JP6785953B2 - 車載用監視カメラ装置 - Google Patents
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- 238000001514 detection method Methods 0.000 claims description 23
- 230000000007 visual effect Effects 0.000 claims description 20
- 238000003384 imaging method Methods 0.000 claims description 13
- 239000000284 extract Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 description 20
- 238000010586 diagram Methods 0.000 description 4
- 238000003702 image correction Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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- B60—VEHICLES IN GENERAL
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- General Physics & Mathematics (AREA)
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Description
図1は、この発明の実施の形態1に係る車載用監視カメラ装置の構成を示すブロック図である。車載用監視カメラ装置100は車両に搭載されている。以下では、車載用監視カメラ装置100が搭載されている車両を「自車両」と呼び、他の車両を「他車両」と呼ぶこととする。
図6は、この発明の実施の形態2に係る車載用監視カメラ装置100Aの構成を示すブロック図である。車載用監視カメラ装置100Aは自車両101に搭載されている。
衝突リスク判定部64は、上記実施の形態1で示した衝突リスク判定部4と同一の検出方法にて、「接触するまでの時間」および「障害物と自車両との距離」を検出する。
Claims (10)
- レーダーまたはカメラで検知した障害物のうち、自車両に衝突する可能性のある障害物を、第1の障害物として検知する障害物検知部と、
前記第1の障害物と前記自車両とが接触するまでの時間を検出する衝突リスク判定部と、
標準レンズよりも広い撮像範囲を有する広角レンズにより撮影された第1の画像が入力され、前記第1の画像の歪を補正して第2の画像を生成する歪補正部と、
前記衝突リスク判定部が検出した前記接触するまでの時間のうち、最も短い時間を有する前記第1の障害物を第2の障害物として抽出し、当該第2の障害物が横方向の中央に位置するように一定範囲の画像を前記第2の画像から切り出して、第3の画像を生成するカメラ視点表示制御部と、
前記第3の画像を表示する第1の表示装置と
を備え、
前記カメラ視点表示制御部は、前記第3の画像の視野範囲または視野の中心方向を示す画像を前記第3の画像に重畳させ、
前記衝突リスク判定部は、前記第1の障害物の位置、進路、速度と、前記自車両の位置、進路、速度とに基づいて、前記自車両の進路と前記第1の障害物の進路とが交差する交点を求め、前記接触するまでの時間を、前記第1の障害物が前記交点に到達するまでの第1の到達時間と、前記自車両が前記交点に到達するまでの第2の到達時間とのうちのいずれか一方の小さい方の到達時間として検出する、
車載用監視カメラ装置。 - 前記第3の画像内に表示されている前記第2の障害物を強調するための強調表示を、前記第3の画像における前記第2の障害物に対して重畳する障害物表示重畳部を備えた、
請求項1に記載の車載用監視カメラ装置。 - 前記障害物表示重畳部は、前記強調表示の色を、前記衝突リスク判定部が検出した前記時間に応じて切り替える、
請求項2に記載の車載用監視カメラ装置。 - 前記障害物表示重畳部は、前記強調表示の形状を、前記衝突リスク判定部が検出した前記時間に応じて切り替える、
請求項2に記載の車載用監視カメラ装置。 - 前記障害物表示重畳部は、前記第3の画像内に表示されていない他の前記第1の障害物の存在を示す情報を、前記第3の画像に重畳する、
請求項2から4までのいずれか1項に記載の車載用監視カメラ装置。 - 前記第3の画像内に表示する前記第2の障害物を、前記第1の障害物のうちの他の1つに切り替える切替指示が入力される操作装置
を備えた、
請求項1から5までのいずれか1項に記載の車載用監視カメラ装置。 - 前記操作装置に入力される前記切替指示による切替順序は、前記衝突リスク判定部が検出した前記時間に基づく、
請求項6に記載の車載用監視カメラ装置。 - 前記操作装置に入力される前記切替指示による切替順序は、前記第1の障害物が存在する方向に基づく、
請求項6に記載の車載用監視カメラ装置。 - 前記第1の画像を表示する第2の表示装置を備えた、
請求項1から8までのいずれか1項に記載の車載用監視カメラ装置。 - 前記カメラ視点表示制御部は、前記第2の障害物として、複数の前記第1の障害物を抽出して、各前記第1の障害物ごとに前記第3の画像を生成し、
前記第1の表示装置は、複数の画面を有し、各画面において、各前記第1の障害物ごとに生成された各前記第3の画像をそれぞれ表示させる、
請求項1から9までのいずれか1項に記載の車載用監視カメラ装置。
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PCT/JP2017/017826 WO2018207303A1 (ja) | 2017-05-11 | 2017-05-11 | 車載用監視カメラ装置 |
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JPWO2018207303A1 JPWO2018207303A1 (ja) | 2019-11-07 |
JP6785953B2 true JP6785953B2 (ja) | 2020-11-18 |
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US (1) | US11214248B2 (ja) |
JP (1) | JP6785953B2 (ja) |
CN (1) | CN110612562B (ja) |
DE (1) | DE112017007528T5 (ja) |
WO (1) | WO2018207303A1 (ja) |
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JP7092688B2 (ja) * | 2017-02-17 | 2022-06-28 | 住友重機械工業株式会社 | 作業機械用周辺監視システム |
DE112018007484T5 (de) * | 2018-04-16 | 2021-02-25 | Mitsubishi Electric Corporation | Hindernis-Detektionsvorrichtung, automatische Bremsvorrichtung unter Verwendung einer Hindernis-Detektionsvorrichtung, Hindernis-Detektionsverfahren und automatisches Bremsverfahren unter Verwendung eines Hindernis-Detektionsverfahrens |
CN111506052A (zh) * | 2019-01-14 | 2020-08-07 | 上海博泰悦臻网络技术服务有限公司 | 障碍物的监控方法、系统、计算机存储介质及车载终端 |
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