JPH06321011A - Peripheral visual field display - Google Patents

Abstract

PURPOSE:To obtain a peripheral visual field display capable of dispensing with mechanism parts for varying the visual field region and controllers attendant on them and providing the peripheral visual field accurately complying with the request of a driver. CONSTITUTION:The photographing region of a vehicular peripheral visual field is obtained by an image pickup means 21, and a part of this photographing region is taken as a display region to be displayed on an image display means 22, so as to singly electrically vary the display region. This singly electrical varying is performed by the image pickup means 21, a display region control means 24 or the image display means 22. Moreover an display region command means 23 performs the command of the display region on the basis of the relationship of own vehicle to the peripheral vehicle, on the basis of the will of the driver that has measured and estimated the vehicular state or on the basis of the head position and the line of sight of the driver.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a peripheral visual field display device for displaying the scenery around the vehicle to a vehicle driver in a traveling vehicle such as an automobile.

[0002]

2. Description of the Related Art Conventionally, as an example of a peripheral visual field display device for a traveling vehicle such as an automobile, there is a mirror device using a mirror which is generally used for vehicles. For example, as a mirror device that provides the driver with a road condition behind the vehicle, there are a room mirror mounted inside the vehicle compartment, a door mirror mounted outside the vehicle compartment, a fender mirror, and the like.
As a mirror device for confirming the blind spot area on the front side of the vehicle, there are a corner mirror, an under mirror, and the like mounted on the hood. Further, for example, a peripheral visual field display device described in Japanese Patent Laid-Open No. 3-99952 is a television monitor in which a plurality of camera devices are installed in a vehicle and images obtained by the camera devices are arranged near a driver's seat. It is intended to be displayed. Further, there is also a device as described in, for example, Japanese Patent Laid-Open No. 63-54699, in which a movable mirror device is provided on the front surface of a camera device to increase the visible field of view.

In the conventional peripheral visual field display device using, for example, a mirror, the field of view is obtained simply by using reflection. For this reason, in order to secure a sufficient field of view, it is necessary to install the mirror surface so as to project larger than the vehicle body, and the mirror surface area must be appropriate. Furthermore, in order to make the field of view variable, it is necessary to make the mirror surface itself movable.
A movable mechanism such as an electric motor is often incorporated. In order to prevent pedestrians or drivers from being harmed, the equipment that extends outside the vehicle body or inside the vehicle compartment is obliged to have a structure that can be dropped or folded in case of emergency. This obligation complies with JIS standard, D 57.
05-1979, Mirror device for automobile, "9.7.2.
Impact absorption of outside mirror ".
Therefore, the current mirror device has a small protrusion amount from the viewpoint of weight, structure, and design, and conversely has a large protrusion amount to secure a sufficient field of view. However, it does not provide sufficient visibility. Further, in the traveling vehicle, the protrusion of the mirror device causes air resistance, which is not preferable from the viewpoint of energy saving.

On the other hand, in the structure using the camera device, the introduction of the small camera device does not require a large amount of protrusion as seen in the mirror device,
Still, in order to make the field of view variable, a mechanism for directly moving the camera device and a movable device for the mirror are required, and the drawbacks found in the mirror device have not been sufficiently solved.

[0005]

Since the conventional peripheral vision display device is constructed as described above, the weight and the amount of protrusion are increased, and the design and structure of the vehicle are affected, so that the product is commercialized. There was a problem such as causing damage to.

The present invention has been made in order to solve the above-mentioned problems, and it is possible to eliminate the need for a mechanism portion for changing the visual field area and a control device associated therewith, and the driver's request. It is an object of the present invention to obtain a peripheral visual field display device capable of providing a peripheral visual field that accurately corresponds to the above.

[0007]

SUMMARY OF THE INVENTION A peripheral visual field display device according to the invention of claim 1 is an image pickup means for photographing the periphery of a vehicle and converting it into a video signal, and an image of the video signal output by the image pickup means. The image pickup means includes an image display means for converting and displaying, a display area control means for instructing a part of the photographing area obtained by the image pickup means as a display area, and a display area instruction means for instructing the display area control means to the display area. A part of the photographing area around the vehicle obtained by the above is displayed on the image display means.

A peripheral visual field display device according to a second aspect of the present invention is the peripheral visual field display device according to the first aspect, wherein the image pickup means outputs a part of the photographing area as a video signal in accordance with the output of the display area limiting means. It is something that is done.

According to a third aspect of the invention, there is provided a peripheral visual field display device according to the first aspect, wherein the display area control means receives the first video signal output from the image pickup means, A part of one video signal is output as the second video signal.

According to a fourth aspect of the invention, there is provided a peripheral visual field display device according to the first aspect of the invention, wherein the image display means receives the video signal output from the image pickup means.
According to the output of the display area control means, a part of the video signal is enlarged and displayed.

A peripheral visual field display device according to a fifth aspect of the present invention is the peripheral visual field display device according to any one of the second to fourth aspects of the invention, in which the driver instructs the display region by means of the display region instructing means. It is used as an input means.

A peripheral visual field display device according to a sixth aspect of the present invention is the invention according to any one of the second to fourth aspects, further comprising a traveling speed detecting means for detecting a traveling speed of the host vehicle. The display area is instructed according to the traveling speed detected by the traveling speed detecting means.

A peripheral visual field display device according to a seventh aspect of the present invention is the peripheral visual field display device according to any one of the second to fourth aspects, in which the inter-vehicle distance and the azimuth angle between the host vehicle and the peripheral vehicle are measured. The vehicle is provided with a peripheral approaching vehicle detecting means for indicating the display area according to the inter-vehicle distance and the azimuth detected by the peripheral approaching vehicle detecting means.

A peripheral visual field display device according to an eighth aspect of the present invention is the detector according to any one of the second to fourth aspects of the invention, which detects a driving operation state of a vehicle driver, and Based on the detection signal output from this detector, a driver's will estimation means for estimating the driver's intention to operate is provided, and based on the driver's intention to operate estimated by the driver's intention estimation means, the display area is It was designed to be instructed.

A peripheral visual field display device according to a ninth aspect of the present invention is the driving device for detecting a head position or a face direction of a vehicle driver according to any one of the second to fourth aspects. The driver's visual field request estimating means for estimating the desired visual field of the driver based on the detection signals output from the human detecting means and the driver detecting means, and the desired visual field of the driver estimated by the driver visual field request estimating means. The display area is designated based on the information.

[0016]

In the peripheral visual field display device configured as described above, a constant image acquisition area is obtained by the image pickup means, and a part of the image acquisition area is set as the display area to be displayed on the image display means. The area is variable. By changing the visual field area purely electrically, it is possible to eliminate the need for a movable mechanism required when using a conventional camera device, and to provide a driver with a sufficient visual field.

[0017]

【Example】

Example 1. Embodiment 1 of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a peripheral visual field display device according to the first embodiment. In the figure, 1 is an image pickup means for photographing an image of the vehicle periphery and converting it into a video signal for output, 2 is an image display means for converting the video signal of the obtained vehicle periphery image into an image and displaying the image, 3 is a display Display area instructing means 4 for instructing the area to the imaging means 1 is a display area control means, and is the imaging means 1
It is a display area control means for converting a portion of the designated display area input by the display area designating means 3 into the internal parameter of the image pickup means 1 in the photographing area obtained in step 3.

The operation of the peripheral visual field display device in this embodiment will be described. For example, as shown in FIG. 2, the image pickup means 1 includes four units (1a, 1b,
1c, 1d), and the acquisition regions of the respective vehicle peripheral images are 6a, 6b, 6c, 6d. Further, the image display means 2 and the display area designating means 3 are assumed to be arranged in the vicinity of the driver at a position where the driver can easily see and operate. Here, the operation of one image pickup unit 1a will be described. The same operation is performed for the other image pickup means 1b, 1c, 1d. FIG. 3 is an explanatory diagram showing the relationship between the vehicle peripheral image obtained by the image pickup device of the image pickup means 1 a and the display area displayed on the image display means 2. The entire vehicle peripheral image has a horizontal range of H and a vertical range of V, and the display area is a part of the vehicle peripheral image with a horizontal range of h1 to h2 and a vertical range of v1 to v2. The display area is variable over the entire image of the vehicle periphery,
The driver can give an instruction using the display area instruction means 3.

As the display area designating means 3, a display position designating switch capable of designating the up, down, left and right positions on the screen of the image display means 2, as shown in FIG. 4, is used. When the driver operates the switch 3 to specify the upper left and lower right positions on the screen, the switch signals indicate the actual positions on the screen (h1, v1), (h2, It is converted to v2) and is instructed to the image pickup means 1a. The display area control means 4 can be realized by a microcomputer as shown in FIG. 5, for example. FIG. 6 shows an example of a flowchart showing the operation of the microcomputer 4. Switch 3 (SW1 to SW5) at ST1
Read the state of. In ST2, the operation mode is determined from the switch state. In ST3, it is determined whether or not the operation mode is the same as the last time, and if the same, the state is held and the process is ended. If they are different, the output coordinates are calculated in ST4, and an overflow check is performed in ST5 to check whether the calculation result is within the acquisition area of the vehicle peripheral image. If the calculated coordinates exceed the acquisition area, the upper limit value or the lower limit value is limited. In this way, the driver can instruct the position of the display area.

FIG. 7 is a block diagram showing the structure of the image pickup means 1 in detail. In the figure, reference numeral 7 denotes an image pickup device for converting the light intensity of an image into an electric signal, for example, a solid-state image pickup device (CC
D), 8 is a video signal conversion circuit, and 9 is a transfer signal control circuit. The solid-state image pickup device 7 receives the vertical transfer signal A and the horizontal transfer signal B from the transfer signal control circuit 9, and outputs a pixel sequential signal C for the image of the periphery of the vehicle imaged in accordance with this timing.
Output as. FIG. 8 shows the operation of the solid-state image sensor 7.
FIG. 9 is an explanatory diagram for explaining the operation of the transfer signal control circuit 9. The solid-state image sensor 7 has a plurality of shooting pixels 10 vertically and horizontally.
And each of the photographing pixels 10 accumulates an electric charge proportional to the intensity of light. In the figure, the image-capturing pixels 10 in which electric charges are accumulated are shown in black. When the vertical transfer signal A is input, one horizontal row of the photographing pixels 10 sequentially moves one pixel in the vertical transfer circuit in the direction of arrow a. One horizontal line represents one scanning line C, and one scanning line C reaching the horizontal transfer circuit is transferred by the horizontal transfer signal B in the arrow B direction. Pixel sequential signal C
Is a signal in which one scanning line C is arranged in order, and is converted into a video signal F by the video signal conversion circuit 8 and sent to the image display means 2.

Further, the transfer signal control circuit 9 inputs the vertical synchronizing signal D and the horizontal synchronizing signal E from the video signal converting circuit 8 and outputs the vertical transferring signal A and the horizontal transferring signal B in synchronization with these signals. At that time, h1, h2, v1, and v2 are designated as display areas from the display area control means 4. Correspondingly, as shown in FIG. 9, if the photographing pixels in the unnecessary area are transferred at high speed and the photographing pixels in the necessary area are transferred at low speed, the necessary portion of the photographing area of the vehicle peripheral image is enlarged as if it were the display area. As described above, the video signal F is output.

As described above, in the peripheral visual field display device according to the first embodiment, the image pickup device 7 of the image pickup means 1 converts an image around the vehicle into an electric signal, and a part of the image around the vehicle is used as a display area. The video signal corresponding to is output. The driver can specify the display area in a desired range using the display position specification input means 3. Therefore, the visual field direction can be changed without moving the image pickup unit 1. Since the image pickup means 1 is not moved, a mechanical moving mechanism is unnecessary, the amount of projection outside the vehicle can be reduced, and the direction of the visual field can be changed relatively easily because it is lightweight. Further, by providing the image pickup means 1a to 1d as shown in FIG. 2, it is possible to display a blind spot when making a left turn or a right turn. Furthermore, since the image pickup means is configured to output only a part of the area to be displayed as a video signal, the image display means can use a conventional display device or the like as it is. This has an advantage that the peripheral visual field can be displayed on a display such as a navigation device.

Example 2. Further, in the display position designation input means 3 and the display area control means 4 of the first embodiment, the size of the display area is fixed, and the display area is moved within the acquisition area of the vehicle peripheral image. . Here, as another embodiment, a method of enlarging or reducing the size of the display area is shown. FIG. 10 is an explanatory diagram showing in detail the configurations of the display area instruction means 3 and the display area control means 4. The display area designating means 3 is similar to the display area designating switch 3 used in the first embodiment. Oscillation circuit 12, counting circuit 1
3. The voltage converter 14 can detect the time when the driver is pressing the switches SW1 to SW4, and inputs this to the microcomputer 4 as voltage values Vx and Vy. SW5 operates as a switch for instructing enlargement and reduction of the display area.
FIG. 11 is a flowchart showing an example of the operation of the microcomputer 4. The state of the switch SW5 is read in ST6. In ST7, the operation mode is determined from the state of the switch SW5. When it is ON, it is in the enlargement / reduction mode, and OF
When F, move mode. Example 1 in the moving mode
The same as above, and Vx and Vy are read in ST8. Furthermore S
At T9, Δx (h2-h1) and Δy (v2-v1) are read. Here, Δx is the width of the display area, and Δy is the height of the display area. From these values, h1, h2, v1, v2 are calculated (ST10) and output in ST11. In the enlargement / reduction mode, STx reads Vx and Vy. Further, in ST13, Δx (h2-h1) and Δy (v2-v1) are calculated. This value is stored in ST14, and the subsequent calculation is completed after performing ST9 and ST10 as in the moving mode. As described above, by making Δx and Δy variable, it is possible to instruct to enlarge or reduce the display area.

Example 3. The third embodiment of the present invention will be described below with reference to the drawings. FIG. 12 is a block diagram showing a peripheral visual field display device according to the third embodiment. In the figure, reference numeral 21 is an image pickup means for photographing an image of the vehicle periphery and outputting it as a first video signal, 22 is an image display means for converting the obtained second video signal of the vehicle peripheral image into an image and displaying it, and 23 is Display area instructing means for instructing a display area, 24 is a display area control means, and is a second area of the display area input by the display area instructing means 23 in the photographing area of the first video signal obtained by the imaging means 21. Output as a video signal. Further, 25 is an image area limiting device which outputs a signal portion corresponding to the display area from the first video signal as a second video signal by using a part of the vehicle peripheral image as a display area, and 26 is input by the display area instruction means 23. It is a display area control circuit for converting the designated display area into internal parameters of the image area limiting device 25. In this example,
The image area limiting device 25 and the display area control circuit 26 constitute the display area control means 24. By the image area limiting device 25, a part of the image obtained by the image pickup means 21 is used as a display area, and this display area can be moved, enlarged or reduced within the range of the photographing area around the vehicle.

The operation of the peripheral visual field display device in this embodiment will be described below. FIG. 13 is a block diagram showing the structure of the image area limiting device 25 in detail. In the figure, 27 is the first of the vehicle peripheral images obtained by the image pickup means 21.
A first image memory 28 for inputting the video signal G, a second image memory 28 for storing a part of the display image of the vehicle peripheral image, 29
Is a video signal conversion circuit for converting the pixel signal of the display area into the second video signal H, and 30 is a read address designation signal I (I) according to the display area instructed by the display area control circuit 26.
h, Iv) and write address designation signal J (Jh, Jv)
Is a memory address control circuit that outputs

FIG. 14 is an explanatory diagram showing the operation of the image area limiting device 25. The memory address control circuit 30 calculates a read address from the first image memory 27 and a write address to the second image memory 28 according to the designated range of the display area. That is, as shown in FIG. 14, the pixel signal of the coordinates (h, v) of the display area of the first image memory 27 is changed to the second pixel signal.
The pixel signal of the coordinates (h ', v') of the image memory 28 is used. The display area can be moved, enlarged, or reduced according to the coordinate conversion method at this time. Affine transformation is a typical transformation method. In addition, it is conceivable that the number of pixels to be mapped in the second pixel memory 28 decreases and the display becomes rough when the enlargement of the display area is designated, but in this case, there are already many known methods for improving the image quality. Yes, you can apply this.

As described above, in the peripheral visual field display device according to the third embodiment, the image area limiting device 25 sets a part of the vehicle peripheral image as the display area and outputs the video signal corresponding to this display area. The area designating unit 23 can specify the display area in a desired range. Therefore, the image pickup means 21
The visual field direction can be changed without moving the camera, a mechanical moving mechanism for moving the image pickup means 21 is unnecessary, the amount of projection outside the vehicle can be reduced, and the direction of the visual field can be relatively easily changed with light weight. it can. Further, it is not necessary to prepare a special device for the image pickup means 21 and the image display means 22, and it can be used also as the input or output means of another control / information device. For example, it can be used as an input means of an alarm device using various images, and can also be used as a display means of a vehicle-mounted television device or a navigation device.
Further, since the image information obtained by the image pickup means 21 is temporarily stored in the form of digital data, it is possible to realize more understandable information transmission by processing the video and adding other information.

Example 4. Embodiment 4 of the present invention will be described below with reference to the drawings. FIG. 15 is a block diagram showing a peripheral visual field display device according to the fourth embodiment. In the figure, 31 is an image pickup means for photographing an image around the vehicle and outputs it as a video signal, 32 is an image display means for displaying a part of the vehicle peripheral image as a display area and enlarging and displaying a part of the video signal, 33 Is a display area designating means for designating a display area, and 34 is a display area control means for converting the portion of the designated display area input by the display area designating means 33 into an internal parameter of the image display means 32. In this embodiment, a part of the image obtained by the image pickup means 31 is set as a display area by the image display means 32, and this display area can be moved, enlarged or reduced within the range of the photographing area around the vehicle.

The operation of the peripheral visual field display device in this embodiment will be described below. FIG. 16 shows the image display means 32.
It is an explanatory view showing the configuration of in detail. In the figure, 35 is a luminance signal generation circuit, 36 is a luminance amplification circuit, 37 is a horizontal synchronization circuit, 38 is a horizontal sweep signal generation circuit, 39 is a vertical synchronization circuit, 40 is a vertical sweep signal generation circuit, and 41 is a sweep signal control circuit. 42 is an electron gun, 43 is a horizontal deflection element, 44 is a vertical deflection element, and 45 is an image display surface such as a CRT. The image display surface 45 in this embodiment is, for example, 8 to 10c.
I use m square ones.

Brightness signal generation circuit 35 and brightness amplification circuit 36
The intensity of the electron beam of the electron gun 42 is adjusted with. The driver inputs the display area with the display area instruction means 33. This display area is converted into an internal parameter of the image display means 32 by the display area control means 34 and input to the sweep signal control circuit 41 of the image display means 32. FIG. 17 is an explanatory diagram showing the operation of the image display means 32. The sweep signal control circuit 41 calculates the horizontal scanning offset h0 and the horizontal scanning amplitude hg from the designated display area and inputs them to the horizontal sweep signal generating circuit 38, and calculates the vertical scanning offset v0 and the vertical scanning amplitude vg to perform the vertical sweep. Input to the signal generation circuit 40. The display area can be moved by the offset (h0, v0), and the display area can be enlarged or reduced by the amplitude (hg, vg).

In FIG. 17, D is a photographing area of the vehicle peripheral image obtained by the image pickup means 31, and E is a display area on the CRT. The horizontal scanning offset h0, the horizontal scanning amplitude hg, the vertical scanning offset v0, and the vertical scanning amplitude vg are set so that the CRT display area E matches the display surface.
In response to this, a horizontal sweep signal G and a vertical sweep signal H are generated to scan the electron beam scanning area with the electron beam. By scanning the video signal in a range larger than the image display surface in this manner, a part of the vehicle peripheral image obtained by the image pickup means 31 can be displayed on the image display surface 45 of the CRT as a display area. Note that the broken line in FIG. 17 shows the scanning signal of the electron beam when the entire obtained vehicle peripheral image is displayed on the image display surface 45 of the CRT.

As described above, in the peripheral visual field display device according to the fourth embodiment, the image display means 32 displays a part of the vehicle peripheral image on the display surface as a display area, so that the driver uses the display area instruction means 33 to display the display area. It can be specified in the desired range.
Therefore, the visual field direction can be changed without moving the image pickup means 31, a mechanical movement mechanism for moving the image pickup means 31 is unnecessary, the amount of projection outside the vehicle can be reduced, and the weight can be relatively easily changed. You can change direction. Further, it is not necessary to prepare a special device for the image pickup means 31, and it is possible to use it as an input for another control / information device. For example, it can be used as an input means of an alarm device using various images. Further, since the image display means 32 can be realized by only modifying a part of the existing video device, it can be used also as another information device depending on the situation.

Further, in the first to fourth embodiments, if the image pickup means itself is mechanically movable, an image of the vehicle periphery in a wider range can be obtained.

Example 5. In the above embodiment, the display area instructing means is the input means for the driver to instruct the display area to the image display area. However, another embodiment of the display area instructing means is shown in the fifth embodiment. FIG. 18 is an explanatory diagram showing the configuration of the display area designating unit according to the fifth embodiment. In the figure, 51 is an engine of the own vehicle, 52 is a transmission, and 53 is a traveling speed detecting means for detecting the traveling speed of the own vehicle, for example, a vehicle speed sensor.
In this embodiment, similarly to the above embodiment, the driver can also use the driver display area instruction means 3 to indicate the display area.

The operation of the display area designating means in this embodiment will be described below. The vehicle speed sensor 53 detects the traveling speed of the host vehicle and inputs it to the microcomputer 4, which is a display area control means. This vehicle speed is 80 km /
The display area is changed between a low speed of h or less and a high speed of 80 km / h or more. For example, a display area for displaying a rear view will be described with reference to FIG. θ is a view angle, ψ is a view center angle, an angle formed by the center line of the vehicle and the view center line, m is a photographing region, and n is a display region. The display area at low speed is shown in FIG. 19A, the viewing angle θL and the viewing center angle ψL, and the display area at high speed is shown in FIG. 19B, the viewing angle θH and the viewing center angle ψH. As shown in the figure, ψL>
ψH, θL> θH, and an image for one adjacent lane is displayed at a high speed, and an image for two or three lanes is displayed at a low speed. In addition, FIG. 20 is an explanatory diagram showing a display area in the case of displaying a front field of view. 20A is a diagram at low speed, and FIG. 20B is a diagram at high speed. As shown in the figure, in the case of low speed, the periphery of the vehicle in a wide range is reduced and displayed on the image display means, and in the case of high speed, the distant portion is enlarged and displayed.

As described above, in this embodiment, the traveling speed detecting means for detecting the traveling speed of the own vehicle is provided, and the display area is instructed according to the traveling speed detected by the traveling speed detecting means. By making the display area variable depending on the speed, it is possible to assist the driver's vision, and it is easy to drive and safety is improved. Note that how to change the display area according to the traveling speed of the host vehicle is not limited to this embodiment. It may be set in consideration of driving safety and driving ease. Further, the speed of the host vehicle is measured by the vehicle speed sensor 53 provided in the transmission 52, but the present invention is not limited to this, and the vehicle speed may be measured by another method.

Example 6. Furthermore, another embodiment of the display area designating means is shown in a sixth embodiment. FIG. 21 is a block diagram showing the arrangement of the display area designating means according to the sixth embodiment. In the figure, reference numeral 54 is a peripheral approaching vehicle detection means, for example, a peripheral approaching vehicle detection device. The peripheral approaching vehicle detection device 54 is a laser radar, which irradiates the periphery with pulsed laser light at a predetermined time interval and reflects the laser light in the irradiation direction, for example, reflected light of a peripheral vehicle if present. To receive.
By measuring the reflection time from irradiation to light reception,
The distance r0 to the reflecting object can be detected. Further, the azimuth angle φ0 can be measured by the direction of the reflected light. This inter-vehicle distance r
0 and the azimuth angle φ0 are input to the display area control unit 4, the horizontal range h1 to h2 and the vertical range v1 to v2 of the display area are set,
An image is output to a device that enlarges, reduces, or moves according to the display area of the first to fourth embodiments.

FIG. 22 is an explanatory diagram for explaining the relationship between the approaching vehicle 55 and the display area. For example, the surrounding approaching vehicle detection device 54 is installed after the own vehicle, and the rear image is obtained by the imaging device 1 for obtaining the peripheral image. Detected approaching vehicles 55
The view center angle ψ and the view angle θ of the display area are determined according to the vehicle-to-vehicle distance r0 and the azimuth angle φ0. This indicates, for example, that the peripheral approaching vehicle 55 is at the center of the image display surface, and indicates the display area such that the size is constant. FIG. 23A shows the relationship between the display area viewing angle θ and the inter-vehicle distance r0 so that the peripheral approaching vehicle 55 has substantially the same size during visual inspection. Further, FIG. 23B shows the relationship between the display area visual field central angle ψ and the azimuth angle φ0 for centering the approaching vehicle 55 on the image display surface of the display area. FIG. 24 is an explanatory diagram showing the display areas of this embodiment in the order of operation. FIG. 24A shows a state before recognizing the approaching vehicle 55 in the area m of the captured image. n is a display area. FIG. 24B shows a state where the approaching vehicle 55 is recognized by the approaching vehicle detection device 54 and the inter-vehicle distance r0 is large. The display area visual field central angle ψ is set from the azimuth angle φ0 of the peripheral approaching vehicle 55 so that the peripheral approaching vehicle 55 is at the center of the display area n, and the display area n is moved. Further, when the peripheral approaching vehicle 55 approaches, the display area n is moved and enlarged so that it has the same size and is located at the center of the display area n. This state is shown in FIG.
Is.

As described above, in this embodiment, there is provided the approaching vehicle detection means for measuring the inter-vehicle distance and the azimuth angle between the own vehicle and the surrounding vehicle, and the display area instruction means is the inter-vehicle distance detected by the approaching vehicle detection means. Depending on the distance and the azimuth angle, the vehicle approaching the periphery instructs the display area so that it is located at the center, for example, of the image display surface, which helps the driver's vision and facilitates driving and improves safety. The approaching vehicle detection device 54
May be an image sensor that inputs a peripheral image of the vehicle and performs image processing to measure the inter-vehicle distance r0 and the azimuth angle φ0. Furthermore, the imaging means 1 and 2 described in Examples 1 to 4
Alternatively, the peripheral images may be input for both 1 and 31, and the inter-vehicle distance r0 and the azimuth angle φ0 may be measured by image processing. In addition, the inter-vehicle distance r0 is also input to the image display means to calculate the inter-vehicle distance as shown in FIG.
If it is displayed on the image display surface as shown in (a), there is an effect that it can be used as a reference for further driving. In addition, FIG.
As shown in (b), the same effect can be obtained by color-coding the zones according to the inter-vehicle distance. Also, not only the vehicle,
An object that may pose a risk, such as an obstacle on the road, may be captured and displayed.

Example 7. Furthermore, another embodiment of the display area designating means is shown in a seventh embodiment. FIG. 26 is a block diagram showing the configuration of the display area designating unit according to the seventh embodiment. In the figure, reference numeral 56 is a detector for detecting the driving operation situation of the vehicle driver, and reference numeral 57 is a driver's intention estimating means for estimating the driver's intention in response to a detection signal output from the detector 56.
27 is an explanatory diagram showing the detector 56 in more detail. In the figure, 61 is a rudder angle sensor for detecting the amount of operation of a steering wheel operated by a driver, and 62 is a turn signal lever.
A blinker switch that detects the operating direction of the
SW), 63 is an accelerator opening sensor for detecting the operation amount of the accelerator pedal, 64 is a brake amount sensor for detecting the operation amount of the brake pedal, and 65 is a clutch for detecting whether or not the clutch pedal is depressed. Switch (Clutch S
W), 66 is a gear position sensor of the transmission, 67 is a wheel 68
Is a vehicle speed sensor that detects the number of rotations of the vehicle and detects the speed of the vehicle. Each state quantity of the sensors 61 to 68 is input to the driver's intention estimation means 57, and the driver's intention is estimated from each operation situation. This is configured by, for example, a fuzzy inference processor or a microprocessor realizing an equivalent function.

FIG. 28 is a flow chart showing the processing operation of the driver's intention estimating means 57. In ST20, the state quantities of the various sensors 61 to 68 are read. In ST21, a driving intention probability, for example, a straight-running probability, a right-turning probability, a left-turning probability, and a course change probability are calculated from this state quantity by fuzzy inference. S
At T22, the calculated driving intention probability is displayed area control means 4
And output.

FIG. 29 is a flow chart showing the processing operation of the display area control means 4. In ST23, the driving intention probability is input, and in ST24, the visual field center angle ψ corresponding to the intention is calculated. In ST25, the viewing angle θ corresponding to the will is calculated. For example, in order to obtain a rear visual field, the visual field central angle ψ and the visual field angle θ at the time of detecting the intention to turn left are shown in FIG. The display area n, which is a part of the shooting area m, is set to be enlarged in order to prevent the left rear object from being caught. In step ST26, h1, h2, v1 and v2 indicating the upper and lower limit positions of the display area n are calculated from the view center angle ψ and the view angle θ. Further, in ST27, the horizontal range h1 to h2 and the vertical range v of the display area
1 to v2 are output to a device for enlarging, reducing, or moving an image according to the display areas of the first to fourth embodiments.

Further, in the case where the willingness to go straight is detected from the probability of willingness to drive, the view field central angle ψ calculated in ST24 and ST25
And the viewing angle θ are shown in FIG. In the case of going straight, it is only necessary to obtain a field of view almost behind the vehicle, so the field center angle ψ = 0 and the field angle θ is set small.

As described above, in this embodiment, the detector for detecting the driving operation status of the vehicle driver and the driver's intention for estimating the driver's operation intention based on the detection signal output from the detector. Estimating means is provided, and the display area is instructed based on the driver's intention to operate estimated by the driver's intention estimating means. The driver's vision can be assisted, and the driver can easily drive and improve safety.

Example 8. In the seventh embodiment, the driver's intention to operate is estimated from the driving operation situation of the vehicle detected by the detector, but in this embodiment, the driver's head position or face direction is detected to drive the vehicle. The method for estimating the visual field direction desired by the person is shown. FIG. 31 is a block diagram showing the arrangement of the display area designating means according to the eighth embodiment. In the figure, reference numeral 58 is a driver detecting means for detecting the head position or face direction of the vehicle driver, and 59 is a driver for estimating a driver's visual field request in response to a detection signal output from the driver detecting means 58. It is a visual field request estimation means. 32 is an explanatory diagram showing the driver detection means 58 in more detail. In the figure, reference numeral 70 denotes an image input device such as a CCD camera, which is arranged at a position directly facing the driver, for example, in the dashboard of the vehicle or inside the instrument panel, and is set so that the face area of the driver is mainly the image area. To be done. Reference numeral 71 denotes an image processing device, 72 denotes a line-of-sight direction detecting means, and the image processing device 7
1 and the line-of-sight direction detecting means 72 are configured by using a digital signal processing circuit such as a microcomputer.

FIG. 33 is a flow chart showing the processing operations of the driver detecting means 58 and the driver visual field request estimating means 59. The image processing device 71 and the line-of-sight direction detecting means 72 read the captured driver image (ST30), ST3.
In 1, the image is subjected to image processing, and then the driver's head position and line-of-sight direction are calculated. In the driver visual field request estimation means 59, ST
In 32, the driver's gaze gazing time to the display device is determined,
If the gaze time is longer than, for example, 1 sec, it is estimated that the driver wants to obtain a visual field, and a request to enlarge the display area is output (ST33). If the gaze time is short, a reduction request for displaying the entire imaging area is output (ST34). In ST35, the head position of the driver is determined. The visual field central angle ψ of the display area is changed according to the movement of the head position from the normal position. Hereinafter, for example, the imaging device 1 is installed on the right outer side of the vehicle facing rearward, and
The operation when the display device 2 is installed on the front right side of the driver and the peripheral visual field on the right rear is displayed is shown. If the head position is the normal position, the process ends. If it is to the right from the normal position, in ST36, the visual field central angle ψ is changed so that the display area is inside the vehicle body. Further, in the case of being left from the normal position, in ST37, the visual field center angle ψ is changed so that the display area is outside the vehicle body. In this way, the visual field center angle ψ of the display area is changed according to the driver's head position.

FIG. 34 is an explanatory diagram showing the relationship between the head position and the visual field central angle ψ. This is a view of the driver's seat of the vehicle as seen from above. In the case of the regular position, the field center angle ψ1 is left and the process ends. If it is to the right from the normal position, in ST36 the view center angle ψ is changed to ψ2 so that the display area is inside the vehicle body. If the position is to the left of the normal position, in ST37 the view center angle ψ is changed to ψ3 so that the display area is outside the vehicle body. In this way, the visual field center angle ψ of the display area is changed according to the driver's head position. The display area control means 4 calculates h1, h2, v1 and v2 indicating the upper and lower limit positions of the display area from the view center angle ψ, and implements the horizontal range h1 to h2 and the vertical range v1 to v2 of the display area. Examples 1 to 4
The image is output to a device that enlarges, reduces, or moves according to the display area of. In the example of FIG. 34, the image is output to the image display means 2, but the output is not limited to this.

As described above, in this embodiment, the driver's visual field request estimation for estimating the driver's visual field acquisition intention based on the driver detection means for detecting the head position or face direction of the vehicle driver and the detection signal is detected. Means for indicating the display area based on the driver's operation intention estimated by the driver's visual field request estimation means, and assisting the driver's vision,
It is easy to drive and improves safety.

The display area designating means in the fifth to eighth embodiments may not only have one means, but may have a plurality of display area designating means.
Moreover, the combination is also free.

[0050]

As described above, according to the first aspect of the invention, the image pickup means for photographing the periphery of the vehicle and converting it into a video signal,
An image display means for converting the video signal output by the image pickup means into an image and displaying the image, a display area control means for indicating a part of the photographing area obtained by the image pickup means as a display area, and a display area for the display area control means. The display area instructing means for instructing is displayed, and a part of the imaging area around the vehicle obtained by the imaging means is configured to be displayed on the image display means. There is an effect that a peripheral visual field display device can be obtained which can eliminate an accompanying control device and the like and can provide a peripheral visual field that accurately meets the driver's request.

According to the second aspect of the invention, the image pickup means in the first aspect of the invention outputs a part of the photographing area as a video signal according to the output of the display area control means. As a result, there is an effect that a peripheral visual field display device can be obtained that does not require a mechanical portion for varying the visual field area and a control device accompanying it, and that can provide a peripheral visual field that accurately meets the driver's request.

According to the third aspect of the present invention, the display area control means in the first aspect of the invention inputs the first video signal output by the image pickup means and receives one of the first video signals. By outputting the unit as the second video signal, in addition to the effect of the first embodiment, it is not necessary to prepare a special device for the image pickup unit and the image display unit, and other control / control
There is an effect that a peripheral visual field display device that can be used as an input or output means of an information device can be obtained.

According to the fourth aspect of the invention, the image display means according to the first aspect of the invention is input with the video signal output by the image pickup means, and the video signal is output according to the output of the display area control means. By enlarging and displaying a part of the above, in addition to the effect of the first embodiment, it is not necessary to prepare a special device for the image pickup means, and it can be used as an input for other control / information devices. There is an effect that a peripheral vision display device can be obtained.

According to the invention of claim 5, the display area designating means in any one of claims 2 to 4 is used as an input means for a driver to designate a display area. As a result, it is possible to obtain a peripheral visual field display device that can assist the vision according to the display area desired by the driver, facilitate driving, and improve safety.

According to the invention of claim 6, in any one of claims 2 to 4, there is provided a traveling speed detecting means for detecting the traveling speed of the own vehicle, and the traveling speed is detected. By indicating the display area in accordance with the traveling speed detected by the means, it is possible to obtain the peripheral visual field display device that can assist the driver's vision, facilitate driving, and improve safety.

Further, according to the invention of claim 7, in the invention of any one of claims 2 to 4, a surrounding approaching vehicle inspection for measuring an inter-vehicle distance and an azimuth angle between the own vehicle and a surrounding vehicle. A peripheral visual field display device that is provided with an exit means and that assists the driver's vision by instructing the display area according to the inter-vehicle distance and the azimuth detected by the approaching vehicle detection means, which facilitates driving and improves safety. There is an effect that can be obtained.

According to the eighth aspect of the invention, in any one of the second to fourth aspects of the invention, a detector for detecting the driving operation situation of the vehicle driver, and this detector By providing a driver's intention estimation means for estimating the driver's operation intention based on the output detection signal, and by instructing the display area based on the driver's operation intention estimated by the driver's intention estimation means , Can assist the driver's vision,
There is an effect that a peripheral vision display device that is easy to drive and has improved safety can be obtained.

According to the invention of claim 9, in any one of claims 2 to 4, the driver detecting means for detecting the head position or the face direction of the vehicle driver, And a driver visual field request estimating means for estimating a desired visual field of the driver based on the detection signal output from the driver detecting means, and based on the desired visual field information of the driver estimated by the driver visual field request estimating means. By instructing the display area, the driver's vision can be assisted, and there is an effect that a peripheral visual field display device can be obtained in which driving is facilitated and safety is improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing a peripheral visual field display device according to a first embodiment of the present invention.

FIG. 2 is an explanatory diagram illustrating an installation position of an image pickup unit according to the first embodiment.

FIG. 3 is an explanatory diagram showing a display area according to the first embodiment.

FIG. 4 is an explanatory diagram showing a display area instruction unit and a display area control unit according to the first embodiment.

FIG. 5 is an explanatory diagram showing a display area instruction unit and a display area control unit according to the first embodiment.

FIG. 6 is a flowchart showing the operation of the display area control means according to the first embodiment.

FIG. 7 is a block diagram showing a configuration of an image pickup unit according to the first embodiment.

FIG. 8 is an explanatory diagram showing an operation of the solid-state imaging device according to the first embodiment.

FIG. 9 is an explanatory diagram showing an operation of the solid-state imaging device according to the first embodiment.

FIG. 10 is an explanatory diagram showing a display area designating means and a display area controlling means according to a second embodiment of the present invention.

FIG. 11 is a flowchart showing the operation of the display area control means according to the second embodiment.

FIG. 12 is a block diagram showing a peripheral visual field display device according to Embodiment 3 of the present invention.

FIG. 13 is a block diagram showing a display area control unit according to the third embodiment.

FIG. 14 is an explanatory diagram illustrating a display area limiting process according to the third embodiment.

FIG. 15 is a block diagram showing a peripheral visual field display device according to Embodiment 4 of the present invention.

FIG. 16 is an explanatory diagram showing a configuration of image display means according to the fourth embodiment.

FIG. 17 is an explanatory diagram illustrating a display area limiting process according to the fourth embodiment.

FIG. 18 is an explanatory diagram showing a structure of a display area designating unit according to a fifth embodiment of the invention.

FIG. 19 is an explanatory diagram showing a rear visual field display area according to Example 5;

FIG. 20 is an explanatory diagram showing a display area of a front visual field according to the fifth embodiment.

FIG. 21 is a block diagram showing a configuration of a display area designating unit according to a sixth embodiment of the present invention.

FIG. 22 is an explanatory diagram showing a display area of a peripheral visual field according to the sixth embodiment.

FIG. 23 is an explanatory diagram showing a relationship between a vehicle approaching in the vicinity and a display area according to the sixth embodiment.

FIG. 24 is an explanatory diagram showing an example of a display image of a nearby approaching vehicle according to the sixth embodiment.

FIG. 25 is an explanatory diagram showing another example of the display image of the approaching vehicle in the vicinity according to the sixth embodiment.

FIG. 26 is a block diagram showing a configuration of a display area designating unit according to a seventh embodiment of the present invention.

FIG. 27 is an explanatory diagram showing an example of a driver's will estimation means according to the seventh embodiment.

FIG. 28 is a flowchart showing the operation of the driver's intention estimation means according to the seventh embodiment.

FIG. 29 is a flowchart showing the operation of the display area control means according to the seventh embodiment.

FIG. 30 is an explanatory diagram showing the relationship between the driver's will and the display area according to the seventh embodiment.

FIG. 31 is a block diagram showing the structure of a display area designating unit according to an eighth embodiment of the present invention.

FIG. 32 is an explanatory diagram showing driver detection means according to the eighth embodiment.

FIG. 33 is a flowchart showing the operations of the driver detection means and the driver visual field request estimation means according to the eighth embodiment.

FIG. 34 is an explanatory diagram showing the relationship between the driver's head position and the display area according to the eighth embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Imaging means 2 Image display means 3 Display area instruction means 4 Display area control means 5 Vehicle

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[Procedure amendment]

[Submission date] August 17, 1993

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0036

[Correction method] Change

[Correction content]

As described above, in this embodiment, the traveling speed detecting means for detecting the traveling speed of the own vehicle is provided, and the display area is instructed according to the traveling speed detected by the traveling speed detecting means. By making the display area variable depending on the speed, it is possible to assist the driver's vision, and it is easy to drive and safety is improved. Note that how to change the display area according to the traveling speed of the host vehicle is not limited to this embodiment. It may be set in consideration of driving safety and driving ease. Further, although the speed of the host vehicle is measured by the vehicle speed sensor 53 provided in the transmission 52, the present invention is not limited to this , and the vehicle speed may be measured by another method.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Name of item to be corrected] 0037

[Correction method] Change

[Correction content]

Example 6. Furthermore, another embodiment of the display area designating means is shown in a sixth embodiment. FIG. 21 is a block diagram showing the arrangement of the display area designating means according to the sixth embodiment. In the figure, reference numeral 54 is a peripheral approaching vehicle detection means, for example, a peripheral approaching vehicle detection device. The peripheral approaching vehicle inspection detection device 54 is, for example
For example, it is a laser radar, which irradiates the periphery with pulsed laser light at a predetermined time interval and reflects this laser light in the irradiation direction, for example, the reflected light is received if there is a surrounding vehicle. The distance r0 to the reflecting object can be detected by measuring the reflection time from irradiation to light reception. Further, the azimuth angle φ0 can be measured by the direction of the reflected light. The inter-vehicle distance r0 and the azimuth angle φ0 are input to the display area control unit 4 to set the horizontal ranges h1 to h2 and the vertical ranges v1 to v2 of the display area according to the display areas of the first to fourth embodiments. Output the image to a device that enlarges, reduces, or moves the image.

[Procedure 3]

[Document name to be corrected] Drawing

[Name of item to be corrected] Fig. 13

[Correction method] Change

[Correction content]

[Fig. 13]

[Procedure amendment 4]

[Document name to be corrected] Drawing

[Name of item to be corrected] Fig. 19

[Correction method] Change

[Correction content]

FIG. 19

[Procedure Amendment 5]

[Document name to be corrected] Drawing

[Name of item to be corrected] Fig. 21

[Correction method] Change

[Correction content]

FIG. 21

Claims (9)

[Claims] 1. An image pickup means for photographing the periphery of a vehicle and converting it into a video signal, an image display means for converting a video signal output by the image pickup means into an image and displaying the image, and a part of a photographing region obtained by the image pickup means. Is provided as a display area, and display area instructing means for instructing the display area to the display area control means, and a part of the photographing area around the vehicle obtained by the imaging means is displayed as the image. A peripheral visual field display device configured to display on a means. 2. The peripheral visual field display device according to claim 1, wherein the image pickup means outputs a part of the photographing area as a video signal according to the output of the display area control means. 3. The display area control means according to the first aspect of the invention receives the first video signal output by the imaging means and outputs a part of the first video signal as a second video signal. A peripheral visual field display device characterized by being present. 4. The image display means in the first aspect of the invention receives the video signal output by the imaging means,
A peripheral visual field display device, wherein a part of a video signal is enlarged and displayed according to the output of the display area control means. 5. A peripheral visual field display device according to claim 2, wherein the display area designating means is an input means for a driver to designate a display area. 6. The invention according to any one of claims 2 to 4, further comprising traveling speed detecting means for detecting a traveling speed of the own vehicle, wherein the traveling speed is detected by the traveling speed detecting means. A peripheral visual field display device characterized by indicating a display area. 7. The vehicle according to any one of claims 2 to 4, further comprising a peripheral approaching vehicle detecting means for measuring an inter-vehicle distance and an azimuth angle between the own vehicle and a peripheral vehicle, and the peripheral approaching vehicle detecting means. A peripheral visual field display device characterized by indicating a display area in accordance with an inter-vehicle distance and an azimuth angle detected in. 8. The invention according to any one of claims 2 to 4, wherein the driving is performed based on a detector that detects a driving operation situation of a vehicle driver and a detection signal output from the detector. A peripheral visual field display device, comprising: a driver's will estimation means for estimating a driver's intention to operate, and indicating a display area based on the driver's intention to operate estimated by the driver's intention estimation means. 9. The invention according to any one of claims 2 to 4, wherein driver detection means for detecting the head position or face direction of the vehicle driver, and detection output from the driver detection means. A driver's visual field request estimating means for estimating a desired visual field of the driver based on a signal is provided, and a display area is instructed based on the desired visual field information of the driver estimated by the driver's visual field request estimating means. A peripheral visual field display device characterized by the above.