WO2005014341A1 - 運転支援装置及び運転支援方法 - Google Patents
運転支援装置及び運転支援方法 Download PDFInfo
- Publication number
- WO2005014341A1 WO2005014341A1 PCT/JP2004/002478 JP2004002478W WO2005014341A1 WO 2005014341 A1 WO2005014341 A1 WO 2005014341A1 JP 2004002478 W JP2004002478 W JP 2004002478W WO 2005014341 A1 WO2005014341 A1 WO 2005014341A1
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- data
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
- B62D15/0295—Steering assistants using warnings or proposing actions to the driver without influencing the steering system by overlaying a vehicle path based on present steering angle over an image without processing that image
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- 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
Definitions
- the present invention relates to a driving support device and a driving support method for presenting a driver with a video behind a vehicle acquired by an on-vehicle camera and a guide for driving support on the video.
- a driving assistance device which displays an image of the rear of the vehicle taken by an in-vehicle power camera when the vehicle retreats, on a screen of a monitor in a driver's seat.
- This driving assistance device often adopts a method of superimposing and displaying various guides for driving assistance, such as a predicted trajectory at the time of rectilinear receding and a distance line indicating a certain distance from the rear end of the vehicle, on a vehicle-mounted camera image.
- a driving support device that superimposes a predicted travel trajectory when the vehicle retreats according to the steering angle of the steering wheel. In such a driving support device, it is necessary to display a guide at a correct position in an on-vehicle camera image.
- Patent Document 1 Japanese Patent No. 26101446
- the camera parameters used to calculate the predicted trajectory display data are different from the actual camera parameters, and the amount of adjustment is determined by the representative point set in the camera image. is not.
- the camera parameters One type has two parameters, an internal parameter and an external parameter.
- the internal parameters include the focal length, the lens distortion coefficient, the vertical and horizontal magnification ratio, and the coordinates of the image center position.
- the external parameters include the tilt angle, pan angle, and roll angle.
- the predicted trajectory to be displayed may extend outside the display screen.
- the predicted trajectory to be displayed hold only the data in the screen.
- the display position is adjusted, the trajectory that extends beyond the display screen is not displayed because there is no data.
- An object of the present invention is to provide a driving support apparatus and a driving support method that can display a trajectory to an edge of a screen regardless of an adjustment amount of a display position.
- a driving assistance device is a driving assistance device that displays an image of the surroundings of a vehicle taken by a vehicle-mounted camera on a screen of a vehicle-mounted monitor.
- a data table storing trajectory data including trajectory display data for displaying the trajectory on the screen and adjustment data for adjusting a display position of the predicted travel trajectory on the screen based on the trajectory display data;
- Steering angle detection means for detecting an angle, and the trajectory data corresponding to the steering angle detected by the steering angle detection means is read from the data table, and travel is performed based on trajectory display data and adjustment data included in the trajectory data.
- a driving assistance image generating means for generating a driving assistance image in which the predicted trajectory is superimposed on an image around the vehicle and outputting the driving assistance image to the on-vehicle monitor.
- the display position of the predicted traveling trajectory is adjusted based on the latest adjustment data in accordance with the steering angle, so that the predicted traveling trajectory prepared in advance can be displayed at the optimum position.
- the accuracy as a guide can be improved.
- the driving support device of the present invention may include a display position adjustment amount setting unit that sets a value of adjustment data included in the trajectory data corresponding to the steering angle.
- the value of the adjustment data included in the trajectory data corresponding to the steering angle can be easily set.
- the display position adjustment amount setting means may include an adjustment data of the trajectory data for all other steering angles based on a value of the adjustment data of the trajectory data for a representative steering angle. May be calculated.
- the trajectory data stored in the data table may include, in addition to the trajectory display data and the adjustment data, an initial value for setting an initial position of the predicted traveling trajectory based on the trajectory display data.
- Position setting data may be included.
- the traveling prediction trajectory is displayed to the edge of the screen regardless of the adjustment amount of the display position for all the trajectory data without requiring an exceptional process of recording the display position outside the screen. Can be.
- the data table may store a plurality of trajectory data sets having different pan angles or roll angles as trajectory display data corresponding to a steering angle.
- the required memory amount can be reduced without lowering the accuracy as a guide of the travel prediction trajectory, and the cost can be reduced.
- the driving support method of the present invention is a driving support method for displaying an image of the surroundings of a vehicle taken by a vehicle camera on a screen of an on-vehicle monitor, wherein the predicted traveling trajectory of the vehicle corresponding to the steering angle of the steering wheel is provided on the vehicle.
- the display position of the predicted travel trajectory is adjusted based on the latest adjustment data in accordance with the steering angle, so that the predicted travel trajectory prepared in advance can be displayed at the optimum position, The accuracy as a guide can be improved.
- the trajectory display data corresponding to the steering angle and the adjustment data of the display position are held, and the display position of the predicted traveling trajectory is finely adjusted according to the detection result of the steering angle sensor.
- the predicted travel trajectory prepared in advance can always be displayed at the optimum position, and the accuracy of the predicted travel trajectory as a guide can be improved.
- FIG. 1 is a block diagram illustrating a configuration of a driving assistance device according to an embodiment of the present invention.
- FIG. 2 is a block diagram illustrating a detailed configuration of a trajectory superimposing device in the driving assistance device according to the embodiment of the present invention.
- FIG. 3 is a diagram for explaining selection of a trajectory data set and setting of an individual adjustment amount in the driving support device according to the embodiment of the present invention.
- FIG. 4 is a diagram showing a trajectory data set and a switch for selecting and confirming the best in the driving support device according to the embodiment of the present invention.
- FIG. 5 is a diagram for explaining selection of a trajectory data set in the driving assistance device according to the embodiment of the present invention.
- FIG. 6 is a diagram for explaining setting of the individual adjustment amount in the driving support device according to the embodiment of the present invention.
- FIG. 7 is a diagram for explaining the setting of the initial adjustment amount in the driving support device according to the embodiment of the present invention.
- FIG. 8 is a diagram for explaining the setting of the initial adjustment amount in the driving support device according to the embodiment of the present invention.
- FIG. 9 is a diagram for explaining the effect of the displacement of the pan angle and the roll angle on the trajectory display in the driving support device according to the embodiment of the present invention.
- Reference numerals in the figure 1 is a vehicle, 2 is an on-vehicle camera, 3 is a steering angle sensor, 4 is a locus superposition device, 5 is an on-vehicle monitor, 31 is a target plate for selecting a locus data set, 3 2
- 3 3 and 3 4 are markers
- 40 is a data setting section
- 41 is an individual adjustment amount setting section
- 4 2 is a locus data set selecting section
- 4 3 is a locus data selecting section
- 4 4 is a display position adjusting section
- 4 5 is the trajectory superimposition part
- 46 is the data table
- 51, 51A is the selection button
- 54, 5 is the trajectory superimposition part
- FIG. 1 is a block diagram illustrating a configuration of a driving support device according to an embodiment of the present invention.
- the driving support device of the present embodiment includes a vehicle-mounted camera 2 installed behind a vehicle 1, a steering angle sensor 3 for detecting a steering angle of the vehicle 1, and a captured image of the vehicle-mounted camera 2.
- the vehicle includes a trajectory superposition device 4 that superimposes and outputs a predicted trajectory corresponding to the output of the angle sensor 3, and an in-vehicle monitor 5 that displays the output of the trajectory superposition device 4 and presents it to the driver.
- the in-vehicle camera 2 inputs an image of the rear of the vehicle 1 to the trajectory superposition device 4.
- the steering angle sensor 3 detects the amount of rotation of the steering column of the vehicle 1 and inputs the result to the track superposition device 4.
- the trajectory superimposing device 4 superimposes the predicted trajectory of the vehicle 1 on the image of the vehicle-mounted camera 2 according to the steering angle input from the steering angle sensor 3 and outputs the image.
- the on-vehicle monitor 5 displays the output of the trajectory superposition device 4.
- FIG. 2 is a block diagram showing a detailed configuration of the trajectory superimposing device 4.
- the trajectory superimposing device 4 includes a data setting unit 40, a trajectory data selection unit 43, a display position adjustment unit 44, a trajectory superposition unit 45, and a data table 46.
- the data table 46 includes a plurality of “trajectory data sets 0 to N” prepared in advance as shown in FIG. 2 and “selection set numbers” indicating the actually used ones of the locus data sets 0 to N. Consists of The trajectory data sets 0 to N correspond to the “reference data” used to select the trajectory data set to be used, the “marker data” used to determine individual adjustment amounts, and the steering angles. "Track data 0 to Hj. Here, when the resolution is, for example, a steering angle of 1 ° and data up to 40 ° on the left and right sides is held, the number of trajectory data is “81”.
- Each of the trajectory data 0 to H is composed of an “initial adjustment amount” set in advance, an “individual adjustment amount” set after the onboard camera is installed, and “display data” which is image data for displaying the trajectory. Is done. By holding the individual adjustment amount as data, it is possible to adjust the display position for each steering angle.
- the trajectory superposition device 4 When adjusting the display positions of the trajectory data 0 to H prepared in advance according to the mounting position of the vehicle and camera 2, prepare multiple trajectory data sets in consideration of the assumed mounting error of the in-vehicle camera 2. It is desirable to select the optimal trajectory data set from among them. For example, when the mounting angle of the on-board camera 2 to the vehicle 1 is deviated from the ideal roll angle, the predicted trajectory on the correct screen is not symmetric with respect to the center of the vehicle but has a distorted shape. In this case, even if the display position of the predicted trajectory data created with the ideal roll angle is adjusted, there is no match. Therefore, in addition to the ideal roll angle trajectory data set, it is desirable to prepare a plurality of trajectory data sets in the case where the skew angle is shifted, and to select the optimal trajectory data set from among them.
- the trajectory data set selection unit 42 selects an optimal trajectory data set from a plurality of trajectory data sets prepared in advance. This trajectory data set is selected by setting a trajectory data set selection target plate 31 at a position away from the vehicle 1 by a certain distance and parallel to the rear wheel axis of the vehicle 1 as shown in Fig. 3, for example. This is done by viewing the image on the monitor screen of the target plate 31 for selecting the locus data set.
- trajectory data set selection unit 42 includes a plurality of selection buttons 5 1 corresponding to the trajectory data set (three in FIG. (Numerical display). If any of the three buttons is pressed, it is detected that the button has been pressed, and it is selected as a path data set. The path data set corresponding to the selection button 51 is selected.
- the track number is notified to the locus data selector 43.
- the locus data selector 43 reads the reference data of the locus data set corresponding to the pressed selection button 51 from the data table 46 according to the contents of the notification. Then, the display data contained therein is input to the locus superimposing unit 45. At the same time, the initial adjustment amount and the individual adjustment amount included in the reference data are read and input to the display position adjustment unit 44.
- the initial adjustment amount of the reference data is set in advance, but the individual adjustment amount is not set. In addition, when selecting a trajectory data set, an individual adjustment amount is unnecessary and may be omitted.
- the display position adjustment unit 44 has a joystick, which is one of the pointing devices, calculates the display position from the operation result of the joystick and various adjustment amounts from the trajectory data selection unit 43, and calculates the result. This is given to the trajectory superimposing unit 45.
- the display position is calculated by, for example, sequentially adding the movement amount by the joystick with each adjustment amount notified from the trajectory data selection unit 43 as an initial value.
- the trajectory superimposition unit 45 moves the display data input from the trajectory data selection unit 43 by the adjustment amount notified from the display position adjustment unit 44 and superimposes the display data on the video of the on-vehicle camera 2. The result is displayed on the screen of the on-vehicle monitor 5. By pressing each of the three selection buttons 5 1 of the trajectory data set selection section 4 2, one of the reference shapes of the trajectory data sets “1” to “3” as shown in FIG. The image is superimposed on the image and displayed on the on-vehicle monitor 5.
- the reference shape of the locus data set “” (top figure) is superimposed on the vehicle camera image, and pressing the selection button 5 1 of the number “2”.
- the reference shape of the trajectory data set “2” (middle figure) is superimposed on the in-vehicle power camera image, and by pressing the selection button 51 of the number “3”, the trajectory data set “3” (bottom) is pressed. Is superimposed on the in-vehicle camera image. Then, from these reference shapes, the trajectory data set whose inclination matches the target plate 31 for selecting the trajectory data set in the in-vehicle camera image best is “1” in this figure.
- the locus data selection section 4 3 Change the selected set number in to the number of the currently selected data set, ie, “1”. As described above, the optimum trajectory data set for the mounting position of the vehicle-mounted camera 2 is selected.
- the individual adjustment amount setting section 41 has, for example, a plurality of selection buttons (referred to as 51 A) similar to the selection buttons shown in FIG. These selection buttons 51 A correspond to the positions of the reference points (reference markers) serving as adjustment standards. When any of the selection buttons 51A is pressed, the individual adjustment amount setting section 41 detects that it is set for the individual adjustment amount, and displays the reference marker number corresponding to the selection button 51A. To the locus data selection unit 43.
- the trajectory data selection unit 43 reads data (marker data) of the reference marker corresponding to the notification content from the data table 46 and inputs the data to the trajectory superposition unit 45. At the same time, the initial adjustment amount included in the marker data is read out and notified to the display position adjustment unit 44. As shown in Fig. 3, for example, the marker is located at a certain distance from the vehicle on the predicted trajectory, and the marker 32 on the trajectory at the maximum steering angle in the right direction. Marker 3 3 on the track and marker 3 4 on the track at the maximum steering angle in the left direction are installed and used.
- the display position adjustment unit 44 calculates the display position from the operation result of the joystick and the initial adjustment amount from the trajectory data selection unit 43, and notifies the result to the trajectory superimposition unit 45.
- the trajectory superposition unit 45 superimposes the display data input from the trajectory data selection unit 43 by the adjustment amount notified from the display position adjustment unit 44 and superimposes the display data on the video of the vehicle-mounted camera 2. The result is displayed on the screen of the on-board monitor 5.
- any one of the markers 1 to 3 as shown in FIG. 6 is superimposed on the in-vehicle camera image. Displayed on the in-vehicle monitor 5.
- the display position is adjusted using the joystick of the display position adjustment unit 44 so that the display position best matches the marker in the vehicle / camera image.
- the individual adjustment amount setting unit 41 is determined. Press the button (this is 54A).
- the confirm button 54A is pressed, this is notified to the trajectory data selection unit 43, and the trajectory data selection unit 43 temporarily records the adjustment amount for the marker.
- the trajectory data selection unit 43 calculates the adjustment amount of each steering angle from the determined adjustment amount for each marker, and stores the data in the data table 46. Set the individual adjustment amount data of.
- the maximum left and right steering angles are denoted by L ( ⁇ 0), 0R (> 0), and the adjustment amounts of marker “1”, marker “2”, and marker “3” as DM 1, DM 2, and DM 3, respectively.
- the adjustment amount D ( ⁇ ) of the steering angle ⁇ is obtained by the following equation, for example.
- the trajectory data selection unit 43 performs the trajectory data corresponding to the angle detected by the steering angle sensor from the corresponding data set according to the selection set I and number of the data table 46. Read the data. Thereafter, the initial adjustment amount and the individual adjustment amount in the trajectory data are notified to the display position adjustment unit 44, and the display data is notified to the trajectory superimposition unit 45.
- the display position adjustment unit 44 calculates the final adjustment amount from the initial adjustment amount and the individual adjustment amount input from the trajectory data selection unit 43, and notifies the result to the trajectory superposition unit 45.
- the trajectory superposition unit 45 selects the trajectory data and the adjustment amount of the display position input from the display position adjustment unit 44 during the vertical blanking period, which is the transition of the frame of the in-vehicle camera image.
- the display data input from the section 43 is changed to the latest one, and the locus is always superimposed on the in-vehicle camera image based on the latest locus data.
- the display data input from the trajectory data selector 43 may be an address for referring to the display data in the data table 46 instead of the display data itself.
- on-vehicle monitor 5 displays an on-vehicle camera image on which the predicted trajectory according to the steering angle is superimposed.
- the trajectory superimposition unit 45 checks the display data and the display position adjustment amount and finely adjusts the display position of the trajectory based on the latest data. Can be displayed in various positions. As a result, the accuracy of the trajectory guide can be improved.
- the display position is not adjusted, when storing the locus data in which a part of the locus extends off the screen and is displayed in the data table 46, the display position is moved so that the entire locus is displayed in the screen.
- the trajectory data at this time is set as display data, and the amount of movement required to display the original display position is set as the initial adjustment amount.
- the trajectory data selection unit 43 calculates the original display position based on the initial adjustment amount, and inputs the position shifted by the individual adjustment amount from the original display position to the trajectory superimposition unit 45. By setting the initial adjustment amount in this way, it is not necessary to perform an exceptional process of recording the display position outside the screen, etc.
- the trajectory can be displayed to the end.
- a data set prepared in advance As a data set, a plurality of trajectory data having different roll angles or pan angles are prepared.
- three variables of the camera's external parameters, tilt angle, pan angle, and roll angle are unknown.
- the effect of the shift of the pan angle and roll angle appears on the screen as rotation as shown in Fig. 9, and either rotation angle can be substituted.
- Fig. 9 shows the display positions on the screen when the predicted trajectory when turning the steering wheel with the same angle to the left and right and when moving straight ahead is photographed by an appropriate on-board camera.
- Three tracks are displayed.
- the track rolled by a certain angle, the track panned by a certain angle, the track rolled by a certain angle, and the display position of the track rolled by a certain angle are displayed.
- the trajectory has been translated so as to match as closely as possible. Also, since the effect of the tilt angle shift appears as a parallel movement on the screen, this effect can be almost eliminated by adjusting the display position.
- the required memory amount can be reduced without reducing the accuracy of the trajectory guide.
- a button and a joystick are used.
- a touch panel of a car navigation screen may be used, or an external terminal for maintenance or the like may be used.
- the trajectory data set is selected using the inclination of the trajectory data set selection target plate 31.
- the trajectory data set may be selected by other methods such as a marker displacement.
- the data setting section 40 does not need to be provided with the trajectory data set selection section 42.
- the present invention has an effect that a travel prediction trajectory prepared in advance can always be displayed at an optimum position, and the accuracy of the guide of the travel prediction trajectory can be improved, and is useful for vehicles such as automobiles.
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Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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US10/566,104 US7756618B2 (en) | 2003-08-07 | 2004-01-03 | Camera calibration and image adjusting for drive assisting system |
EP04716018A EP1652734B1 (en) | 2003-08-07 | 2004-03-01 | Operation assisting system and operation assisting method |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2003-288976 | 2003-08-07 | ||
JP2003288976A JP3916240B2 (ja) | 2003-08-07 | 2003-08-07 | 運転支援装置及び運転支援方法 |
Publications (1)
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WO2005014341A1 true WO2005014341A1 (ja) | 2005-02-17 |
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PCT/JP2004/002478 WO2005014341A1 (ja) | 2003-08-07 | 2004-03-01 | 運転支援装置及び運転支援方法 |
Country Status (6)
Country | Link |
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US (1) | US7756618B2 (ja) |
EP (1) | EP1652734B1 (ja) |
JP (1) | JP3916240B2 (ja) |
KR (1) | KR20060060005A (ja) |
CN (1) | CN100488813C (ja) |
WO (1) | WO2005014341A1 (ja) |
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JP3619753B2 (ja) | 2000-07-03 | 2005-02-16 | トヨタ自動車株式会社 | 移動体の後方視界表示装置 |
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JP3692082B2 (ja) * | 2002-01-23 | 2005-09-07 | トヨタ自動車株式会社 | 駐車支援装置 |
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2003
- 2003-08-07 JP JP2003288976A patent/JP3916240B2/ja not_active Expired - Lifetime
-
2004
- 2004-01-03 US US10/566,104 patent/US7756618B2/en active Active
- 2004-03-01 WO PCT/JP2004/002478 patent/WO2005014341A1/ja active Application Filing
- 2004-03-01 EP EP04716018A patent/EP1652734B1/en not_active Expired - Lifetime
- 2004-03-01 KR KR1020067002633A patent/KR20060060005A/ko not_active Application Discontinuation
- 2004-03-01 CN CNB2004800290691A patent/CN100488813C/zh not_active Expired - Lifetime
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JP2001187552A (ja) * | 1999-10-19 | 2001-07-10 | Toyota Autom Loom Works Ltd | 映像位置関係補正装置、該映像位置関係補正装置を備えた操舵支援装置、及び映像位置関係補正方法 |
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JP2003061085A (ja) * | 2001-08-10 | 2003-02-28 | Nippon Seiki Co Ltd | 車両用監視装置 |
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See also references of EP1652734A4 * |
Also Published As
Publication number | Publication date |
---|---|
CN1863694A (zh) | 2006-11-15 |
JP2005056320A (ja) | 2005-03-03 |
EP1652734A4 (en) | 2007-05-16 |
KR20060060005A (ko) | 2006-06-02 |
EP1652734A1 (en) | 2006-05-03 |
JP3916240B2 (ja) | 2007-05-16 |
CN100488813C (zh) | 2009-05-20 |
US20060209188A1 (en) | 2006-09-21 |
US7756618B2 (en) | 2010-07-13 |
EP1652734B1 (en) | 2012-07-04 |
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