Classifications

• • 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
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
  • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
  • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
  • B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
  • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
  • B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
  • B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
  • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
  • B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
  • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
  • B60R2300/8066—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring rearward traffic
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
  • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
  • B60R2300/8086—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for vehicle path indication

Definitions

• the present invention relates to a driving support device and a driving support method that support safe driving of a vehicle.
• a driving support device that includes a sensor and a camera, and detects obstacles around the sensor output and camera image power and outputs an alarm.
• Patent Document 1 Japanese Patent Laid-Open No. 2001-322519
• Patent Document 2 Japanese Patent Laid-Open No. 2001-315604
• the driving assistance devices disclosed in Patent Document 1 and Patent Document 2 are based on the movement trajectory of the vehicle and the distance from the vehicle position in an image obtained by photographing the rear when parking! If you display a gushed guide line, it will help you back when you are parked. For example, if you change lanes while driving, you cannot support driving when turning left or right.
• the present invention has been made in view of such circumstances, and can easily determine the positional relationship with other vehicles when turning left or right or changing lanes, and sufficiently assists the driver's visual confirmation.
• An object is to provide a driving support device and a driving support method capable of performing the above.
• the display means for displaying the rear side of the vehicle, the vehicle distance detection means for detecting the rear distance of the vehicle power based on the image of the rear side of the vehicle, and the vehicle distance detection means Based on the detected distance, a guide line generating means for generating a guide line for assisting driving of the vehicle at the time of turning left and right and changing the lane, and generated by the guide line generating means in the rear side image of the vehicle Display control means for superimposing the displayed guide lines on the display means.
• the guide line generation means changes the guide line next to the own vehicle, the own vehicle power, left / right turn, and lane change. It is generated as a boundary that should not be taken into consideration, a distance that requires attention when turning left and right and changing lanes, and a boundary of ⁇ distance that does not cause problems when changing left and right and changing lanes.
• the guide line generation unit changes a line type and a line color according to a position of each guide line.
• an other vehicle detection unit that detects the closest vehicle in the image obtained by the photographing unit; And a relative speed detecting means for detecting a relative speed between the detected other vehicle and the host vehicle, and the guide line generating means changes the position of each guide line according to the detected relative speed.
• an area determination unit that determines an area in which another vehicle exists detected by the other vehicle detection unit, a right / left turn of the own vehicle, and a lane change
• a vehicle behavior detection means for detecting motion, and a warning is generated based on the area where the other vehicle detected by the other vehicle detection means exists when a turn or lane change is detected by the vehicle behavior detection means. Warning generating means.
• display means for displaying the scenery behind the host vehicle and a guide line as an indication of whether or not a lane change or right / left turn is possible are superimposed on the scenery behind the host vehicle.
• the display control unit displays a guide line according to a relative speed between the dynamic object included in the scenery behind the host vehicle and the host vehicle. Control the position.
• the display control unit controls the display position of the guide line according to the absolute speed of the host vehicle.
• the display control unit causes the display unit to display a plurality of guide lines according to the distance from the vehicle position.
• the display control unit causes the display unit to display a plurality of guide lines in different modes.
• a vehicle distance detection step of detecting a distance behind the own vehicle power source based on an image obtained by a camera that captures the rear side of the vehicle, and the vehicle distance detection A guide line generating step for generating a guide line for assisting driving of the vehicle at the time of turning left and right and changing lanes based on the distance detected in the step, and the guide line generating step in the image by the camera
• the rear side of the vehicle is photographed, the distance behind the host vehicle force is detected based on the image obtained by photographing, and the right side based on the detected distance.
• a guide line to assist driving the vehicle at the time of left turn and lane change is displayed superimposed on the rear side image of the vehicle, so the driver can determine the position of the other vehicle at the time of right / left turn or lane change. The person in charge can be easily determined.
• the guide line should be next to the host vehicle, turn left and right from the host vehicle, and change lanes. Care must be taken when turning the distance, turning left and right, and changing lanes. distance In addition, since it is displayed as indicating the boundary of the distance where there is no problem in turning left and right and changing lanes, the driver can easily determine how far the own vehicle is from other vehicles.
• the line type and line color are changed according to the position of each guide line, so it is dangerous for the driver to turn next to the vehicle, turn left or right, and change lanes. It is easy to recognize distances that require attention when turning, turning left and right, and changing lanes, and ⁇ distances that cause problems when turning left and right and changing lanes.
• the position of each guide line is changed according to the speed of the own vehicle, so that the driver can use the other vehicle regardless of the speed of the own vehicle. It is easy to determine how far away from the site.
• the relative speed between the other vehicle and the host vehicle that is closest to the host vehicle is detected, and the position of each guide line is determined according to the detected relative speed. Because it is changed, guide lines can be set with high accuracy, and the driver can accurately grasp the distance to other vehicles.
• the guide line that is an indication of whether or not it is possible to change lanes or turn left and right is displayed on the display means so as to be superimposed on the scenery behind the host vehicle. Can easily determine the positional relationship with other vehicles when turning left or right or changing lanes.
• the guide line display position is controlled according to the relative speed between the dynamic object included in the scenery behind the host vehicle and the host vehicle.
• Guide lines can be set with accuracy, and the driver can accurately grasp the distance to other vehicles.
• the display position of the guide line is controlled according to the absolute speed of the host vehicle, so that the driver can move the host vehicle regardless of the speed of the host vehicle. It is possible to easily determine how far away from other vehicles.
• the plurality of guide lines are displayed in different modes, so that the driver can turn next to the host vehicle, turn left and right, and lane change should not be made. And distance that needs attention when changing lanes, turning left and right and changing lanes can be easily recognized.
• the rear side of the vehicle is photographed, the distance behind the host vehicle force is detected based on the image obtained by the photographing, and the right side based on the detected distance is detected.
• a guide line to assist driving the vehicle when turning left and changing lanes is displayed superimposed on the image on the monitor, so the driver can easily position the vehicle relative to other vehicles when turning right or left or changing lanes. Judgment can be made.
• FIG. 1 is a block diagram showing a configuration of a driving support apparatus according to an embodiment of the present invention.
• FIG. 2 is a diagram for explaining guide line generation processing in the driving support apparatus according to the embodiment.
• FIG. 3 is a diagram illustrating an example of an output image of the driving support apparatus according to the embodiment.
• FIG. 4 is a flowchart for explaining the operation of the driving support apparatus according to the above embodiment.
• FIG. 1 is a block diagram showing a configuration of a driving support apparatus according to an embodiment of the present invention.
• the driving support apparatus of this embodiment includes a camera 10, an image processing unit 11, a display control unit 12, a monitor 13, a warning sound output unit 14, a speaker 15, and a blinker switch 16.
• a speed sensor 17 and a rudder angle sensor 18 are provided.
• the camera 10 corresponds to a photographing unit
• the image processing unit 11 corresponds to a vehicle distance detecting unit and a guide line generating unit.
• the display control unit 12 corresponds to display control means.
• the monitor 13 corresponds to display means
• the warning sound output unit 14 corresponds to warning sound output means.
• the camera 10 is a CCD (Charge Coupled Device), CMOS (Complementary Metal
• Oxide Semiconductor is used, and a moving image is taken behind a vehicle (hereinafter referred to as the host vehicle) in which the apparatus is mounted.
• the host vehicle a vehicle in which the apparatus is mounted.
• it is attached to the mirror surface side of the left rearview mirror with its imaging surface (camera lens side) facing rearward.
• the image processing unit 11 includes a microcomputer and an image processing circuit, and performs image processing on an image obtained by the camera 10 to detect a distance behind the host vehicle, and further detects the distance. Based on the distance, a guide line is generated to assist driving the vehicle when turning left and changing lanes. As shown in Fig. 2, the guide line is adjacent to the host vehicle 20, distance from the host vehicle 20 where turning left and changing lanes is dangerous, distance that requires attention when turning left and changing lanes, and turning left and changing lanes are problematic. Generate as indicating no distance boundaries.
• the image processing unit 11 changes the line type and line color according to the position of each guide line so that the driver can easily discriminate between "danger”, “caution", and "safety". I have to. For example, as shown in Figure 3, a green guide line is displayed at the boundary between the safety area and the caution area, and a yellow guide line is displayed at the boundary between the caution area and the danger area. A red guide line is displayed at the border with the area.
• FIG. 3 is a diagram illustrating an example of an output image displayed on the monitor 13. Further, the image processing unit 11 changes the position of each guide line according to the speed of the host vehicle detected by the speed sensor 17. For example, the distance between the guide lines is increased as the speed increases, and conversely, the distance between the guide lines is decreased as the speed decreases.
• the image processing unit 11 functions as vehicle behavior detecting means. That is, while the other vehicle that is closest in the image obtained by the camera 10 is detected, the operation state of the win force or the operation state force of the steering wheel is detected. Despite being in a dangerous area when changing lanes, a warning signal is output when a lane change or left turn is detected. The warning signal is input to the warning sound output unit 14, and a warning sound is generated from the speaker 15. By listening to this warning sound, the driver can recognize that he or she is about to make a dangerous left turn or lane change, and avoid a dangerous situation.
• the display control unit 12 displays the image captured by the camera 10 on the monitor 13 and displays the guide line generated by the image processing unit 11 in a superimposed manner on the monitor 13.
• the motor 13 is attached to the vicinity of the driver's seat of the host vehicle, for example, a console panel. If a car navigation system or car TV is installed, the monitor of these devices can be used. Of course, it is also possible to incorporate the driving support device of this embodiment in these devices.
• the blinker switch 16 outputs a switch signal for blinking the left / right winking force.
• the speed sensor 17 detects the vehicle speed from the wheel rotation speed.
• the steering angle sensor 18 is provided on the steering shaft of the steering wheel and detects the steering angle.
• the switch signal of the blinker switch 16, the output signal of the speed sensor 17, and the output signal of the steering angle sensor 18 are input to the image processing unit 11, respectively.
• the image processing unit 11 detects the behavior of the host vehicle from the switch signal of the blinker switch 16 and the output signal of the steering angle sensor 18, and detects the speed of the host vehicle from the output signal of the speed sensor 17.
• step S10 it is determined whether or not the left turn signal switch 16 is on. Since the driver operates the left wing force in advance when turning left or changing lanes to the left, first determine whether the left turner switch 16 is on or off. Operate left wing force If the steering wheel sensor 16 is turned to the left, the output of the steering angle sensor 18 is monitored to determine whether or not the steering wheel has been turned to the left (step Sl l).
• step S12 When the left blinker switch 16 is turned on or the handle is turned to the left, it is determined whether or not the guide line has been set (step S12).
• the guide line setting can be obtained by capturing an image taken with the camera 10 and processing it. This process is performed in step S15 and step S18 described below. Therefore, if the guide line is not set (NO in the determination of step S12), the process proceeds to step S15 to perform the process of setting the guide line.
• step S13 determine whether or not another vehicle currently exists in the dangerous area. If there is no other vehicle in the hazardous area (in the case of NO), the process proceeds to step S15. If there is another vehicle in the dangerous area (in the case of YES), there is a risk of entering a dangerous situation.
• a warning sound is generated to inform the driver (step S14).
• the guide line setting process I do. That is, the video is captured from the camera 10 (step S15). Next, speed information is fetched from the speed sensor 17 (step S16). Then, image processing is performed on the captured image, and the distance behind the vehicle's own power is detected. Based on the detected distance, the vehicle is driven when turning right and left and changing lanes. A guide line is generated to support (Step S17). After the guide line is generated, the guide line is superimposed on the image by the camera 10 and displayed on the screen of the motor 13 (step S18).
• the guide line displays a green guide line at the boundary between the safety area and the caution area, and displays a yellow guide line at the boundary between the caution area and the danger area.
• a red guide line is displayed at the boundary between the vehicle and the vehicle area.
• the rear side of the host vehicle is photographed by the camera 10, and the rear distance of the host vehicle power train is determined based on the image obtained by the photographing.
• Detect and detect The guide line to assist driving the vehicle when turning left and right and changing lanes based on the distance is displayed superimposed on the image from the camera 10, so the driver can turn on other vehicles when turning right or left or changing lanes. Can be easily determined, and the driver's visual confirmation can be sufficiently assisted.
• the force that changes the position of each guide line according to the speed of the host vehicle detected by the speed sensor 17 is closest in the image obtained by the camera 10. It is also possible to detect the other vehicle, detect the relative speed between the detected other vehicle and the host vehicle, and change the position of each guide line according to the detected relative speed. In this case, the relative speed is detected by the image processing unit 11.
• the position of the guide line may be changed according to V, so-called navigation information. Specifically, it receives navigation information on expressways and ordinary roads, and widens the distance between guide lines when driving on expressways, and narrows the distance between guidelines when traveling on ordinary roads. .
• the camera 10 may be attached to a right / right rear mirror provided only on the left rearview mirror, and the rear of the host vehicle may be photographed from both the right and left sides.
• a front camera that captures the left and right direction of the tip of the vehicle is attached so that a guide line based on the distance from the host vehicle is displayed on the image when heading at an intersection with poor visibility. Also good. In this way, it is possible to start with peace of mind even at intersections with poor visibility.
• a warning sound is generated before entering a dangerous state.
• a display notifying the danger on the screen of the monitor 13 may be performed. You can combine them. Further, it may be blinked by using a light emitting means such as an LED separately from the monitor 13.
• the monitor 13 may be omitted, and light emitting means for emitting red, yellow, and green light may be used to notify the situation. In this way, a significant cost reduction can be achieved. However, if car navigation or car TV is installed in advance, these can be used, and in this case, the cost can be greatly reduced.
• the distance from the host vehicle position may be displayed as a numerical value in consideration of a guide line drawn based on the distance from the host vehicle. By doing this, the position is more accurately It becomes possible to grasp the relationship.
• the present invention can easily determine the positional relationship with another vehicle when changing lanes or making a left turn, and has the effect of sufficiently assisting the driver's visual inspection. Applicable to both.

Landscapes

• Engineering & Computer Science (AREA)
• Multimedia (AREA)
• Mechanical Engineering (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Traffic Control Systems (AREA)
• Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
• Image Processing (AREA)
• Closed-Circuit Television Systems (AREA)
• Image Analysis (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=35839209

Family Applications (1)

Country Status (2)

Cited By (9)

Families Citing this family (18)

Citations (7)

Family Cites Families (4)

• 2004
  • 2004-08-10 JP JP2004233031A patent/JP2006051850A/ja active Pending
• 2005
  • 2005-03-15 WO PCT/JP2005/004546 patent/WO2006016433A1/ja not_active Ceased

Patent Citations (7)

Also Published As

Similar Documents

Legal Events