JP7287355B2 - 車両周辺監視装置 - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
- B60R2001/1215—Mirror assemblies combined with other articles, e.g. clocks with information displays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
- B60R2001/1253—Mirror assemblies combined with other articles, e.g. clocks with cameras, video cameras or video screens
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/40—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the details of the power supply or the coupling to vehicle components
- B60R2300/402—Image calibration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
- B60R2300/8026—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views in addition to a rear-view mirror system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8066—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring rearward traffic
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30261—Obstacle
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Closed-Circuit Television Systems (AREA)
- Traffic Control Systems (AREA)
Description
図1に示されるように、本実施形態の車両周辺監視装置10は、CPU(Central Processing Unit:プロセッサ)14、ROM(Read Only Memory)16、RAM(Random Access Memory)18、ストレージ20、通信インタフェース22及び入出力インタフェース24を含んで構成されている。各構成は、バス26を介して相互に通信可能に接続されている。本実施形態の車両周辺監視装置10は一例として、車両12に搭載されたECU(Electronic Control Unit)の一部を構成している。
車両周辺監視装置10は、上記のハードウェア資源を用いて、各種の機能を実現する。車両周辺監視装置10が実現する機能構成について図4を参照して説明する。
次に、本実施形態の作用を説明する。
図5は、車両周辺監視装置10による表示処理の流れの一例を示すフローチャートである。この表示処理は、CPU14がROM16又はストレージ20からプログラムを読み出して、RAM18に展開して実行することによって実行される。なお、以下のフローチャートでは一例として、図3に示されるように、物標である二輪車100を後方カメラ28、右後側方カメラ30及び右側レーダ34で検知している状態について説明する。
12 車両
28 後方カメラ(センサ)
30 右後側方カメラ(センサ)
32 左後側方カメラ(センサ)
34 右側レーダ(センサ)
36 左側レーダ(センサ)
38 電子インナ―ミラー(表示部)
50 後方画像取得部
52 物標位置取得部
54 物標位置判定部
56 表示処理部
58 強調表示部
Claims (8)
- 後方カメラで撮影された車両後方の第1画像、右後側方カメラで撮影された車両右後側方の第2画像、及び左後側方カメラで撮影された車両左後側方の第3画像を含む後方画像を取得する後方画像取得部と、
前記後方カメラ、前記右後側方カメラ及び前記左後側方カメラを含む複数のセンサから前記車両後方、前記車両右後側方及び前記車両左後側方を含む領域に存在する物標の自車両に対する相対位置を取得する物標位置取得部と、
前記物標位置取得部によって取得された物標の前記相対位置が前記複数のセンサで一致するか否かを判定する物標位置判定部と、
前記物標位置判定部で物標の前記相対位置が一致すると判定された場合は、前記第1画像、前記第2画像及び前記第3画像を合成した1つの合成画像を車室内に設けられた表示部に表示し、物標の前記相対位置が一致しないと判定された場合は、前記第1画像、前記第2画像及び前記第3画像をそれぞれ個別に並べて前記表示部に表示する表示処理部と、
を有する車両周辺監視装置。 - 前記物標位置取得部は、前記後方カメラ、前記右後側方カメラ及び前記左後側方カメラを含む3個以上のセンサから物標の前記相対位置を取得する請求項1に記載の車両周辺監視装置。
- 前記表示処理部で表示される画像において、自車両に接近する物標を強調表示する強調表示部をさらに備えた請求項2に記載の車両周辺監視装置。
- 前記強調表示部は、前記物標位置判定部において前記3個以上のセンサのうち、1つのセンサで検知された物標の相対位置のみが一致しない場合には、一致しないセンサの情報を除いた他センサから取得された物標の前記相対位置に基づいて強調表示を行う請求項3に記載の車両周辺監視装置。
- 前記強調表示部は、前記物標位置判定部において前記3個以上のセンサのうち、全てのセンサで検知された物標の相対位置が異なる場合には、物標の前記相対位置が自車両に最も近いと検知されたセンサから取得された物標の前記相対位置に基づいて強調表示を行う請求項3に記載の車両周辺監視装置。
- 前記物標位置判定部において、前記後方カメラ、前記右後側方カメラ及び前記左後側方カメラの何れか1つのセンサで検知された物標の前記相対位置のみが一致しない場合には、一致しないセンサで撮影された前記後方画像に警告内容を重畳して前記表示部に表示する請求項4に記載の車両周辺監視装置。
- 前記物標位置判定部において、前記後方カメラ、前記右後側方カメラ及び前記左後側方カメラで検知された物標の前記相対位置が全て異なる場合には、第1画像、第2画像及び第3画像のうち、物標を検知しているセンサに対応する全ての画像に警告内容を重畳して表示する請求項5に記載の車両周辺監視装置。
- 前記物標位置取得部は、車体後部のコーナー部に設けられて車両後方の障害物を検知するレーダを含むセンサから物標の前記相対位置を取得する請求項1~7の何れか1項に記載の車両周辺監視装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2020110607A JP7287355B2 (ja) | 2020-06-26 | 2020-06-26 | 車両周辺監視装置 |
US17/335,180 US11390218B2 (en) | 2020-06-26 | 2021-06-01 | Vehicle periphery monitoring device, vehicle periphery monitoring method and non-transitory storage medium |
CN202110617234.0A CN113844363B (zh) | 2020-06-26 | 2021-06-03 | 车辆周边监视装置、监视方法及非瞬时性存储介质 |
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JP2020110607A JP7287355B2 (ja) | 2020-06-26 | 2020-06-26 | 車両周辺監視装置 |
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JP2022007565A JP2022007565A (ja) | 2022-01-13 |
JP7287355B2 true JP7287355B2 (ja) | 2023-06-06 |
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JP2020110607A Active JP7287355B2 (ja) | 2020-06-26 | 2020-06-26 | 車両周辺監視装置 |
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US (1) | US11390218B2 (ja) |
JP (1) | JP7287355B2 (ja) |
CN (1) | CN113844363B (ja) |
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CN115416578A (zh) * | 2022-08-10 | 2022-12-02 | 岚图汽车科技有限公司 | 一种车辆电子后视镜的显示方法、装置、设备和介质 |
Citations (4)
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JP2008141649A (ja) | 2006-12-05 | 2008-06-19 | Alpine Electronics Inc | 車両周辺監視装置 |
JP2019041334A (ja) | 2017-08-28 | 2019-03-14 | 株式会社Soken | 映像出力装置及び映像生成プログラム |
WO2019159344A1 (ja) | 2018-02-19 | 2019-08-22 | 三菱電機株式会社 | 運転支援装置および映像表示方法 |
JP2020088415A (ja) | 2018-11-15 | 2020-06-04 | トヨタ自動車株式会社 | 車両用電子ミラーシステム |
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JP3977368B2 (ja) * | 2004-09-30 | 2007-09-19 | クラリオン株式会社 | 駐車支援システム |
JP4762698B2 (ja) * | 2005-11-30 | 2011-08-31 | アルパイン株式会社 | 車両周辺画像表示装置 |
JP4726621B2 (ja) * | 2005-12-13 | 2011-07-20 | アルパイン株式会社 | 車載センサの補正装置 |
JP5347257B2 (ja) * | 2007-09-26 | 2013-11-20 | 日産自動車株式会社 | 車両用周辺監視装置および映像表示方法 |
JP2009206747A (ja) * | 2008-02-27 | 2009-09-10 | Nissan Motor Co Ltd | 車両用周囲状況監視装置及び映像表示方法 |
JP5240149B2 (ja) * | 2009-09-28 | 2013-07-17 | 三菱自動車工業株式会社 | 車両周辺監視装置 |
JP5052707B2 (ja) * | 2010-06-15 | 2012-10-17 | 三菱電機株式会社 | 車両周辺監視装置 |
JP6565148B2 (ja) * | 2014-09-05 | 2019-08-28 | アイシン精機株式会社 | 画像表示制御装置および画像表示システム |
JP6354578B2 (ja) * | 2014-12-26 | 2018-07-11 | 株式会社Jvcケンウッド | 撮像システム |
WO2017154317A1 (ja) * | 2016-03-09 | 2017-09-14 | 株式会社Jvcケンウッド | 車両用表示制御装置、車両用表示システム、車両用表示制御方法およびプログラム |
JP6462630B2 (ja) * | 2016-05-24 | 2019-01-30 | 株式会社デンソー | 物標検出装置 |
JP6877115B2 (ja) * | 2016-09-27 | 2021-05-26 | 株式会社東海理化電機製作所 | 車両用視認装置 |
JP2019034692A (ja) * | 2017-08-21 | 2019-03-07 | 株式会社東海理化電機製作所 | 車両用視認装置 |
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-
2020
- 2020-06-26 JP JP2020110607A patent/JP7287355B2/ja active Active
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2021
- 2021-06-01 US US17/335,180 patent/US11390218B2/en active Active
- 2021-06-03 CN CN202110617234.0A patent/CN113844363B/zh active Active
Patent Citations (4)
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JP2008141649A (ja) | 2006-12-05 | 2008-06-19 | Alpine Electronics Inc | 車両周辺監視装置 |
JP2019041334A (ja) | 2017-08-28 | 2019-03-14 | 株式会社Soken | 映像出力装置及び映像生成プログラム |
WO2019159344A1 (ja) | 2018-02-19 | 2019-08-22 | 三菱電機株式会社 | 運転支援装置および映像表示方法 |
JP2020088415A (ja) | 2018-11-15 | 2020-06-04 | トヨタ自動車株式会社 | 車両用電子ミラーシステム |
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CN113844363A (zh) | 2021-12-28 |
JP2022007565A (ja) | 2022-01-13 |
CN113844363B (zh) | 2023-08-08 |
US11390218B2 (en) | 2022-07-19 |
US20210402927A1 (en) | 2021-12-30 |
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