WO2003107273A1 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
- Publication number
- WO2003107273A1 WO2003107273A1 PCT/JP2003/006482 JP0306482W WO03107273A1 WO 2003107273 A1 WO2003107273 A1 WO 2003107273A1 JP 0306482 W JP0306482 W JP 0306482W WO 03107273 A1 WO03107273 A1 WO 03107273A1
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- WIPO (PCT)
- Prior art keywords
- image
- vehicle
- model
- dimensional projection
- road surface
- Prior art date
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 30
- 238000003384 imaging method Methods 0.000 claims description 21
- 238000013507 mapping Methods 0.000 claims description 11
- 230000000630 rising effect Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 20
- 230000015654 memory Effects 0.000 description 10
- 230000015572 biosynthetic process Effects 0.000 description 8
- 238000003786 synthesis reaction Methods 0.000 description 8
- 230000002194 synthesizing effect Effects 0.000 description 7
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 239000012141 concentrate Substances 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
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- G06T3/047—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
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- G06T5/80—
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/823—Obstacle sensing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/824—Travel path sensing; Track monitoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60G2401/14—Photo or light sensitive means, e.g. Infrared
- B60G2401/142—Visual Display Camera, e.g. LCD
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
Definitions
- the present invention relates to a driving support device that displays a rear image of a vehicle captured by a vehicle-mounted camera on a vehicle-mounted monitor and assists driving when the vehicle is moving backward.
- the present invention relates to a driving assistance device that is not provided. Background technology>
- Driving support devices that install an in-vehicle camera in a rear trunk portion of a vehicle or the like and present the captured image behind the vehicle obtained from the in-vehicle camera to a driver have begun to spread.
- Some of these driving assistance devices convert the live-action video of the on-board camera into a video as if it were taken from a virtually set viewpoint, synthesize the video, and display it on a monitor. Used for safety checks and parking assistance.
- a three-dimensional projection model used when synthesizing and converting images for example, as shown in FIG. 10, a three-dimensional projection model 1 composed of a cylindrical surface model 101 and a plane model 102 is used. 0 0 is used. Then, the real image taken by the ability camera 103 is converted into an image viewed from the virtual camera 104, synthesized, and displayed on the in-vehicle monitor as an image projected on the three-dimensional projection model 100.
- FIG. 11 is an explanatory diagram of an image obtained by projecting the captured image of the straight line 105 shown in FIG. 10 onto the three-dimensional projection model 100.
- the straight line image 105 a on the monitor screen 106 is bent at the model boundary 107 between the cylindrical surface model 101 and the plane model 102.
- the straight line 105 that is originally a straight line is bent.
- the reason why the image is converted as image 105 a is that display distortion is concentrated on the model boundary 107 of the two three-dimensional projection models 101 and 102, and this image 105 a The driver who sees it feels strange.
- the two 3D projection models are smoothed by a curved surface (third 3D projection model). If they are easily connected, the straight-line image 105a can be smoothly bent as shown in Fig. 12 to reduce the sense of discomfort. However, since the distortion concentrates on the projection plane 108 onto the third three-dimensional model, the sense of incongruity still remains.
- the three-dimensional projection model 200 is composed of a cylindrical surface model 101 for projecting a distant view image, and a spherical model 201 that smoothly continues to project a nearby image.
- the spherical model 201 as a model for projecting the captured image near the vehicle, the entire projected image on the spherical model 201 changes smoothly, and the uncomfortable feeling for the driver is considerably reduced.
- the captured image near the vehicle does not concentrate at a specific location and is distorted, but the entire image is distorted. is there.
- an image obtained by capturing a lattice pattern on the ground surface 202 with the ability camera 103 and projecting the captured image onto the spherical model 201 as shown in FIG. 14 is totally distorted.
- the straight lines that form the grid on the ground 202 are originally displayed as curves on the screen 106, and it is difficult to grasp the positional relationship between the vehicle and the surroundings. There's a problem.
- An object of the present invention is to provide a driving support device equipped with a three-dimensional projection model capable of monitoring and displaying a captured image near a vehicle as an image with little distortion while suppressing a sense of incongruity of a captured image farther from the vehicle.
- a driving support device that achieves the above object includes: an imaging unit that captures an image of a periphery of a vehicle on a road surface; and a vehicle that has a convex shape on the road surface side when the image captured by the imaging unit is converted into an image viewed from a virtual viewpoint.
- Image conversion means for performing image conversion using a three-dimensional projection model whose height from the road surface does not change within a predetermined range from the front end portion of the traveling direction, and a display for displaying an image converted by the image conversion means. It is characterized by having means.
- a straight line parallel to the vehicle traveling direction such as a parking frame drawn on a road surface near the vehicle, is displayed as a straight line on the screen of the display unit. This makes it easier to grasp the relative positional relationship between the vehicle and the surroundings.
- the three-dimensional projection model is provided with a continuous projection surface that gradually rises from the road surface in a region beyond a predetermined range in the width direction of the vehicle.
- a projection surface gradually rising from the road surface is continuously provided in a region in the traveling direction of the vehicle exceeding the predetermined range.
- the three-dimensional projection model is formed of a continuous curved surface that can be differentiated in all regions except the end points.
- the three-dimensional projection model is formed of a continuous curved surface that can be differentiated in all regions except the end points.
- there are no discontinuous singularities on the screen and there is no discomfort caused by connecting multiple 3D models (cylindrical or spherical).
- the slope of the convex surface the magnification and distortion on the screen can be changed, and by using this, the sense of distance and direction on the screen can also be adjusted.
- each of the three-dimensional models is a smooth curved surface that is convex downward, the image distortion is not concentrated at a specific location, but is dispersed over the entire screen, and the screen is easy to see. This makes it possible to provide the driver with an easy-to-understand image of the sense of distance and without discomfort.
- the three-dimensional projection model has a cylindrical surface having a convex shape on the road surface side and a spherical surface smoothly continuing to an end of the cylindrical surface.
- the three-dimensional projection model can be represented by an equation, and image conversion processing or creation of a mapping table described later becomes easy.
- the predetermined range is such that the length of the vehicle in the traveling direction is less than 120% of a general or parking frame length of 5 m, and the width is 3 m of a general parking frame width. It has an arbitrary size in the range of 80% to 120%, and is projected on the cylindrical surface. With this configuration, it is possible to provide the driver with a screen suitable for parking driving. More preferably, the cylindrical surface is an elliptical cylindrical surface, and the ratio of the maximum width to the minimum width between equally spaced grid lines parallel to the central axis of the cylindrical surface on the road surface projected on the cylindrical surface is An ellipse that is at least 80% in the predetermined range is defined as the ⁇ -dimensional projection model. It is characterized by having. With this configuration, a screen with less distortion can be presented to the driver.
- the left and right ends of the rear end image of the vehicle displayed on the screen of the display means are within at least 15% of the screen width from both end positions of the screen.
- a projection model and a position of the virtual viewpoint are set.
- the positions of the three-dimensional projection model and the virtual viewpoint are set such that a straight line shape of the rear end of the vehicle within the predetermined range is displayed as a straight line image on a screen of the display means. I do.
- the shape of the bumper and the like of the own vehicle can be easily confirmed, and the positional relationship between the road surface and the own vehicle can be accurately grasped.
- the three-dimensional projection model and the three-dimensional projection model described above such that both left and right ends of the rear end image of the vehicle displayed on the screen of the display means are within at least 15% of the screen width from both end positions of the screen.
- a vehicle rear image such as a bumper displayed larger than the width of the vehicle on the road surface is cut to an appropriate width by the screen width. Since it is displayed, it is possible to reduce the factor of discomfort that the width of the vehicle on the road surface and the width of the bumper are displayed greatly differently.
- a guide line indicating a straight line on a road surface that is parallel to the traveling direction of the vehicle and that is outside the vehicle width by a predetermined value is superimposed on the image converted using the three-dimensional projection model. And displaying it on the screen of the display means.
- the image conversion means converts the captured image using a mapping table storing a conversion address based on the three-dimensional projection model.
- FIG. 1 is a configuration diagram of a driving support device according to an embodiment of the present invention mounted on a vehicle.
- FIG. 2 is a detailed configuration diagram of a driving assistance device according to an embodiment of the present invention.
- FIG. 3 is a diagram of a wide-angle camera captured by an imaging device of the driving assistance device according to the embodiment of the present invention. It is a schematic diagram showing a captured image,
- FIG. 4 is a schematic view of an image obtained by removing a lens distortion from an image captured by a wide-angle camera captured by an image capturing apparatus of a driving assistance device according to an embodiment of the present invention.
- FIG. It is a schematic diagram showing a monitor display screen by the driving support device according to the embodiment,
- FIG. 6 is a schematic diagram showing a modified example of a monitor display screen by the driving assistance device according to one embodiment of the present invention
- FIG. 7 is an explanatory diagram of a three-dimensional projection model used in the driving assistance device according to one embodiment of the present invention.
- FIG. 8 is an explanatory diagram of a three-dimensional projection model according to one embodiment of the present invention.
- FIG. 9 is a schematic diagram illustrating a conversion example of a converted image by the three-dimensional projection model according to one embodiment of the present invention.
- FIG. 10 is an explanatory diagram of a three-dimensional projection model used in a conventional driving assistance device.
- FIG. 11 is a schematic diagram of a converted image based on a three-dimensional projection model used in a conventional driving assistance device.
- FIG. 12 is a schematic diagram showing a modified example of the converted image by the conventional driving support device.
- FIG. 13 is an explanatory diagram of another three-dimensional projection model used in the conventional driving support device.
- FIG. 14 is a schematic diagram illustrating image distortion by the three-dimensional projection model of FIG. 13 used in a conventional driving assistance device.
- 1 is the own vehicle
- la is a pamper image
- 2 is an imaging device
- 3 is an image synthesis conversion device
- 4 is a display device (monitor)
- 10 is a distance display guide line
- 11 is a car.
- 12 is a straight guide line on the road surface
- 21 and 23 are cameras
- 22 and 24 are frame memories
- 31 is image synthesis means
- 32 is mapping table reference means
- 3 2a is conversion address memory
- 3 2b is necessity memory
- 3 3 is video signal generation means
- 300 is a three-dimensional projection model
- 310 is a cylindrical surface model (ellipse)
- 302 is a spherical model (ellipse)
- 506 is a plane model
- 512 and 522 are elliptical cylindrical surfaces.
- FIG. 1 is a configuration diagram of a driving support device according to an embodiment of the present invention mounted on a vehicle.
- This driving support device includes an imaging device 2 installed in a vehicle 1, an image synthesis conversion device 3 that processes an image captured by the imaging device 2, and a module 4 that displays an image after the image synthesis conversion. Be composed.
- the imaging device 2 is installed so as to photograph the rear of the vehicle 1, and the image acquired by the imaging device 2 is subjected to lens distortion removal by the image synthesis conversion device 3, and it is also possible to use a virtual virtual viewpoint.
- the image is converted into an image as if it were taken from the camera, and displayed on the monitor (display means) 4.
- FIG. 2 is a detailed configuration diagram of the driving support device.
- the imaging device 2 includes a camera 21 installed to capture an image of the left area behind the vehicle, a frame memory 22 for temporarily storing an image taken by the camera 21, and an image of the right area behind the vehicle. And a frame memory 24 for temporarily storing captured image data of the camera 23.
- the left and right images of the rear of the vehicle are captured by the cameras 21 and 23, respectively, and the left and right captured images are combined, but the left and right images of the rear of the vehicle are captured by one camera at a time. It may be.
- the image synthesizing and converting device 3 is composed of image synthesizing means 31 for synthesizing left and right images behind the vehicle taken from the two frame memories 22 and 24 of the imaging device 2, and an image to be synthesized by the image synthesizing means 31. It comprises mapping table reference means 32 which stores mapping information of each pixel of the above, and video signal generation means 33 which converts an image synthesized by the image synthesis means 31 into a video signal.
- the mapping table reference means 32 corresponds to the correspondence between the position coordinates of each pixel of the output image (the image displayed on the monitor 4) and the position coordinates of each pixel of the input image (the images captured by the cameras 21 and 23).
- a translation address memory 32 a storing a translation address (mapping table) indicating the necessity and a necessity memory 32 b storing the necessity of each pixel of the input image Is provided.
- the “necessity level” refers to the right side when determining the value of each pixel data in the area where the left and right input images overlap when, for example, the left and right input images are joined to the left and right to generate one output image.
- the required value of the input pixel is “0.5” and the required value of the left input pixel is “0.5”.
- the conversion address is generated in advance based on a three-dimensional projection model described later in detail, and is stored in the conversion address memory 32a.
- the image synthesizing means 31 converts each pixel data in the frame memories 22 and 24 based on the conversion address (mapping table) recorded in the mapping table reference means 32 according to the designated necessity.
- the combining operation is performed by the mixers 31a and 31b, and the combined left and right pixel data is added by the adder 31c to generate the output pixel data.
- the image synthesizing means 31 operates based on, for example, an appropriate synchronization signal such as an input image signal, and converts images input from two different cameras 21 and 23 according to the moving-table reference means 32.
- an appropriate synchronization signal such as an input image signal
- the video signal generation means 33 converts the output pixel data output from the image synthesis means 31 into a video signal and outputs the video signal to the monitor 4.
- the conversion address stored in the mapping table reference means 32 is generated based on the three-dimensional projection model according to the present embodiment.
- This three-dimensional projection model is a model showing a correspondence relationship when an image captured by the cameras 21 and 23 is converted into an image captured by a virtual camera installed at a virtual viewpoint position.
- the cameras 21 and 23 are actually wide-angle cameras, and the image behind the vehicle, which can be obtained by combining the captured images left and right, is larger as the distance is closer and smaller as the distance is farther away, as shown in Fig. 3. Is displayed.
- the parking area behind the vehicle (generally, a rectangular area about 5 m in length and about 3 m in width.
- this parking area is shown in a grid pattern.
- the image is captured by a wide-angle camera, in the present embodiment, the image of FIG. 3 is generated using a three-dimensional projection model described later.
- the converted address is displayed on the monitor 4 as an easy-to-see image with little distortion as shown in FIGS.
- FIG. 7 is a diagram showing a three-dimensional projection model used in the present embodiment.
- the three-dimensional projection model 300 used in the present embodiment includes a cylindrical surface model 301 that projects an image of a distant view, and a spherical model 3 that smoothly follows this cylindrical surface model 301 and projects a nearby image. 0 and 2.
- This three-dimensional projection model 300 differs from the conventional three-dimensional projection model 200 described in FIG. 13 in the arrangement direction. That is, in the present embodiment, the axis of the cylindrical surface model 301 is arranged parallel to the ground (road surface), that is, the traveling direction of the vehicle 1, and the lower convex surface of the cylindrical surface model 301 is the ground. It is characterized by the configuration arranged on the side.
- An imaging device 2 for rearward imaging mounted on the vehicle 1 captures a rearward image in the axial direction of the three-dimensional projection model 300, and an image synthesis conversion device 3 converts an image captured by the imaging device 2 into a three-dimensional image.
- the image is converted into an image taken by the virtual camera 2 a installed via the projection model 300 and as if it were above the actual imaging device 2, and displayed on the monitor 4.
- the cylindrical surface 300 of the three-dimensional projection model 300 is set on a road surface such that the central axis of the cylindrical surface 301 is parallel to the traveling direction of the vehicle 1.
- This is a semi-cylindrical model cut in half on a plane parallel to the road surface.
- the spherical model 302 has the same radius as the cylindrical model 301, and its center is on the central axis of the cylindrical model 301, and passes through the center of the cylindrical model 3102.
- the cut surface when cut along a plane perpendicular to the central axis of 01 is a spherical surface that completely matches the cylindrical surface 301. That is, the cylindrical surface model 301 and the spherical model 302 become differentiable at all points (excluding the end points) on the boundary.
- the three-dimensional projection model 300 described above has been described as a “cylindrical” or “sphere” for convenience of explanation, but it is not necessary to be a complete “cylindrical” or “sphere”. Is also good.
- a flat ellipse on the road surface side is used as a three-dimensional projection model.
- FIG. 8 is a diagram in which the three-dimensional projection model formed by the ellipse is cut by a plane perpendicular to the traveling direction of the vehicle 1. In FIG. 8, not only the lower half of the ellipse constituting the model but also the entire ellipse is shown.
- FIG. 8 shows three three-dimensional projection models.
- FIGS. 9 (a), 9 (b) and 9 (c) respectively show images converted into images as if they were taken by the virtual camera 2a shown in FIG. Note that this is the case when the virtual camera 2a is facing directly below.
- the axis parallel to the center axis of the cylindrical surface of the ellipses 5 2 1 and 5 2 2 and on the road is the Y axis
- the axis orthogonal to the Y axis and perpendicular to the road is Z
- the values on the Y axis are the same for each model 506, 521, and 522.
- the height (value in the Z-axis direction) differs as the distance increases.
- the lines parallel to the Y axis are drawn as parallel lines on the screen converted using each model 506, 521, 5222, and the flatness As shown in Fig. 9 (c), in the small model of the model, i.e., the model 522 that moves away from the road surface as it moves away in the X-axis direction, the grid pattern The interval X 2 becomes narrower.
- the three-dimensional projection model 300 used in the present embodiment (the cylindrical surface model 301 of the actually used model 300 is the elliptical cylindrical surface model 521 shown in FIG. 8). Then, as the spherical model 302, an elliptical spherical model that is smoothly continuous with the elliptical cylindrical model 5 21 is used. Is determined as follows.
- the X-axis direction shown in FIG. 8 is the vehicle width direction of the own vehicle 1 shown in FIG. 7, it is from 80% of 3 m which is a width of a general parking frame centered on the Y-axis to 12% Take an arbitrary range 503 of 0%, and in the image after conversion via the three-dimensional projection model 521 in this range 503, as shown in Fig. 9 (b), An elliptic three-dimensional projection model 521 is set such that the ratio between the maximum value Xmax and the minimum value Xmin of the grid pattern that is equally spaced on the road surface is at least 80% or more.
- FIGS. 5 and 6 show the results of determining the cylindrical surface model 301 of FIG. 7 using the ellipse and displaying the converted image of the lattice pattern.
- a straight line extending in the same direction as the traveling direction of the host vehicle 1 is displayed as a straight line in the converted image, and the image distortion in the converted image with respect to the vehicle width direction is a gentle distortion that does not cause a sense of discomfort. Can be suppressed.
- a straight line parallel to the Y-axis such as the line on the roadside or the side of the parking frame, is used as a mark when driving a vehicle, so a straight line parallel to the Y-axis may not be displayed as a straight line in the converted image.
- This is a great advantage in driving operation.
- the cylindrical surface model 301 is adopted as a model for projecting the captured image of the road surface, the straight line is converted into a straight line, and this advantage can be enjoyed.
- the projection surface be a surface rising from the road surface.
- this projection surface is a surface that rises sharply from the cylindrical surface 301, image distortion is concentrated at the boundary, so it is better to use a projection surface that rises gradually. Since the elliptical model 521 gradually rises in the range 504, the image distortion can be dispersed throughout the screen by using the elliptical model 521 in the range 504. Thus, a converted image with less discomfort can be provided.
- the Y-axis direction is the traveling direction of the vehicle, that is, the vehicle length direction
- image conversion is performed using the model 521 in a predetermined range from the rear end of the vehicle, and model 521 is performed in a range beyond the predetermined range from the rear end of the vehicle.
- Image conversion is performed using an elliptical sphere (model 302 in FIG. 7) that is continuous with the image.
- the predetermined range in the Y-axis direction since the range of a general parking frame is 5 m in length, it is desirable to set an arbitrary value in a range of 80% to 120% of this 5 m. Further, it is preferable not to have a tilt in the Y-axis direction within this predetermined range.
- the cylindrical surface model 300 of the three-dimensional projection model 300 according to the present embodiment has a height from the road surface at the lowermost position. Is set to zero (coincides with the road surface) over the length of the cylindrical surface model 301. Thus, the straight line in the captured image within the predetermined range is displayed as a straight line in the converted image.
- a straight line is displayed as a straight line in front of distance display line 10 indicating a range of 2 m from the rear end of the vehicle, and 2 m
- image conversion is performed using the elliptical sphere model 302.
- the range to be set depends on the installation position and resolution of the imaging device 2, the position of the virtual viewpoint, and the like.From the viewpoint of driving support, the range of the parking frame from the rear end of the vehicle 1 is considered. It is desirable to apply the ellipse model 301 with a predetermined range, and to apply the ellipsoidal sphere model 302 to the rest.
- a three-dimensional projection model is configured by an elliptical cylindrical surface model 301 and an elliptical spherical model 302.
- the spherical model 3 0 2 of the ellipse and the cylindrical model 3 0 1 of the ellipse are continuously connected, and as a result, as shown in FIGS.
- the connection is smooth, the boundary cannot be identified, and the interface does not feel uncomfortable.
- the degree of image distortion of the three-dimensional object in this range 504 can be adjusted.
- the degree of distortion of an image photographed by an imaging device using a wide-angle lens can be adjusted, and It becomes possible to set the enlargement ratio of the vehicle so as to be closer to the sense of distance when viewed from the actual rear window.
- FIG. 4 shown for comparison is a diagram showing an image obtained by removing the lens distortion of the wide-angle lens from the image of the wide-angle camera in FIG. By simply removing this lens distortion, It can be confirmed that the effect of emphasizing perspective due to the use of the wide-angle lens has not been reduced. In other words, a far image appears farther, and the perspective is still emphasized.
- the perspective image is transformed using the spherical model of the ellipse 302, so that the perspective is reduced and the image becomes easy to see as shown in FIG. I have.
- the image shown in Fig. 5 is obtained.
- the image can be converted and displayed on the monitor 4 as shown in FIG. That is, the width d of the vehicle 1 on the road surface can be displayed so as to be enlarged on the screen.
- the image of FIG. 5 is converted and displayed so that both end positions of the vehicle are within 15% of the screen width from both end positions of the screen.
- a mark 11 indicating the vehicle width, and a straight line on the road surface which is parallel to the vehicle traveling direction and slightly outside the vehicle width d is a guide line 12 Display as By displaying these, the relative positional relationship between the roadside parking frame and the host vehicle can be intuitively grasped from the screen, which helps accurate driving operation.
- the three-dimensional projection model which is a combination of the cylindrical surface model and the spherical model described above, does not necessarily need to be constituted by a curved surface defined by an equation, but is determined by the applicable range and properties.
- the elliptical cylindrical model 3 0 1 does not necessarily have to be elliptical according to the elliptic equation, but is a three-dimensional projection model that is convex downward, and the distortion of the transformed image is dispersed throughout the image. Any shape may be used.
- a driving assistance device that can display a captured image near a vehicle on a monitor as an image with little distortion.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP20030730616 EP1513101A4 (en) | 2002-06-12 | 2003-05-23 | DRIVER ASSISTANCE SYSTEM |
US10/488,458 US7554573B2 (en) | 2002-06-12 | 2003-05-23 | Drive assisting system |
KR1020047005845A KR100937750B1 (ko) | 2002-06-12 | 2003-05-23 | 운전 지원 장치 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2002171484A JP3871614B2 (ja) | 2002-06-12 | 2002-06-12 | 運転支援装置 |
JP2002-171484 | 2002-06-12 |
Publications (1)
Publication Number | Publication Date |
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WO2003107273A1 true WO2003107273A1 (ja) | 2003-12-24 |
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ID=29727811
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2003/006482 WO2003107273A1 (ja) | 2002-06-12 | 2003-05-23 | 運転支援装置 |
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US (1) | US7554573B2 (ja) |
EP (1) | EP1513101A4 (ja) |
JP (1) | JP3871614B2 (ja) |
KR (1) | KR100937750B1 (ja) |
WO (1) | WO2003107273A1 (ja) |
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Also Published As
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JP2004021307A (ja) | 2004-01-22 |
EP1513101A1 (en) | 2005-03-09 |
US20040260469A1 (en) | 2004-12-23 |
EP1513101A4 (en) | 2010-10-06 |
JP3871614B2 (ja) | 2007-01-24 |
KR20040111329A (ko) | 2004-12-31 |
KR100937750B1 (ko) | 2010-01-20 |
US7554573B2 (en) | 2009-06-30 |
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