frame line recognition unit 330.

In calculating the distance D30, the determination unit 340 may analyze the position and distance of the other vehicle 15 and set the boundary line of the detected object as shown by the broken line 15b. The distance D30 can be, for example, the horizontal distance between the parking border 30 and the other vehicle 15. Further, the distance D30 may be the shortest distance between the parking frame line 30 and the other vehicle 15.

FIG. 13B is a diagram showing an example of an image in which the first predicted route is superimposed on the image data in the display control system 101 according to the fourth embodiment. In FIG. 13B, the distance D30 between the parking frame line 30 and the other vehicle 15 parked in the parking lot 34 is larger than a preset value. In this case, the determination unit 340 determines the parking frame lines 30 and 31 and the second prediction when the distances between the second predicted advance lines 60 and 61 and the parking frame lines 30 and 31 are within a preset range. It is determined that the advance lines 60 and 61 are displayed in close proximity. That is, the determination unit 340 determines to set the display mode (first display mode) in which the first expected advance route is superimposed.

With such a configuration, in the display control system 101 according to the third embodiment, when the driver moves the vehicle to the parking lot, the parking border is difficult to see after securing the distance from the adjacent object. It can be suppressed from becoming.

Next, the process of the display control device 201 according to the fourth embodiment will be described with reference to FIG. FIG. 14 is a diagram showing a flowchart of the display control device 201 according to the fourth embodiment. The flowchart of the display control device 201 according to the fourth embodiment is different from the flowchart of the display control device 201 according to the third embodiment in the processing between steps S202 and S102.

In step S202, when the determination unit 340 determines that the parking frame line and the second expected advance line are close to each other (step S202: Yes), the determination unit 340 is adjacent to the parking frame lines 30 and 31 and the periphery of the vehicle 10. It is determined whether or not the object is close to the object (step S401). That is, the determination unit 340 calculates the distance D30 from the information transmitted by the sensor detection unit 370 and the information transmitted by the parking border recognition unit 330. Then, the determination unit 340 determines whether or not the distance D30 is smaller than the preset distance D1.

When the determination unit 340 determines that the distance D30 is smaller than the distance D1 (step S401: Yes), the determination unit 340 transmits information instructing that the superimposed data is generated in the second display mode to the superimposed image generation unit 350. Transmit (step S105).

On the other hand, when the determination unit 340 does not determine that the distance D30 is smaller than the distance D1 (step S401: No), the determination unit 340 outputs information instructing that the superimposed data is generated in the first display mode to the superimposed image generation unit. It is transmitted to 350 (step S102).

After that, the process is the same as that of the above-described first to third embodiments. In the process according to the fourth embodiment, the step S401 may be before the step S201 or before the step S202.

The display control system 101 according to the fourth embodiment described above uses distances D62 to D65 in determining whether or not the parking frame line and the second expected traveling line are close to each other. However, the value of the steering angle Ad described in the first embodiment may be used to determine whether or not the parking frame line and the second expected advance line are close to each other.

The display control system 101 according to the fourth embodiment can prevent the parking frame line displayed on the display unit from becoming difficult to see by performing such a process.

Examples of Other Display Modes in the First Display Mode Next, examples of other display modes in the first display mode according to the first to fourth embodiments will be described with reference to FIGS. 15 to 17.

FIG. 15 is a diagram showing an example of an image in which the first expected traveling route and the vehicle width guide line are superimposed on the image data. In the image 40 shown in FIG. 15, the vehicle width guide lines 76 to 78 are superimposed on the first expected traveling line 50 described with reference to FIG. The vehicle width guide lines 76 to 78 are line information extending in the horizontal direction of the image 40, that is, in the direction parallel to the x-axis. The vehicle width guide lines 76 to 78 may indicate a preset distance from the end of the vehicle 10. For example, the vehicle width guide line 76 may indicate a distance of 0.4 meters from the rear end of the vehicle 10. The vehicle width guide line 77 may indicate a distance of 1.0 meter from the rear end of the vehicle 10, for example. The vehicle width guide line 78 may indicate, for example, a distance of 2.0 meters from the rear end of the vehicle 10. In this case, the vehicle width guide lines 76 to 78 may not be displaced in the y-axis direction in the image 40. That is, the vehicle width guide lines 76 to 78 may be the same as the distance display lines 66 to 68 described with reference to FIG.

The lengths of the vehicle width guide lines 76 to 78 match the vehicle width of the vehicle 10. For example, the left end portion 76L of the vehicle width guide line 76 indicates one end of the vehicle width of the vehicle 10 at a distance of 0.4 meters from the rear end of the vehicle 10. On the other hand, the right end portion 76R of the vehicle width guide line 76 indicates the other end of the vehicle width of the vehicle 10 at a distance of 0.4 meters from the rear end of the vehicle 10. That is, the vehicle width guide line 76 is a straight line extending in the width direction of the vehicle 10 at a distance of, for example, 0.4 meters from the rear end of the vehicle 10 and matching the vehicle width of the vehicle 10. Similarly, the vehicle width guide line 77 is a straight line extending in the width direction of the vehicle 10 at a distance of, for example, 1.0 meter from the rear end of the vehicle 10 and matching the vehicle width of the vehicle 10. Further, the vehicle width guide line 78 is a straight line extending in the width direction of the vehicle 10 at a distance of, for example, 2.0 meters from the rear end of the vehicle 10 and matching the vehicle width of the vehicle 10. The vehicle width guide lines 76 to 78 may be displaced in the x-axis direction with the steering angle of the vehicle 10 in the image 40.

Next, with reference to FIG. 16, examples of other display modes in the first display mode will be further described. FIG. 16 is a diagram showing an example of a video in which a first predicted route and a second predicted route having high transmittance are superimposed on the video data. In the image 40 shown in FIG. 16A, in addition to the first expected advance line 50 described with reference to FIG. 4, the second expected advance lines 52 and 53 are superimposed.

The second expected advance lines 52 and 53 are a pair of line information related to the steering angle of the vehicle 10. The second predicted routes 52 and 53 are line information showing the traveling course of the vehicle 10 in anticipation of the traveling course of the vehicle 10 according to the steering angle of the vehicle 10. The second expected traveling route 52 extends along the traveling schedule according to the steering angle, starting from the left end portion 12 in the width direction of the vehicle 10. Similarly, the second expected traveling line 53 extends along the traveling schedule according to the steering angle, starting from the right end portion 13 in the width direction of the vehicle 10. That is, the second expected traveling routes 52 and 53 extend the positions corresponding to the vehicle width of the vehicle 10 along the traveling direction of the vehicle 10. The second expected traveling routes 52 and 53 are curved according to the steering angle of the vehicle 10, except when the vehicle 10 is traveling straight. The curvatures of the second expected traveling lines 52 and 53 increase as the steering angle of the vehicle 10 increases.

In the example shown in FIG. 16A, the second expected advance routes 52 and 53 have a preset transmittance. The preset transmittance is, for example, 50% to 90%. Therefore, in the superimposed data generated by the superimposed image generation unit 350, the second predicted advance lines 52 and 53 are in a semi-transparent state in the portion where the second predicted advance lines 52 and 53 and the video data overlap. ..

Further, the second expected advance lines 52 and 53 have a higher transmittance than the first expected advance line 50. For example, when the transmittance of the second expected advance lines 52 and 53 is 50%, the transmittance of the first expected advance line 50 is 0%. The difference between the transmittance of the second expected advance lines 52 and 53 and the transmittance of the first expected advance line 50 is preferably 50% or more.

With such a configuration, the possibility that the parking frame line and the first expected advance line are displayed overlapping is reduced. Further, the display control device 200 or the display control device 201 suppresses that the parking frame line displayed on the display unit becomes difficult to see by superimposing the second expected advance lines 52 and 53, and at the same time, the vehicle 10 The positional relationship between the vehicle width and the parking lot can be displayed accurately.

Next, FIG. 16B will be described. In the image 40 shown in FIG. 16B, the second expected advance lines 54 and 55 are superimposed on the first expected advance line 50.

The second expected traveling routes 54 and 55 are a pair of line information corresponding to the vehicle width of the vehicle 10 and extending the end portion in the width direction of the vehicle 10 when the vehicle 10 travels straight. The second expected traveling route 54 extends along the straight traveling direction of the vehicle 10 starting from the left end portion 12 in the width direction of the vehicle 10. Similarly, the second expected traveling line 55 extends along the straight traveling direction of the vehicle 10 starting from the right end portion 13 in the width direction of the vehicle 10. That is, the second expected traveling routes 54 and 55 extend the positions corresponding to the vehicle width of the vehicle 10 along the traveling direction of the vehicle 10. The second expected advance routes 54 and 55 do not change according to the steering angle of the vehicle 10. On the other hand, the first expected traveling line 50 changes according to the steering angle. Therefore, the distance 54 g between the end point 50e of the first predicted traveling line 50 and the ending point 54e of the second predicted traveling line 54 changes according to the steering angle of the vehicle 10. That is, as the steering angle of the vehicle 10 increases to the right, the distance 54 g increases. Similarly, the distance 55 g between the end point 50e of the first predicted traveling line 50 and the ending point 55e of the second predicted traveling line 55 increases as the steering angle of the vehicle 10 increases to the left.

With such a configuration, the possibility that the parking frame line and the first expected advance line are displayed overlapping is reduced. Further, the display control device 200 according to the third embodiment suppresses that the parking frame line displayed on the display unit becomes difficult to see by superimposing the second expected advance lines 54 and 55, and the vehicle 10 Information on the positional relationship between the vehicle width and the parking lot and the steering angle can be accurately displayed.

Next, an example of another display mode in the first display mode will be further described with reference to FIG. FIG. 17 is a diagram showing an image exemplifying a variation of the first expected advance route.

The first expected traveling line 51 superimposed on the image 40 illustrated in FIG. 17 is a straight line. The first expected traveling line 51 extends linearly along the traveling schedule according to the steering angle, starting from the starting point 50s corresponding to the central portion 11 of the vehicle 10. That is, the first expected traveling line 51 connects the starting point 50s and the ending point 50e with a straight line. The first expected traveling line 51 draws a straight line 51y parallel to the y-axis when the vehicle 10 is traveling straight. The angle A51 between the first expected traveling line 51 and the straight line 51y increases as the steering angle of the vehicle 10 increases.

The starting point 50s is included in the central portion 11 of the vehicle 10. The end point 50e is a point where the starting point 50s is located on a curve extended along the traveling schedule according to the steering angle of the vehicle 10.

Also in the example of the other display mode in the first display mode described above, when the driver moves the vehicle to the parking lot, the parking frame line and the first expected traveling line 50 or 51 are displayed overlapping. The possibility of this is reduced. Further, the first expected traveling line 50 or 51 has a display mode that can be accurately visually confirmed by the driver. Therefore, the display control systems 100 and 101 according to the first to fourth embodiments accompanied by such a display mode can prevent the parking frame line displayed on the display unit from becoming difficult to see.

The present invention is not limited to the above embodiment, and can be appropriately modified without departing from the spirit. For example, the above-described embodiment may be applied to the case where the vehicle 10 moves to the parking lot 33 while moving forward. In that case, the display control device 200 can superimpose the data of the image taken by the front camera 210F of the vehicle 10 and the expected traveling route. In this case, in step S100, the display control device 200 can detect, for example, that the vehicle 10 is moving forward slower than the preset traveling speed. Alternatively, in step S100, the display control device 200 may start the first display mode according to an instruction from a driver (not shown).

10 Vehicles 30, 31, 32 Parking frame lines 33, 34 Parking lot 40 Video 50, 51 1st expected advance line 52, 53, 54, 55, 60, 61 2nd expected advance line 66, 67, 68 Distance display line 76 , 77, 78 Vehicle width guide line 100, 101 Display control system 200, 201 Display control device 210 Camera 220 Display unit 230 Object detection sensor 300 Vehicle motion detection unit 310 Expected advance route generation unit 320 Video data acquisition unit 330 Parking frame line recognition Unit 340 Judgment unit 350 Superimposed image generation unit 360 Display control unit 370 Sensor detection unit

Claims (11)

A video data acquisition unit that acquires video data from a camera that captures the direction of travel of the vehicle while moving the vehicle to the parking area where the parking border is displayed.
A vehicle motion detection unit that detects motion information including the steering angle of the vehicle,
A pair of a first expected traveling route extending along the traveling schedule of the vehicle starting from the central portion in the width direction of the vehicle and extending along the traveling schedule of the vehicle starting from both ends in the width direction of the vehicle. The second predicted route including the line of, and the predicted route generator that generates
A determination unit for determining whether to superimpose the first predicted route or the second predicted route with the video data.
A superposed video generation unit that generates superposed data, which is video data obtained by superimposing the video data and the first predicted line or the second predicted line according to the judgment of the determination unit.
A display control unit that transmits the superimposed data to the display unit in order to display the image related to the superimposed data on the display unit.
A detection unit that detects an object adjacent to the parking lot,
With
When the detection unit does not detect an object adjacent to the parking section and the parking frame line and the second expected advance line are displayed close to each other, the determination unit determines the first expected advance. Judging to superimpose the route on the video data,
Display control device. A video data acquisition unit that acquires video data from a camera that captures the direction of travel of the vehicle while moving the vehicle to the parking area where the parking border is displayed.
A vehicle motion detection unit that detects motion information including the steering angle of the vehicle,
A pair of a first expected traveling route extending along the traveling schedule of the vehicle starting from the central portion in the width direction of the vehicle and extending along the traveling schedule of the vehicle starting from both ends in the width direction of the vehicle. The second predicted route including the line of, and the predicted route generator that generates
A determination unit for determining whether to superimpose the first predicted route or the second predicted route with the video data.
A superposed video generation unit that generates superposed data, which is video data obtained by superimposing the video data and the first predicted line or the second predicted line according to the judgment of the determination unit.
A display control unit that transmits the superimposed data to the display unit in order to display the image related to the superimposed data on the display unit.
A parking frame line recognition unit that recognizes the parking frame line from the video data,
A detection unit that detects objects around the vehicle,
With
In the determination unit, the distance between the surrounding object detected by the detection unit and the parking frame line is larger than a preset value, and the parking frame line and the second expected traveling line are close to each other. When it is displayed, it is determined that the first expected route is superimposed on the video data.
Display control device. The determination unit determines that when the steering angle of the vehicle is smaller than a preset angle, the parking frame line and the second expected traveling line are displayed close to each other.
The display control device according to claim 1 or 2 . The display control device further includes a parking frame line recognition unit that recognizes the parking frame line from the video data.
When the distance between the second expected traveling line and the parking frame line is within a preset range, the determination unit displays the parking frame line and the second expected traveling line in close proximity to each other. To judge,
The display control device according to claim 1. When the determination unit determines that the first predicted route is superimposed on the video data, the superimposed image generation unit determines the second predicted route having a higher transmittance than the first predicted route. Generates superimposed data, which is superimposed video data at the same time.
The display control device according to any one of claims 1 to 4 . The first expected traveling line further includes a vehicle width guide line that extends in the width direction of the vehicle and is formed by a straight line that matches the vehicle width of the vehicle in the planned travel.
The display control device according to any one of claims 1 to 5 . The display control device according to any one of claims 1 to 6 and
With at least one of the camera that captures the video data and the display unit that displays the video data.
Display control system with. Acquire video data from a camera that captures the direction of travel of the vehicle while moving the vehicle to the parking area where the parking border is displayed.
Detecting operation information including the steering angle of the vehicle,
Detecting an object adjacent to the parking lot,
A pair of a first expected traveling route extending along the traveling schedule of the vehicle starting from the central portion in the width direction of the vehicle and extending along the traveling schedule of the vehicle starting from both ends in the width direction of the vehicle. Generate a second expected route, including the line,
When an object adjacent to the parking lot is not detected and the parking frame line and the second predicted line are displayed close to each other, the first predicted line or the second predicted line is displayed. Among them, it was decided to superimpose the first expected route on the video data,
According to the above determination, the superimposition data which is the superimposition data of the video data and the first expected advance line or the second expected advance line is generated.
A display control method in which the superimposed data is transmitted to the display unit in order to display the image related to the superimposed data on the display unit. Acquire video data from a camera that captures the direction of travel of the vehicle while moving the vehicle to the parking area where the parking border is displayed.
Detecting operation information including the steering angle of the vehicle,
Recognize the parking border from the video data and
Detects objects around the vehicle and
A pair of a first expected traveling route extending along the traveling schedule of the vehicle starting from the central portion in the width direction of the vehicle and extending along the traveling schedule of the vehicle starting from both ends in the width direction of the vehicle. Generate a second expected route, including the line,
When the distance between the surrounding object and the parking frame line is larger than a preset value and the parking frame line and the second expected traveling line are displayed close to each other, the first It is determined that the first predicted route is superimposed on the video data among the predicted route or the second predicted route.
According to the above determination, the superimposition data which is the superimposition data of the video data and the first expected advance line or the second expected advance line is generated.
A display control method in which the superimposed data is transmitted to the display unit in order to display the image related to the superimposed data on the display unit. On the computer
While moving the vehicle to the parking lot where the parking border is displayed, acquire the video data from the camera that captures the direction of travel of the vehicle.
The operation information including the steering angle of the vehicle is detected, and the operation information is detected.
Detect an object adjacent to the parking lot
A pair of a first expected traveling route extending along the traveling schedule of the vehicle starting from the central portion in the width direction of the vehicle and extending along the traveling schedule of the vehicle starting from both ends in the width direction of the vehicle. Generate a second expected route, including the line of
When an object adjacent to the parking lot is not detected and the parking frame line and the second predicted line are displayed close to each other, the first predicted line or the second predicted line is displayed. Among them, the decision is made to superimpose the first expected advance route on the video data.
According to the above determination, the superposed data which is the superposed video data of the video data and the first predicted line or the second predicted line is generated.
A display control program that causes the display unit to transmit the superimposed data in order to display the image related to the superimposed data on the display unit. On the computer
While moving the vehicle to the parking lot where the parking border is displayed, acquire the video data from the camera that captures the direction of travel of the vehicle.
The operation information including the steering angle of the vehicle is detected, and the operation information is detected.
Recognize the parking border from the video data
Detecting objects around the vehicle
A pair of a first expected traveling route extending along the traveling schedule of the vehicle starting from the central portion in the width direction of the vehicle and extending along the traveling schedule of the vehicle starting from both ends in the width direction of the vehicle. Generate a second expected route, including the line of
When the distance between the surrounding object and the parking frame line is larger than a preset value and the parking frame line and the second expected traveling line are displayed close to each other, the first It is determined that the first predicted route is superimposed on the video data among the predicted route or the second predicted route.
According to the above determination, the superposed data which is the superposed video data of the video data and the first predicted line or the second predicted line is generated.
A display control program that causes the display unit to transmit the superimposed data in order to display the image related to the superimposed data on the display unit.

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