JPH11264868A - Display device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a display device for vehicle that is easy to make an actual vehicle correspond to a vehicle mark being displayed and can display conditions around its own vehicle in a form that can be easily grasped, in the display device of a vehicle for displaying the conditions around the vehicle using the vehicle mark and the like. SOLUTION: The display device for a vehicle is provided with an image-processing means 101 for recognizing a vehicle line position and another vehicle according to an image that is picked up by shooting conditions around an own vehicle, a vehicle position detection means 102 for detecting the position of another vehicle that exists at both surroundings of the own vehicle detecting the reflection waves of electromagnetic waves that are emitted toward a region to be prospected, a display-processing means 104 for generating image data for displaying a vehicle mark that is arranged at the vehicle position being detected by the vehicle position detection means 102 by overlapping to an image for indicating the vehicle line that is recognized by the image-processing means 101. Also, the display-processing means 104 is provided with a means for correcting the position of the vehicle mark to be displayed in the above according to a judgment result by judging whether another vehicle being recognized by the image-processing means 101 cross a white line for prescribing the vehicle line that is recognized in the above, or not.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a display device for a vehicle, which displays a situation around a host vehicle so that the driver can easily recognize the situation.

[0002]

2. Description of the Related Art A technique for displaying a situation in front of a host vehicle using a camera is disclosed in Japanese Patent Laid-Open No. 7-81454. In this conventional technique, a vehicle image is processed to recognize a vehicle in the traveling lane of the own vehicle, and a frame is displayed on the vehicle in the image. However, this conventional technique cannot display the positional relationship of the vehicle around the own vehicle. In addition, the processing time for vehicle recognition is long.

Japanese Patent Application Laid-Open No. Hei 9-142236 discloses a technique for recognizing which lane a vehicle is traveling using a radar and a camera in order to reduce processing time. According to this conventional technique, the position of an object such as a vehicle detected by a radar is compared with the position of a lane detected by a camera, and it is possible to recognize in which traveling lane the object detected by the radar is located.

[0004]

However, in the above-mentioned prior art, it is not possible to recognize the specific position of the position detected by the radar on the surface of the detection target. For this reason,
When detecting a front vehicle traveling on a curve, assuming that the part detected by the radar is, for example, the rear center of the front vehicle and displaying a vehicle mark, even though the actual vehicle is traveling in the traveling lane, The actual situation that the displayed vehicle mark crosses the white line that defines the traveling lane, and the actual situation may not match the displayed situation. For this reason, there is a problem that it is difficult for the user to see which vehicle is actually being displayed even when looking at the displayed vehicle mark.

An object of the present invention is to provide a display device for a vehicle which displays the situation around the host vehicle using a vehicle mark or the like.
It is an object of the present invention to provide a display device for a vehicle that can easily correspond to an actual vehicle and a displayed vehicle mark and that can display a situation around the own vehicle in an easily understandable manner.

[0006]

In order to achieve the above object, the present invention provides an image pickup means for taking an image of a situation around a host vehicle,
Image processing means for at least recognizing a traveling lane and another vehicle from an image taken by the imaging means; and radiating electromagnetic waves toward an area to be searched for and detecting reflected waves of the electromagnetic waves to be present around the vehicle. Vehicle position detecting means for detecting the position of another vehicle, and image data for displaying a vehicle mark on the vehicle position detected by the vehicle position detecting means so as to be superimposed on an image indicating a driving lane recognized by the image processing means And display means for displaying the generated image data, wherein the display processing means determines that another vehicle recognized by the image processing means expands in the width direction of the traveling lane. There is provided a correction means for determining whether or not the vehicle crosses a prescribed lane display line and correcting the position at which the vehicle mark is displayed according to the determination result.

[0007] For example, when the other vehicle recognized by the image processing means does not cross the lane display line, the correcting means displays the vehicle mark at the vehicle position detected by the vehicle position detecting means. When the vehicle mark crosses the lane display line, the vehicle position is corrected so that the displayed vehicle mark falls within the travel lane, and the corrected vehicle position is used as a display position of the vehicle mark, When the vehicle does not cross the lane display line, no correction is performed.

The correcting means may display the vehicle mark at the vehicle position detected by the vehicle position detecting means when another vehicle recognized by the image processing means crosses the lane display line. When the vehicle mark does not cross the lane display line, the vehicle position is corrected so that the displayed vehicle mark crosses the lane display line, and the corrected vehicle position is used as the display position of the vehicle mark. When the vehicle crosses the lane display line, no correction is performed.

The display processing means stores a history of vehicle-related information including at least a vehicle position of the other vehicle detected by the vehicle position detection means, and stores the history of the other vehicle by the vehicle position detection means. When the vehicle position has been detected but not detected, and when the image processing means is recognizing the other vehicle, the other vehicle using the history of the vehicle-related information is used. It is preferable to further comprise a vehicle position setting means for estimating the vehicle position of the vehicle and displaying the vehicle mark at the estimated vehicle position.

Further, in the vehicle display device according to the present invention, there is further provided a host vehicle speed detecting means for detecting a speed of the host vehicle, and the display processing means is provided for the other vehicle detected by the vehicle position detecting means. When the absolute value of the difference between the absolute value of the relative speed based on the detection result and the own vehicle speed based on the detection result of the own vehicle speed detection unit is equal to or less than a predetermined value, the detected other vehicle is regarded as a stopped vehicle, The vehicle may further include a stopped vehicle determining unit that determines that the vehicle is a moving vehicle when the value is larger than the predetermined value, and a vehicle mark setting unit that changes the vehicle mark to be displayed according to the determination result.

In this case, the vehicle mark setting means may set, to the traveling lane outside the traveling lane recognized by the image processing means and the traveling lane among the stopped vehicles determined by the stationary vehicle determining means. Display only nearby stopped vehicles.

In the vehicle display device according to the present invention, the image processing means may recognize a size, a color, a type of the vehicle, and the like, and may change a vehicle mark to be displayed according to the recognition result. Good.

In the vehicle display device according to the present invention, the lane may be displayed according to the shape of the lane recognized by the image processing means, or a previously prepared lane may be displayed when the lane cannot be recognized. Good.

In the vehicle display device according to the present invention, the vehicle mark may be set obliquely according to the inclination of the lane to be displayed.

In the vehicle display device according to the present invention, the moving direction of the vehicle is determined from a change in the detection result of the vehicle position detecting means. The mark may be set obliquely and displayed, or an arrow indicating the moving direction of the vehicle may be displayed.

Further, the display device for a vehicle according to the present invention may further comprise display viewpoint setting means for setting an arbitrary display viewpoint, and display the lane and the vehicle mark at the display viewpoint set by the display viewpoint setting means. Good.

In the vehicle display device according to the present invention, the image processing means recognizes a lane in which the own vehicle is located,
A configuration may be adopted in which a vehicle mark is displayed on the lane where the host vehicle is located.

When displaying the vehicle mark of the own vehicle, the moving direction of the own vehicle is determined from the change in the lane position, and the vehicle mark is displayed when the own vehicle crosses the lane and according to the moving direction of the own vehicle. Set diagonally.

In the vehicle display device according to the present invention, an arrow is displayed in accordance with the detected moving direction of the other vehicle, and the size of the arrow is displayed at a relative speed based on the detection result of the vehicle position detecting means. The display may be changed. For example, an arrow may be displayed only when the moving direction of the vehicle is toward the own lane.

[0020]

Embodiments of the present invention will be described below in detail.

FIG. 1 shows an example of a functional configuration of a vehicle display device according to the present invention. The device according to the invention comprises an imaging means 100,
It comprises image processing means 101, vehicle position detecting means 102, own vehicle speed detecting means 103, display viewpoint setting means 106, display processing means 104, and display means 105.

The image processing means 101 recognizes between the white lines drawn on the road as traveling lanes from a photographed image obtained by photographing, for example, the situation in front of the own vehicle obtained by the imaging means 100, and recognizes the recognized traveling lanes. And the like are detected. In the present embodiment, a case will be described in which a white line is used as a lane display line drawn on the road surface in order to define the area of the traveling lane, but the form of the lane display line is not limited to this. Instead, any other form may be used as long as the form is known in advance and can be recognized by image processing.

The vehicle position detecting means 102 radiates an electromagnetic wave to an area to be searched, detects an electromagnetic wave reflected from an object to be detected, detects a preceding vehicle, and detects a distance between the host vehicle and the preceding vehicle. And information such as the direction to the preceding vehicle and the relative speed viewed from the own vehicle.

The host vehicle speed detecting means 103 detects the host vehicle speed.

The display viewpoint setting means 106 sets a display viewpoint when displaying a situation around the own vehicle.

The display processing means 104 sets a vehicle mark indicating a lane and a vehicle, a display position of the vehicle mark, and the like.
By generating image data for displaying these and displaying them on the display means 105, the situation around the host vehicle is transmitted to the user.

As shown in FIG. 2, for example, a vehicle display device having the functional configuration shown in FIG. 1 includes a camera 3101 such as a CCD for photographing a situation in front of the vehicle, a radar 3102 using millimeter waves or laser, A vehicle speed sensor 3103 for detecting the vehicle speed of the vehicle based on the number of rotations of the wheels, a switch 3104 for setting a viewpoint height or the like for display when displaying a situation in front of the vehicle in a bird's-eye view; A processing unit 3105 for executing various processes, and an LC
D and the like. here,
The processing unit 3105 is realized by, for example, a computer including a CPU and a memory.

FIG. 3 shows a specific configuration example of the image processing means 101.

As shown in FIG. 3, for example, the image processing means 101 includes a lane recognizing section 201, a lane position detecting section 202, an own vehicle traveling lane recognizing section 207, a vehicle recognizing section 203, a preceding vehicle traveling lane recognizing section 204, and a size. And a color recognition unit 206.

As shown in FIG. 4, for example, a lane recognizing unit 201 captures an image 34 captured by a camera or the like (imaging means 100).
01 is a candidate for a white line by image processing (for example, 340
3) is extracted in pixel units, a line connecting the extracted points is recognized as a white line 3402, and a travel lane 3 is defined between the white lines.
Recognized as 404. The lane position detecting unit 202 converts a point (for example, 3403) extracted as a white line candidate by the lane recognizing unit 201 based on the mounting position or mounting angle of the camera 3101 which has been input in advance, and converts the point into a plane perpendicular to the road surface. The traveling lane position 3414 at the coordinates 3411 is detected. The plane rectangular coordinates 3411 are, for example, a coordinate center of the own vehicle, one axis as a traveling direction (vertical distance) of the own vehicle, and a direction crossing the other axis (lateral distance).
And

The host vehicle traveling lane recognition unit 207 recognizes the host vehicle traveling lane in which the host vehicle is traveling from the driving lanes recognized by the lane recognition unit 201. The vehicle recognition unit 203 extracts a vehicle region by image processing.

The front vehicle traveling lane recognizing section 204 determines the forward vehicle on which the preceding vehicle is traveling based on the lower right and lower left image positions of the vehicle area extracted by the vehicle recognizing section 203 and the image position of the traveling lane recognized by the lane recognizing section 201. Recognize the vehicle lane. Further, the front vehicle traveling lane recognizing unit 204 is provided with the vehicle recognizing unit 2.
If the lower right and lower left image positions of the vehicle region extracted in 03 are in the same driving lane, the vehicle is recognized as being in the driving lane, and if the vehicle is in different driving lanes, the vehicle crosses the white line. recognize. The front vehicle traveling lane recognition unit 204 outputs a traveling lane in which the preceding vehicle is traveling or a white line straddling the preceding vehicle based on the recognition result.

The size recognition unit 205 recognizes the size of the vehicle from the size of the vehicle area extracted by the vehicle recognition unit 203.

The color recognizing unit 206 recognizes, as a vehicle color, a color having the highest proportion in the vehicle area extracted by the vehicle recognizing unit 203.

It should be noted that 2020, 2040, 205 in FIG.
Reference numerals 0, 2060, and 2070 indicate information on the lane position, the traveling lane in front, the size, the color, and the traveling lane of the own vehicle, respectively.

FIG. 5 shows a specific configuration example of the display processing means 104. In this figure, the vehicle position (information) 10 among the information input to each part constituting the display processing means 104 is shown.
20a and the relative speed (information) 1020b are output from the vehicle position detecting means 102, and the display viewpoint (information) 1060
Is output from the display viewpoint setting means 106, and the other input information is output from each unit of the display processing means 104 shown in FIG.

As shown in FIG. 5, for example, the display processing means 104 of this embodiment includes a lane setting section 301, a moving direction determination section 302, a stopped vehicle determination section 303, a front vehicle mark setting section 304, and a position correction section in a lane. 305, position correction selection unit 3
06, display position setting unit 307, own vehicle mark setting unit 30
8, lane position correction unit 309, own vehicle mark display position setting unit 310, arrow setting unit 311, vehicle position setting unit 31
2 and a switching unit 313.

The own vehicle mark setting unit 308 sets the vehicle mark diagonally when it is determined based on the own vehicle traveling lane (information) 2070 that the own vehicle crosses the white line.
Alternatively, when it is determined from the change in the lane position (information) 2020 that the own vehicle is moving in the lateral direction, the vehicle mark may be set diagonally.

The vehicle mark display position setting section 310 sets the display position of the vehicle mark based on the relative positional relationship between the lane detected by the lane position detection section 202 and the vehicle.
6 and 7 show an embodiment in which the own vehicle is displayed. FIG. 6 shows a display example when the host vehicle traveling lane recognition unit 207 recognizes that the host vehicle is traveling in the left driving lane. A host vehicle mark 2501 representing the host vehicle is displayed in the left lane 2502. When the own vehicle traveling lane recognition unit 207 recognizes that the own vehicle is traveling in the right traveling lane, the own vehicle mark 2501 is displayed.
Is displayed in the right lane 2503. FIG. 7 is a display example when the own vehicle traveling lane recognizing unit 207 recognizes that the own vehicle crosses the white line. The own vehicle mark 2601 representing the own vehicle is set and displayed diagonally.

The lane setting section 301 includes a lane position detecting section 202.
In order to display the lane by setting the shape of the lane based on the lane position detected in the above, specifically, image data for displaying a white line corresponding to the lane by using a predetermined display model Generate. The lane setting unit 301 also uses the information on the display viewpoint set by the display viewpoint setting unit 106 as an input, and displays a bird's-eye view of the situation in front of the own vehicle. Can be set. For example, the viewpoint is raised to display a plan view from the information, or the viewpoint is lowered to perform three-dimensional display.

FIGS. 8 to 10 show an embodiment in which the lane set by the lane setting section 301 is displayed. FIG. 8 is a display example of a straight, one-lane road. Based on the lane position detected by the lane position detection unit 202, the lane setting unit 301 sets and displays a straight one-lane road. The own vehicle mark 601 is displayed based on the detected lane position. FIG. 9 is a display example of a two-lane road having a right curve ahead of the host vehicle. Based on the lane position detected by the lane position detection unit 202, the lane setting unit 301 sets and displays a two-lane road with a right curve.
The own vehicle mark 701 is displayed based on the detected lane position. FIG. 10 is a display example when the lane recognition unit 201 fails to recognize a lane. When the lane cannot be recognized, the road of three lanes is displayed by a straight line prepared in advance, and the own vehicle mark 801 is displayed on the center lane. Here, the three-lane road is displayed when the own vehicle is traveling in the right lane and the preceding vehicle is traveling in the left lane, or when the own vehicle is traveling in the left lane and the preceding vehicle is traveling in the right lane. This is to make it possible to handle both cases.

The vehicle position setting section 312 uses the vehicle position detected by the vehicle position detecting means 102 such as a radar as the origin of the own vehicle and sets one axis in the traveling direction (longitudinal direction) of the own vehicle and sets the other axis to the road. Is converted into a vehicle position represented by a distance in the vertical and horizontal directions on a plane orthogonal coordinate set in a direction (lateral direction) crossing. FIG. 11 shows a specific processing example here.
This will be described with reference to FIG.

First, at step 3201, it is determined whether or not a vehicle ahead is detected by the vehicle position detecting means 102. If a preceding vehicle has been detected, the process proceeds to step 3202; otherwise, the process proceeds to step 3204. Step 320
In step 2, information such as a vehicle position and a relative speed, which are represented by the current inter-vehicle distance and direction with respect to the preceding vehicle detected by the vehicle position detecting means 102, are stored as a history. Then step 320
In step S3, the vehicle position represented by the distance and direction from the vehicle output from the vehicle position detecting means 102 is converted into a vehicle position represented by a vertical distance and a lateral distance. To end.

In step 3204, the vehicle recognition unit 203
It is determined whether or not the preceding vehicle has been detected. If a preceding vehicle is detected, the process proceeds to step 3205, and if not, the process proceeds to step 3208. In step 3205, the current vehicle position is estimated from the information on the preceding vehicle stored as a history. For example, the inter-vehicle distance and direction of the preceding vehicle when displaying the vehicle mark one processing cycle ago,
The relative speed is D, A, Vr, and the processing cycle is T,
The inter-vehicle distance, direction, and relative speed at the time of estimation are D ′,
Assuming that A 'and Vr', the vehicle position can be estimated by the following equations (1) to (3).

D ′ = D + Vr · T (Equation 1) A ′ = A (Equation 2) Vr ′ = Vr (Equation 3) Next, step 3206 The information such as the distance and direction indicating the vehicle position estimated in step 3205, the relative speed, and the like is stored as a history. Next, the routine proceeds to step 3207, where the estimated vehicle position is converted into a vehicle position represented by a vertical distance and a horizontal distance, and the setting routine ends.

In step 3208, the vehicle position is cleared. Next, proceed to step 3209 to clear the history,
This setting routine ends.

Steps 3202 and 32 of this process
The reason why the information such as the vehicle position is stored as a history at 06 is as follows. For example, when a millimeter wave radar is used as the vehicle position detecting means 102, the vehicle position detecting means 102
Even if the preceding vehicle actually exists within the detection range, the vehicle may not be detected and may be temporarily lost. If the data at the time when the vehicle ahead is lost is used in this way, the vehicle mark that has been displayed so far disappears, which may confuse the user.
As a countermeasure for this, in the present embodiment, even if the vehicle ahead is missed by the radar, the imaging unit 100 and the image processing unit 101
If the vehicle in front is recognized, the vehicle mark is continuously displayed based on information on the vehicle in front such as the vehicle position at the time when the vehicle in front was detected by the radar.

The moving direction judging section 302 includes a vehicle position setting section 3
The moving direction of the preceding vehicle is determined from the change in the vehicle position set in step S12.

The arrow setting section 311 sets an arrow indicating the moving direction of the preceding vehicle. The arrow may be changed in size depending on the relative speed, or may be displayed only when the preceding vehicle is moving toward the own vehicle traveling lane.

When the absolute value of the difference between the relative speed detected by the vehicle position detecting means 102 and the own vehicle speed detected by the own vehicle speed detecting means 103 is equal to or smaller than a predetermined value, the stopped vehicle determining section 303 detects the vehicle position. The preceding vehicle detected by the means 102 is recognized as a stopped vehicle, and when larger than a predetermined value, it is recognized as a moving vehicle.

The front vehicle mark setting unit 304 sets a vehicle mark to be displayed according to the moving direction and size of the preceding vehicle, the color, the difference between the stopped vehicle and the moving vehicle.

An embodiment of a display when the preceding vehicle is moving obliquely with respect to the own vehicle will be described with reference to FIGS. FIG. 12 shows a situation in which the host vehicle 901 is traveling in the left traveling lane in a situation ahead of the own vehicle, and the preceding vehicle 902 is about to change lanes from the right traveling lane to the left traveling lane. FIG. 13 shows FIG.
It is a display example of the situation of No. 2. When the preceding vehicle 902 moves toward the left traveling lane, the vehicle position detected by the vehicle position detecting means 102 moves to the left. The change of the vehicle position is determined by the moving direction determining unit 303, and the vehicle mark is set and displayed diagonally as the front vehicle mark 1002 based on the moving direction of the preceding vehicle. Set and display based on.

An embodiment in which the size of the vehicle mark is set and displayed based on the size of the preceding vehicle will be described with reference to FIGS. 14 and 15. FIG. 14 shows a situation in front of the host vehicle, in which the host vehicle 1101 is traveling in the left lane, and a small vehicle 1102 and a large vehicle 1103 larger than the small vehicle 1102 are running in front of the host vehicle 1101. FIG. 15 is a display example of the situation of FIG. The size of the vehicle mark is set by the front vehicle mark setting unit 304 based on the size of the vehicle recognized by the size recognition unit 205, and the small vehicle 110 recognized as a small vehicle is set.
2 is a small vehicle mark 120 which sets a small vehicle mark.
Displayed as 2. The large vehicle 1103 recognized as a large vehicle has a large vehicle mark and is displayed as a large vehicle mark 1203.

An embodiment in which the color of the vehicle mark is set and displayed based on the color recognized by the color recognition unit 206 will be described with reference to FIGS. FIG. 16 shows a situation in which the host vehicle 1301 is traveling in the left lane in a situation ahead of the host vehicle, and a left lane vehicle 1302 and a right lane vehicle 1303 are traveling in front of the host vehicle 1301. FIG. 17 is a display example of the situation of FIG. The color of the vehicle mark is set by the vehicle mark setting unit 304 according to the color of the preceding vehicle recognized by the color recognition unit 206, and the color of the left lane vehicle mark 1402 is set and displayed according to the color of the left lane vehicle 1302. The color of the right lane vehicle mark 1403 is set and displayed in accordance with the color of the right lane vehicle 1303.

An embodiment in which a vehicle mark is set and displayed for a stopped vehicle or a moving vehicle will be described with reference to FIGS. FIG. 18 illustrates a situation in which the host vehicle 1501 is traveling in the left lane, the left lane vehicle 1502 is stopped, and the right lane vehicle 1503 is moving in a situation in front of the host vehicle. FIG. 19 is a display example of the situation of FIG. According to the difference between the stopped vehicle and the moving vehicle recognized by the stopped vehicle determination unit 303, the vehicle mark setting unit 30
In step 4, the outline of the vehicle mark is set and displayed. Note that the shape of the vehicle mark may be changed and displayed for a stopped vehicle or a moving vehicle. The left lane vehicle mark 1602 is a display set for a stopped vehicle, and the right lane vehicle mark 1603 is a display set for a moving vehicle.

Next, correction of the vehicle position set by the vehicle position setting unit 312, which is one of the features of the present invention, will be described.

In the display processing means 104 of this embodiment, the in-lane position correction unit 305 corrects the vehicle position set by the vehicle position setting unit 312 so that the displayed vehicle mark falls within the traveling lane, Position correction unit 309
Corrects the vehicle position so that the displayed vehicle mark crosses the white line. Further, the position correction selection unit 306 controls the switching unit 313 to select a position correction unit to be operated according to the vehicle position and the lane position, the size of the vehicle mark, and the traveling lane ahead.

FIG. 20 is a flowchart showing a processing procedure in the position correction selecting section 306.

In this processing procedure, first, step 50
In step 2, if the preceding vehicle crosses the white line according to the recognition result of the preceding vehicle traveling lane recognition unit 204, step 50 is executed.
Go to step 3; if not, go to step 504.

In step 503, the vehicle position setting unit 31
When a vehicle mark having the size set by the front vehicle mark setting unit 304 is placed at the vehicle position set in step 2, it is determined whether the displayed vehicle mark crosses a white line. If the vehicle crosses the white line, the vehicle position set at this time is selected in step 505, and this routine is terminated. If the vehicle does not cross the white line, the inter-lane position correction unit 309 is selected and the processing ends.

In step 504, the vehicle position setting section 31
The vehicle position set by the front vehicle mark setting unit 3
When the vehicle mark of the size set in 04 is arranged, it is determined whether or not the displayed vehicle mark crosses the white line. If the vehicle crosses the white line, the in-lane position correcting unit 3 is executed in step 507.
05 is selected, and this determination routine ends. If the vehicle does not cross the white line, the vehicle position set by the vehicle position setting unit 312 is selected, and this routine ends.

FIGS. 21 to 23 show the in-lane position correcting section 305.
Shows an embodiment in which the position is corrected and displayed. FIG.
Is the situation in front of the host vehicle. FIG. 22 is a display example in which the situation of FIG. 21 is displayed without position correction. FIG. 23 shows FIG.
Is a display example in which the position is corrected and displayed according to the present embodiment.

Now, it is assumed that the host vehicle 1701 is traveling in the right traveling lane, and the left lane vehicle 1702 running ahead is traveling in a curve in the left traveling lane. Normally, the vehicle position detecting means 104 detects a part closest to the vehicle position detecting means 104. Therefore, the detection position 1703 detected by the vehicle position detection means 104 in the situation of FIG.
702 is detected on the right rear side. However, the apparatus does not know which part of the left-lane vehicle 1702 the vehicle position detecting means 104 has detected. For this reason, the vehicle position 1703 detected by the vehicle position detection means 104 is
Assuming the rear center position of No. 2 and displaying the vehicle mark without correcting the position as in the related art, the display example is as shown in FIG. That is, although the actual left-lane vehicle 1702 is traveling in the traveling lane, the left-lane vehicle mark 1802 representing the vehicle crosses the white line 1804.

Therefore, in the present embodiment, the left lane vehicle mark 1902 is displayed in the traveling lane in which the left lane vehicle 1702 is traveling as shown in the display example of FIG. Thus, the vehicle position of the left lane vehicle 1702 set at this time is corrected.

FIGS. 24 to 26 show the inter-lane position correcting section 309.
Shows an embodiment in which the position is corrected and displayed. FIG.
Is the situation in front of the host vehicle. FIG. 25 is a display example in which the situation of FIG. 24 is displayed without position correction. FIG. 26 shows FIG.
3 is a display example in which the position is corrected and displayed.

Here, the host vehicle 2001 is traveling in the right lane, and the preceding vehicle 2002 is changing lanes from the center lane to the left lane. Although the detection position 2003 of the vehicle position detection means 104 detects the rear right side of the front vehicle 2002, the vehicle position detection means 104 does not know which position of the front vehicle 2002 has been detected. Vehicle position detecting means 10
If the vehicle mark is displayed without correcting the position based on the vehicle position detected in 4 as in the related art, the forward vehicle 2002 crosses the center lane and the left lane as shown in the display example of FIG. It is displayed as if you are traveling in the center lane.

In this embodiment, the position correction selection unit 306 controls the switching unit 314 so that the vehicle position set by the vehicle position setting unit 312 at this time is corrected by the inter-lane position correction unit 309. The lane position correction unit 309
The set vehicle position is corrected such that the white line 2004 (the white line 2204 in FIG. 26) that the front vehicle 2002 actually crosses is also crossed by the front vehicle mark 2202 displayed as in the display example of FIG.

FIGS. 36 and 37 show examples of processing in the in-lane position correcting section 305 and the inter-lane position correcting section 309.

In the processing performed by the in-lane position correction unit 305 in FIG. 36, first, in step 3601, it is calculated how much the actual distance from the length of the vehicle mark protruding from the lane is calculated. Next, proceeding to step 3602, the distance between the vehicle region extracted by the vehicle recognition unit 203 and the white line is calculated. Next, the process proceeds to step 3603, and step 360
A correction distance of the vehicle position is set from 1 and the calculation result of step 3602. Next, proceeding to step 3604, the vehicle position is corrected within the lane in which the vehicle is traveling based on the corrected distance in step 3603.

In the process of the inter-lane position correcting section 309 in FIG. 37, first, in step 3701, the actual distance between the vehicle mark and the white line is calculated. Next, the process proceeds to step 3702, where the vehicle recognition unit 203
Calculates the distance that the vehicle area extracted in Step 2 crosses the lane. Next, the process proceeds to step 3703, and a correction distance of the vehicle position is set based on the calculation results of steps 3701 and 3702. Next, proceed to step 3704,
Based on the correction distance of 03, the vehicle position is corrected so as to cross the lane.

In the present invention, the in-lane position correction unit 305 corrects the vehicle position so that the displayed vehicle mark falls within the traveling lane, and the inter-lane position correction unit 309 corrects the vehicle mark so as to cross the white line. The specific processing means is not particularly limited as long as the vehicle position can be corrected in the above manner. For example, the in-lane position correction unit 305
In the configuration, it is assumed that the target front vehicle is moving in the traveling lane, and the corrected vehicle position is estimated based on the history of the vehicle position and the moving direction stored for the front vehicle. Is also good. The lane position correction unit 3
In 09, it may be assumed that the preceding vehicle is located at a position crossing the white line, and the corrected vehicle position may be estimated based on the vehicle position history and the moving direction stored for the preceding vehicle.

An example of the processing procedure performed by the display position setting unit 307 is shown in the flowchart of FIG.

In step 401, the vehicle position setting section 31
The vehicle position set in step 2 or the vehicle position corrected by the inter-lane position correction unit 309 or the in-lane position correction unit 305 is superimposed on the lane position detected by the lane position detection unit 202, and the vehicle position is within the traveling lane. Is determined. When the vehicle position is within the traveling lane, the process proceeds to step 404, and when the vehicle position is not within the traveling lane, the process proceeds to step 402. In step 402, it is determined whether or not the preceding vehicle is a moving vehicle. If the vehicle is a moving vehicle, the process proceeds to step 404. If not, the process proceeds to step 405. In step 405, it is determined whether or not the vehicle position is close to the own vehicle traveling lane.
Then, the process proceeds to step 403. If it is determined that the vehicle is not near, the process proceeds to step 403, where the vehicle mark and the arrow indicating the moving direction are set to non-display, and the setting routine ends.

In step 404, the vehicle position setting section 31
The vehicle position set in step 2 or each of the correction units 305 and 309
Sets the display positions of the vehicle mark and the arrow based on the corrected vehicle position.

Referring to FIGS. 28 and 29, an embodiment will be described in which a preceding vehicle stopped outside the lane is displayed. FIG. 28 shows the situation in front of the host vehicle. FIG. 29 is a display example displaying the situation of FIG. Now, stop vehicle 230 outside lane
2, 2303 are out of the lane. Off-lane stopped vehicles 2302 and 23 stopped by stopped vehicle determination unit 303
At 03, the stopped vehicle, the lane in which the own vehicle is running, and the position of the stopped vehicle are determined, and only the stopped vehicle close to the own vehicle running lane is displayed. This is shown in FIG.

An embodiment in which a vehicle mark is set obliquely according to the inclination of the lane and displayed will be described with reference to FIGS. 30 and 31. FIG. 30 shows a situation in front of the host vehicle. FIG.
Is a display example in which the situation of FIG. 30 is displayed. Now, it is assumed that the preceding vehicle 2702 is traveling in the right lane. When displaying the front vehicle mark 2802 and the host vehicle mark 2801, the inclination of the vehicle mark is set according to the inclination of the center axis 2803 of the right lane, and displayed as shown in FIG. However, the center axis 2803 itself is not displayed.

The center axis 2803 is the front vehicle mark setting unit 3
04. When setting the central axis 2803, for example, as shown in FIG. 32, the vertical axis represents the magnitude of the inclination of the central axis 2803, and the horizontal axis represents the lateral distance of the preceding vehicle. It is set in advance so as to be variable according to the height. When the height of the display viewpoint is set, that is, when the relationship between the magnitude of the inclination of the central axis 2803 and the lateral distance of the preceding vehicle is represented by a straight line E, the vehicle position setting unit 3
When the lateral distance of the preceding vehicle set at 12 is W, the magnitude of the inclination of the central axis 2803 is M.

An embodiment in which the situation in front of the host vehicle is displayed at an arbitrary display viewpoint will be described with reference to FIGS. FIG.
3 is a situation in front of the own vehicle. 34 and 35 correspond to FIG.
This is a display example in which the situation No. 3 is displayed by changing the viewpoint height 2903 of the display viewpoint 2902. A three-dimensional model of the vehicle mark is prepared in advance, and the coordinates of the three-dimensional model and the lane position are converted into screen coordinates based on the viewpoint height 2903 of the display viewpoint 2902 set by the display viewpoint setting means 106. FIG. 34 shows a display example in which the viewpoint height is set to the driver's eye height and displayed. FIG. 35 shows a display example in which the viewpoint height is set to the point at infinity and displayed.

[0079]

According to the present invention, in a vehicle display device for displaying the situation around the own vehicle using a vehicle mark or the like, it is easy to correspond the actual vehicle to the displayed vehicle mark. It is possible to provide a display device for a vehicle that can display the surrounding situation in a form that is easy to grasp.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a vehicle display device according to the present invention.

FIG. 2 is a block diagram illustrating a hardware configuration example of a vehicle display device according to the present invention.

FIG. 3 is a block diagram illustrating a configuration example of a lane detecting unit.

FIG. 4 is an explanatory diagram showing an example of conversion processing in a lane position detection unit.

FIG. 5 is a block diagram illustrating a configuration example of a display processing unit.

FIG. 6 is an explanatory diagram of an embodiment in which a vehicle mark representing the own vehicle is displayed.

FIG. 7 is an explanatory diagram of an embodiment in which a vehicle mark representing the own vehicle is displayed.

FIG. 8 is an explanatory diagram of an embodiment displaying a straight lane.

FIG. 9 is an explanatory diagram of an embodiment displaying a curved lane.

FIG. 10 is an explanatory diagram of an embodiment in which lanes prepared in advance are displayed.

FIG. 11 is a flowchart illustrating an example of a processing procedure in a vehicle position setting unit.

FIG. 12 is an explanatory diagram of an embodiment in which a vehicle mark is set obliquely and displayed.

FIG. 13 is an explanatory diagram of an embodiment in which a vehicle mark is set obliquely and displayed.

FIG. 14 is an explanatory diagram of an embodiment in which the size of the vehicle mark is changed and displayed according to the recognized size of the vehicle.

FIG. 15 is an explanatory diagram of an embodiment in which the size of a vehicle mark is changed and displayed according to the size of a recognized vehicle.

FIG. 16 is an explanatory diagram of an embodiment in which the color of the vehicle mark is changed and displayed according to the recognized color of the vehicle.

FIG. 17 is an explanatory diagram of an embodiment in which the color of the vehicle mark is changed and displayed according to the recognized color of the vehicle.

FIG. 18 is an explanatory diagram of an embodiment in which a vehicle mark is changed and displayed according to a moving vehicle and a stopped vehicle.

FIG. 19 is an explanatory diagram of an embodiment in which a vehicle mark is changed and displayed according to a moving vehicle and a stopped vehicle.

FIG. 20 is a flowchart illustrating an example of a processing procedure of a position correction selection unit.

FIG. 21 is an explanatory diagram of an embodiment in which a vehicle mark is displayed with its position corrected in a lane.

FIG. 22 is an explanatory diagram of an embodiment in which a vehicle mark is displayed with its position corrected in a lane.

FIG. 23 is an explanatory diagram of an embodiment in which a vehicle mark is displayed with its position corrected in a lane.

FIG. 24 is an explanatory diagram of an embodiment in which a position is corrected and displayed so that a vehicle mark crosses a lane.

FIG. 25 is an explanatory diagram of an embodiment in which a position is corrected and displayed so that a vehicle mark crosses a lane.

FIG. 26 is an explanatory diagram of an embodiment in which a position is corrected and displayed so that a vehicle mark crosses a lane.

FIG. 27 is a flowchart illustrating an example of a processing procedure of a display position setting unit.

FIG. 28 is an explanatory diagram of an embodiment in which a stopped vehicle outside the lane is displayed.

FIG. 29 is an explanatory diagram of an embodiment displaying a stopped vehicle outside the lane.

FIG. 30 is an explanatory diagram of an embodiment in which a vehicle mark is displayed according to the inclination of a lane.

FIG. 31 is an explanatory diagram of an embodiment in which a vehicle mark is displayed according to the inclination of a lane.

FIG. 32 is an explanatory diagram of an embodiment in which a vehicle mark is displayed according to the inclination of a lane.

FIG. 33 is an explanatory diagram of an embodiment in which an image is displayed at an arbitrary display viewpoint.

FIG. 34 is an explanatory diagram of an embodiment displaying an image at an arbitrary display viewpoint.

FIG. 35 is an explanatory diagram of an embodiment in which an image is displayed at an arbitrary display viewpoint.

FIG. 36 is a flowchart showing a processing example in a lane position correcting unit;

FIG. 37 is a flowchart showing a processing example in the inter-lane position correction unit.

[Explanation of symbols]

101: image processing means, 102: vehicle position detecting means, 1
03: own vehicle speed detection means, 104: display means, 105 ...
Display 106: display viewpoint setting means 201: lane recognition means 202: lane position detection means 203: vehicle recognition means 204: front vehicle traveling lane recognition means 205
... size recognition means, 206 ... color recognition means, 207 ... own vehicle traveling lane recognition means, 301 ... lane setting means, 302 ...
Moving direction determining means, 303: stopped vehicle determining means, 304
···················································································································································. Display position setting means, 311 ... arrow setting means.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hiroto Morinami 7-1-1, Omikacho, Hitachi City, Ibaraki Prefecture Inside the Hitachi Research Laboratory, Hitachi, Ltd. (72) Inventor Toshimichi Minowa 7, Omikamachi, Hitachi City, Ibaraki Prefecture No. 1-1 Inside Hitachi, Ltd.Hitachi Research Laboratory (72) Inventor Mitsuru Nakamura 2520 Oji Takaba, Hitachinaka City, Ibaraki Prefecture Inside Hitachi Ltd. Automotive Equipment Division (72) Inventor Kozo Nakamura Omikacho, Hitachi City, Ibaraki Prefecture 7-1-1, Hitachi Research Laboratory, Hitachi Research Laboratory

Claims (6)

[Claims] 1. An image pickup means for taking an image of a situation around a host vehicle, an image processing means for at least recognizing a traveling lane and another vehicle from an image taken by the image pickup means, and radiating an electromagnetic wave toward an area to be searched. A vehicle position detecting means for detecting a position of another vehicle existing around the own vehicle by detecting a reflected wave of the electromagnetic wave; and a vehicle position superimposed on an image indicating a traveling lane recognized by the image processing means. A display processing unit that generates image data for displaying a vehicle mark at the vehicle position detected by the detection unit; and a display unit that displays the generated image data. It is determined whether another vehicle recognized by the means crosses a lane display line that defines the width of the traveling lane in the width direction, and the vehicle mark is displayed according to the determination result. Vehicle display device characterized by having a position correction means for correcting that. 2. The method according to claim 1, wherein the correcting means displays the vehicle mark at a vehicle position detected by the vehicle position detecting means when another vehicle recognized by the image processing means does not cross the lane display line. When the vehicle mark crosses the lane display line, the vehicle position is corrected so that the displayed vehicle mark falls within the travel lane, and the corrected vehicle position is used as a display position of the vehicle mark, The vehicle display device according to claim 1, wherein the correction is not performed when the vehicle does not cross the lane display line. 3. The vehicle according to claim 2, wherein the correction means displays the vehicle mark at the vehicle position detected by the vehicle position detection means when another vehicle recognized by the image processing means crosses the lane display line. When the mark does not cross the lane display line, the vehicle position is corrected so that the displayed vehicle mark crosses the lane display line, and the corrected vehicle position is set as the display position of the vehicle mark, The vehicle display device according to claim 1, wherein no correction is performed when the vehicle crosses the lane display line. 4. The display processing means stores a history of vehicle-related information including at least a vehicle position of another vehicle detected by the vehicle position detection means, and stores the history of the other vehicle by the vehicle position detection means. When the vehicle position has been detected but not detected, and when the image processing means is recognizing the other vehicle, the other vehicle using the history of the vehicle-related information is used. The vehicle display device according to claim 1, further comprising a vehicle position setting unit that estimates a vehicle position of the vehicle and displays the vehicle mark at the estimated vehicle position. 5. An own vehicle speed detecting means for detecting a speed of the own vehicle, wherein the display processing means includes an absolute value of a relative speed based on a detection result of another vehicle detected by the vehicle position detecting means. When the absolute value of the difference between the detected vehicle speed and the own vehicle speed based on the detection result of the own vehicle speed detecting means is equal to or less than a predetermined value, the detected other vehicle is regarded as a stopped vehicle. The vehicle display device according to claim 1, further comprising: a stopped vehicle determining unit that determines that the vehicle is a vehicle mark; and a vehicle mark setting unit that changes the vehicle mark to be displayed according to the determination result. 6. The vehicle mark setting means, of the stopped vehicles determined by the stopped vehicle determination means, is outside the travel lane recognized by the image processing means and is close to the travel lane in which the own vehicle is traveling. The vehicle display device according to claim 5, wherein only the stopped vehicle is displayed.