WO2012102392A1 - 車両の走行支援装置 - Google Patents
車両の走行支援装置 Download PDFInfo
- Publication number
- WO2012102392A1 WO2012102392A1 PCT/JP2012/051872 JP2012051872W WO2012102392A1 WO 2012102392 A1 WO2012102392 A1 WO 2012102392A1 JP 2012051872 W JP2012051872 W JP 2012051872W WO 2012102392 A1 WO2012102392 A1 WO 2012102392A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- color
- vehicle
- guide line
- captured image
- unit
- Prior art date
Links
- 238000003384 imaging method Methods 0.000 claims abstract description 26
- 239000003086 colorant Substances 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims description 14
- 230000000295 complement effect Effects 0.000 claims description 11
- 230000003287 optical effect Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000002195 synergetic effect Effects 0.000 description 2
- 235000005811 Viola adunca Nutrition 0.000 description 1
- 240000009038 Viola odorata Species 0.000 description 1
- 235000013487 Viola odorata Nutrition 0.000 description 1
- 235000002254 Viola papilionacea Nutrition 0.000 description 1
- 241000394567 Viola pubescens Species 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- 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
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
-
- 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
Definitions
- the present invention relates to a device that supports driving of a vehicle. More specifically, the present invention captures the periphery of the vehicle, displays the captured image on an in-vehicle monitor, and superimposes a guide line for supporting driving of the vehicle on the captured image.
- the present invention relates to a vehicle travel support apparatus to be displayed.
- a travel support device that displays a captured image of the periphery of the vehicle captured by an in-vehicle camera on a monitor installed in the vehicle is often used.
- the driver can recognize obstacles around the vehicle by traveling while checking the captured image displayed on the in-vehicle monitor, and can park in the parking area accurately and easily when parking. Become.
- this driving support device in addition to the captured image of the periphery of the vehicle imaged by the in-vehicle camera, another image for supporting the driving of the vehicle is superimposed on the vehicle rear image. .
- an apparatus that displays a vehicle course prediction guide line superimposed on a captured image so that the distance and width between the vehicle and an object can be easily grasped.
- Japanese Patent Laid-Open No. 2010-1020 discloses a device that displays a parking frame line indicating a parking space superimposed on a rear image of a vehicle and displays a side line portion or a shadow portion on an index line. ing. As a result, the color area of the index line increases and the index line can be easily recognized.
- the occupied area of the guide line drawn on the captured image increases accordingly, and the road surface or landscape displayed on the captured image is around the vehicle.
- the area which hides an image will increase.
- the captured image is important information for the driver, and it is not preferable to hide the captured image. It is desirable that the area is as small as possible within the range where the guide line can be clearly recognized.
- an object of the present invention is to provide a vehicle driving support device capable of displaying a clearly recognizable guide line without increasing the area of the guide line to be superimposed on a captured image around the vehicle.
- a vehicle travel support device is a vehicle travel support device that displays a captured image of a vehicle periphery on an in-vehicle monitor.
- An imaging unit that captures a captured image; and an image processing unit that displays a guide line superimposed on the captured image output from the imaging unit.
- the image processing unit periodically displays the guide line in a longitudinal direction thereof. Change the color to display.
- the color of the guide line superimposed on the captured image by changing the color of the guide line superimposed on the captured image and periodically arranging two or more colors, it is clearly recognized without being influenced by the color or shape of the captured image.
- Possible guide lines can be superimposed and displayed.
- the color of the guide line is changed in the longitudinal direction, the width of the guide line can be the same as that of the conventional guide line represented by a single color without increasing the area of the superimposed image. It is possible to provide an image display in which both the captured image and the guide line can be easily recognized.
- the guide line may include at least a first color part and a second color part, and the first color part and the second color part may be adjacent to each other in the longitudinal direction of the guide line. Good.
- the hues of the first color portion and the second color portion adjacent to each other may have a complementary color relationship. .
- the display is effective for color blind persons, and the recognition accuracy of the guide line can be further increased.
- the adjacent first color portion and the second color portion may have substantially the same hue and have different shades. Thereby, it is possible to superimpose and display a guide line that can be clearly recognized without being influenced by the color of the captured image.
- the first color portion and the second color portion may each include a filled portion and a frame line portion, and the fill portion and the frame line portion may have different saturations. Thereby, a guide line that can be recognized more clearly can be superimposed and displayed without being influenced by the color of the captured image.
- the image processing unit may increase the length of the first color part and the second color part as the spatial frequency of the captured image is higher. Accordingly, even if the spatial frequency is high, the lengths of the first color portion and the second color portion are increased, so that a clearly recognizable guide line can be displayed in weight.
- the image processing unit may be configured not to periodically change the colors of the first color portion and the second color portion when the spatial frequency of the captured image is high. As a result, when the spatial frequency is high, the guide line is displayed as a uniform line, so that a clearly recognizable guide line can be superimposed and displayed.
- the image processing unit displays the guide line from the vehicle side to the far side, and the image processing unit displays the length of the first color unit and the second color unit on the vehicle side as the length on the far side. In addition, it may be shortened.
- the far-side captured image generally has a high spatial frequency, which increases the length of the far-side color change period, so that a clearly recognizable guide line can be superimposed and displayed.
- the image processing unit displays the guide line from the vehicle side to the far side, and the image processing unit sets the lengths of the first color unit and the second color unit on the vehicle side to the far side. You may make it longer than the length of a 1st color part and the said 2nd color part. Thereby, since the length of the period of the color change on the far side is shortened, the driver can easily recognize the guideline with a natural perspective.
- the adjacent first color part and the second color part have different hues, and the image processing unit periodically changes the shades of the first color part and the second color part. It may be displayed. Thereby, a guide line that can be recognized more clearly can be superimposed and displayed without being influenced by the color of the captured image.
- the guide line displays the guide line from the vehicle side to the far side, and the image processing unit increases the brightness of the guide line on the vehicle side compared to the brightness of the guide line on the far side. May be. Thereby, even when the brightness on the vehicle side is low, a guide line that can be recognized more clearly can be superimposed and displayed.
- the image processing unit further includes a storage unit that stores a plurality of color arrangement patterns each including a combination of the guide line colors, and the image processing unit includes a color arrangement pattern selection unit that selects the color arrangement pattern from the storage unit, and a guide line A color arrangement pattern setting unit that sets the color arrangement pattern to the color arrangement pattern selected by the color arrangement pattern selection unit may be included.
- a storage unit that stores a plurality of color arrangement patterns each including a combination of the guide line colors
- the image processing unit includes a color arrangement pattern selection unit that selects the color arrangement pattern from the storage unit, and a guide line
- a color arrangement pattern setting unit that sets the color arrangement pattern to the color arrangement pattern selected by the color arrangement pattern selection unit may be included.
- the image processing unit may include a lightness selection unit that selects the lightness of the guide line, and a lightness setting unit that sets the lightness of the guide line to the lightness selected by the lightness selection unit.
- the image processing unit detects a color attribute detection unit that detects at least one of a hue and a brightness of a captured image region on which the guide line is superimposed, and the hue and the brightness of the captured image region and the guide line.
- a coloration pattern setting unit or a lightness setting unit that compares at least one of them and changes the coloration pattern of the guide line and the lightness of the guide line at least in the part that matches or approximates when there is a part that matches or approximates And may be included.
- the configuration is such that the color arrangement pattern or brightness of the guide line is changed, so that it is always possible regardless of the color of the captured image.
- part which changes the color scheme pattern or lightness of a guide line may be a part of guide line, or may be all. Even in such a vehicle driving support device, a guide line that can be clearly recognized can be superimposed and displayed without being influenced by the color or shape of the captured image.
- a vehicular driving support apparatus that displays a captured image around a vehicle on an in-vehicle monitor, and an image acquisition unit that acquires the captured image around the vehicle.
- An image processing unit that superimposes and displays a guide line on the captured image output from the imaging unit, and the image processing unit displays the guide line by periodically changing the color in the longitudinal direction. Even in such a vehicle driving support device, a guide line that can be clearly recognized can be superimposed and displayed without being influenced by the color or shape of the captured image.
- a travel support device for a vehicle in which a captured image around the vehicle is displayed on an in-vehicle monitor, and the captured image around the vehicle is mounted on the vehicle.
- An image capturing unit that captures an image
- an image processing unit that superimposes and displays a guide line on a captured image output from the image capturing unit, and color attribute detection that detects at least one of hue and brightness of a captured image region on which the guide line is superimposed
- the image processing unit compares the at least one of hue and brightness between the captured image region and the guide line, and when there is a portion where the at least one of hue or brightness matches or approximates, The color of the guide line at the coincident or approximate part is changed. Even in such a vehicle driving support device, a guide line that can be clearly recognized can be superimposed and displayed without being influenced by the color or shape of the captured image.
- the present invention by changing the color of the guide line superimposed on the captured image and periodically arranging two or more colors, it can be clearly recognized without being influenced by the color or shape of the captured image. Can be displayed in a superimposed manner.
- the color of the guide line is changed in the longitudinal direction, the width of the guide line can be the same as that of the conventional guide line represented by a single color without increasing the area of the superimposed image. It is possible to provide an image display in which both the captured image and the guide line can be easily recognized.
- FIG. 1 is a block diagram illustrating a configuration of a vehicle travel support apparatus and peripheral devices thereof according to an embodiment of the present invention. It is a figure which shows the display image which superimposed the 2 color guide line on the captured image. It is a figure which shows the display image which superimposed the 3 color guide line on the captured image. It is a figure which shows the Munsell hue ring. It is a block diagram which shows the specific structural example of the image process part and memory in embodiment of this invention. It is a figure which shows an example of a color scheme pattern table. It is a figure explaining the setting method of brightness. It is a figure which shows the display image which superimposed the 2 color guide line which made the color scheme different according to the shadow of a captured image on the captured image. It is a flowchart which shows an example of a process of the driving assistance device which concerns on embodiment of this invention.
- FIG. 1 is a block diagram showing a configuration of a vehicle travel support apparatus and peripheral devices thereof according to an embodiment of the present invention.
- a vehicle travel support apparatus 1 mainly includes an imaging optical system 2, an imaging unit 3, a memory (storage unit) 4, an image processing unit 5, and a controller unit 6.
- the imaging optical system 2 is an optical member that causes light (that is, an optical image around the vehicle) to enter the imaging unit 3.
- the imaging optical system includes one or a plurality of lenses.
- the imaging optical system 2 may include other optical members such as a filter in addition to the lens, and the plurality of optical members are arranged so that their optical axes coincide with each other.
- the image pickup unit 3 is mounted on a vehicle and picks up a picked-up image around the vehicle via the image pickup optical system 2.
- a sensor, a CMOS sensor, or the like is used. Note that an A / D converter (not shown) that converts the analog output of the imaging unit 3 into a digital signal is provided between the imaging unit 3 and the image processing unit 5.
- the memory 4 mainly stores a guide line color pattern, a captured image, or a guide line image.
- the guide line is superimposed and displayed on the captured image in order to support driving of the vehicle.
- the guide line indicates a predicted track of the vehicle, a guide line indicating a distance from the vehicle, and a vehicle width.
- the guide line may be linear or curved.
- the guide line may be stored in the memory 4 in advance, or may be changed according to the behavior of the vehicle such as the steering angle of the vehicle, the difference between the left and right wheel rotational speeds, and the vehicle speed.
- the controller unit 6 mainly outputs a command signal of a guide line image to be superimposed on the captured image, acquires an input signal from the input unit 7, or acquires sensor signals from various sensors included in the vehicle. To do.
- the input means 7 is installed near the driver's seat and inputs various input signals. For example, a keyboard or a touch panel is used. An input signal from the input means 7 is transmitted to the controller unit 6 via the line 8.
- the line 8 may be an in-vehicle network such as CAN (Controller Area Network) or a dedicated line.
- the image processing unit 5 and the controller unit 6 are configured by, for example, an MPU, an LSI, or the like.
- the image processing unit 5 superimposes a guide line on the captured image output from the imaging unit 3 and outputs the generated image to the display unit 9 such as an in-vehicle monitor.
- the guide line to be superimposed on the captured image is displayed by periodically changing the color in the longitudinal direction.
- FIGS. 2 and 3 An example of a display image in which a guide line is superimposed on a captured image will be described with reference to FIGS. 2 and 3, as an example, a guide line that indicates a predicted course of the vehicle drawn in the traveling direction of the vehicle (direction inclined with respect to the vertical direction of the paper) and the vehicle width direction (horizontal of the paper).
- the guide line indicating the vehicle width drawn in (direction) is displayed.
- FIG. 2 is a diagram illustrating a display image in which two-color guide lines are superimposed on a captured image.
- This display image is obtained by superimposing a guide line 21 on the captured image 20, and the guide line 21 has a color 21a (an example of a first color part) and a color 21b (an example of a second color part) in the longitudinal direction.
- FIG. 3 is a diagram illustrating a display image in which three-color guide lines are superimposed on a captured image.
- This display image is obtained by superimposing and displaying guide lines 22 on the captured image 20, and the guide lines 22 are periodically arranged with colors 22a, 22b and 22c in the longitudinal direction.
- one color is discontinuously changed to the other color, but the color may be arranged so that one color is continuously changed to the other color.
- the present embodiment by changing the color of the guide line superimposed on the captured image and periodically arranging two or more colors, it is clearly recognized without being influenced by the hue or shape of the captured image.
- Possible guide lines can be superimposed and displayed.
- the color of the guide line is changed in the longitudinal direction, the width of the guide line can be the same as that of a conventional guide line represented by a single color, and the area of the superimposed image is increased. Therefore, it is possible to display an image easily recognizing both the captured image and the guide line.
- the hues of the colors adjacent to each other in the longitudinal direction of the guide line have a complementary color relationship.
- the complementary color relationship is a relationship positioned oppositely in the hue circle.
- the Munsell hue circle shown in FIG. 4 can be used to select a hue having a complementary color relationship.
- the Munsell hue ring is divided into a total of 10 colors: 5 basic colors (red, yellow, green, blue, purple) and their intermediate colors (yellow red, yellow green, blue green, blue purple, red purple). The colors are further divided and arranged in a circle.
- hues positioned in the opposite direction such as a combination of red and blue green, a combination of yellow red and blue, a combination of yellow and blue-violet, and the like are selected.
- the hues of the adjacent colors may be hues that are close to the opposite positions even if they are not exactly opposite in the hue circle.
- a combination of red and green, a combination of red and blue, or the like may be used.
- substantially equal hues include, for example, a color adjacent to a certain color in the Munsell hue circle shown in FIG. In selecting a hue having a complementary color relationship, other hue data may be used.
- the hues of the colors adjacent in the longitudinal direction have a complementary color relationship, a synergistic effect in which the adjacent colors complement each other can be obtained, and the guide line can be clearly recognized.
- the display is effective for color blind persons, and the recognition accuracy of the guide line can be further increased.
- the guide lines may have different shades of colors adjacent in the longitudinal direction. Color shading is based on one or both of lightness and saturation.
- the memory 4 includes a color information memory 41 and an image memory 42.
- the color information memory 41 stores a color arrangement pattern table for guide lines. An example of the color arrangement pattern table is shown in FIG.
- This color arrangement pattern table stores a plurality of color arrangement patterns composed of combinations of guide line colors, and each is assigned a pattern number. For example, pattern number 1 is a combination of the reference color yellow and the opposite color blue. Further, brightness may be set for each of the reference color and the opposite color.
- the image memory 42 stores captured images and guide line images captured by the imaging unit 3.
- the image processing unit 5 includes a color arrangement pattern selection unit 51, a color attribute detection unit 52, a lightness selection unit 53, a color arrangement pattern setting unit 54, a lightness setting unit 55, and an image superimposing unit 56.
- the image superimposing unit 56 performs processing for superimposing a guide line on the captured image.
- the color arrangement pattern selection unit 51 selects a color arrangement pattern from the color information memory 41 in accordance with an input signal from the input unit 7.
- the color attribute detection unit 52 detects the hue or brightness of the captured image region on which the guide line is superimposed.
- the color attribute detection means 52 may further detect color shading.
- the lightness selection means 53 selects the lightness of the guide line according to the input signal from the input means.
- the image processing unit 5 may change the color arrangement pattern and brightness of the guide line according to the spatial frequency of the captured image.
- the spatial frequency represents a spatial period, and a high spatial frequency means that there are many spatial changes in the captured image.
- the color arrangement pattern setting means 54 sets the color arrangement pattern of the guide line to the color arrangement pattern selected by the color arrangement pattern selection means 51, the hue or brightness of the captured image area detected by the color attribute detection means 52, and the hue of the guide line Alternatively, the lightness is compared, and if there is a site that matches or approximates, the coloration pattern of the guide line in at least the site that matches or approximates is changed.
- the lightness setting means 55 sets the lightness of the guide line to the lightness selected by the lightness selection means 53, or the hue or lightness of the captured image area detected by the color attribute detection means 52 and the hue or lightness of the guide line. In comparison, when there is a site where these match or approximate, the lightness of the guide line at least at the site that matches or approximates is changed. As shown in FIG. 7, for example, when the partial color displayed in the captured image is gray, the color of the guide line is red, and the lightness of the partial line and the color of the guide line matches, the lightness setting means In 55, only the lightness is changed while the hue and saturation of the guide line are the same. Here, the bright red color with high brightness is changed to the dark red color with low brightness.
- FIG. 8 is a diagram illustrating a display image in which two-color guide lines having different color arrangement patterns according to the shadow of the captured image are superimposed on the captured image.
- the side farther from the vehicle is the shade 20A
- the side closer to the vehicle is the shade 20B.
- the color arrangement pattern setting means 54 sets the color arrangement pattern to be different between the part of the guide line 23 superimposed on the shade 20A and the part of the guide line 23 superimposed on the shade 20B.
- the guide line 23 superimposed on the sun 20A is displayed in a color pattern composed of the color 23a2 and the color 23b2, and the guide line 23 superimposed on the shade 20B is a color pattern composed of the color 23a1 and the color 23b1. It is displayed.
- the color arrangement pattern or brightness of the guide lines 23 may be partially changed in one guide line 23.
- the guide line color pattern or brightness is changed so that the guide is always the most easily recognized regardless of the color of the captured image. A line can be displayed.
- step S1 the controller unit 6 acquires the position of the shift lever from a shift position detection sensor mounted on the vehicle, and determines from this shift position whether the vehicle is currently traveling.
- a color arrangement pattern is selected from the color information memory 41 by the color arrangement pattern selection means 51 based on the input signal acquired via the line 8 as step S2.
- step S3 it is determined by the color arrangement pattern setting means 54 whether or not the selected color arrangement pattern is the same as the currently set color arrangement pattern. If they are different, the color arrangement pattern of the guide line is changed in step S4. To do.
- step S5 the color attribute detection unit 52 superimposes the guide lines. Detect the brightness of the image area.
- step S6 the brightness setting means 55 determines whether the detected brightness of the captured image area matches or approximates the preset guide line brightness, and the brightness of the captured image area is determined. If the brightness of the guide line does not match or approximate, the process returns to step S1 with the setting unchanged. On the other hand, if the brightness of the captured image area matches or approximates the brightness of the guide line, after changing the brightness of the guide line in step S7, the process returns to step S1.
- the hues of the colors (first color part and second color part) adjacent in the longitudinal direction have a complementary color relationship, a clearly recognizable guide line is superimposed and displayed.
- the adjacent first color portion and the second color portion may have hues that are substantially equal to each other and have different shades. Even in this case, a guide line that can be clearly recognized can be superimposed and displayed without being influenced by the hue of the captured image.
- the first color portion and the second color portion may each include a filled portion and a frame line portion, and the fill portion and the frame line portion may have different saturations. Thereby, a guide line that can be recognized more clearly can be superimposed and displayed without being influenced by the color of the captured image.
- the length of the change period of the color of the guide line 21 is uniform. However, these lengths may be appropriately changed.
- the length of the cycle may be longer as the spatial frequency of the captured image is higher.
- the image processing unit may be configured not to periodically change the colors of the first color portion and the second color portion when the spatial frequency of the captured image is high. As a result, when the spatial frequency is high, the guide line is displayed as a uniform line, so that a clearly recognizable guide line can be superimposed and displayed.
- the image processing unit displays the guide line from the vehicle side to the far side, and the image processing unit displays the length of the first color unit and the second color unit on the vehicle side as the length on the far side. In addition, it may be shortened.
- the far-side captured image generally has a high spatial frequency, which increases the length of the far-side color change period, so that a clearly recognizable guide line can be superimposed and displayed.
- the image processing unit displays the guide line from the vehicle side to the far side, and the image processing unit sets the lengths of the first color unit and the second color unit on the vehicle side to the far side. You may make it longer than the length of a 1st color part and the said 2nd color part. Thereby, since the length of the period of the color change on the far side is shortened, the driver can easily recognize the guideline with a natural perspective.
- the first color portion and the second color portion adjacent to each other have different hues
- the image processing portion displays each of the first color portion and the second color portion by periodically changing the shades of the first color portion and the second color portion. You may let them. Thereby, a guide line that can be recognized more clearly can be superimposed and displayed without being influenced by the color of the captured image.
- the image processing unit may display the guide line from the vehicle side to the far side, and the brightness of the guide line on the vehicle side may be higher than the brightness of the guide line on the far side. Thereby, even when the brightness on the vehicle side is low, a guide line that can be recognized more clearly can be superimposed and displayed.
- the vehicle travel support device includes the imaging unit, but the vehicle travel support device is not limited to the above.
- a vehicle travel support device that displays a captured image of a vehicle periphery on an in-vehicle monitor
- an image acquisition unit that acquires the captured image of the vehicle periphery
- An image processing unit that superimposes and displays a guide line on the captured image
- the image processing unit displays the guide line by periodically changing the color in the longitudinal direction. Even in such a vehicle driving support device, a guide line that can be clearly recognized can be superimposed and displayed without being influenced by the color or shape of the captured image.
- the guide line is displayed with the color periodically changed in the longitudinal direction, but based on the hue or brightness of the captured image area detected by the color attribute detection unit, You may comprise so that the color of a guide line may be changed.
- a vehicle travel support apparatus that displays a captured image around a vehicle on an in-vehicle monitor, an imaging unit that is mounted on the vehicle and captures a captured image around the vehicle, and a captured image output from the imaging unit
- An image processing unit that superimposes and displays a guide line, and a color attribute detection unit that detects at least one of a hue and a brightness of a captured image region on which the guide line is superimposed may be included, and the image processing unit includes the captured image
- the image processing unit includes the captured image
Abstract
Description
一般的には、車両と対象物との距離や横幅を把握しやすいように、車両の進路予測ガイド線を撮像画像に重畳して表示させる装置が知られている。
そして、隣接する前記前記第1色部と前記第2色部の色相が互いに補色関係を有していてもよい。。
このように、長手方向に隣接する色の色相が補色関係を有していることにより、隣接する色が互いの色を引き立て合う相乗効果を奏し、ガイド線をより明確に認識可能となる。特に色覚障害者に対して有効な表示となり、ガイド線の認識精度をより一層高めることができる。
このように、ガイド線の配色パターンを、記憶部に予め設定された複数の配色パターンから選択可能とすることにより、個々の運転者に応じて最も認識しやすいガイド線を表示することが可能となる。
このように、ガイド線の明度を選択可能とすることにより、個々の運転者に応じて最も認識しやすいガイド線を表示することが可能となる。
このように、撮像画像領域とガイド線とで色相と明度の少なくとも一方が一致若しくは近似する場合に、ガイド線の配色パターンまたは明度を変更する構成とすることにより、撮像画像の色に関わらず常に最も認識しやすいガイド線を表示することが可能となる。
なお、ガイド線の配色パターンまたは明度を変更する部位は、ガイド線の一部であってもよいし、全部であってもよい。
このような車両の走行支援装置であっても、撮像画像の色合いや形状に左右されることなく明確に認識可能なガイド線を重畳表示させることができる。
このような車両の走行支援装置であっても、撮像画像の色合いや形状に左右されることなく明確に認識可能なガイド線を重畳表示させることができる。
このような車両の走行支援装置であっても、撮像画像の色合いや形状に左右されることなく明確に認識可能なガイド線を重畳表示させることができる。
本発明の実施形態に係る車両の走行支援装置1は、主に、撮像光学系2と、撮像部3と、メモリ(記憶部)4と、画像処理部5と、コントローラ部6とを有する。
撮像部3は、車両に搭載され、撮像光学系2を介して車両周辺の撮像画像を撮像するものであり、撮像光学系2で結像された光学像を電気信号に変換する撮像素子、CCDセンサ、CMOSセンサ等が用いられる。なお、撮像部3と画像処理部5との間には、撮像部3のアナログ出力をデジタル信号に変換するA/D変換器(図示略)を有している。
この画像処理部5では、撮像画像に重畳させるガイド線を、その長手方向に周期的に色を変化させて表示させるようになっている。
図3は撮像画像に3色ガイド線を重畳した表示画像を示す図である。この表示画像は撮像画像20にガイド線22を重畳表示したものであり、ガイド線22は、その長手方向に色22aと色22bと色22cとが周期的に配色されている。
なお、図2では、一方の色が他方の色に非連続に変化しているが、一方の色が他方の色に連続的に変化するように配色されてもよい。
ここで、補色関係とは、色相環で反対に位置する関係である。補色関係を有する色相の選択には、例えば図4に示すマンセル色相環を用いることができる。マンセル色相環は、5色の基本色(赤、黄、緑、青、紫)とそれらの中間色(黄赤、黄緑、青緑、青紫、赤紫)との計10色で分割し、それらの色の間もさらに分割して円形に並べたものである。
この色相環を用いて、赤と青緑の組み合わせ、黄赤と青の組み合わせ、黄と青紫の組み合わせ等のように正反対に位置する色相を選択する。このとき、隣接する色の色相は、色相環にて正反対に位置しなくても正反対に近い位置の色相であればよい。例えば、赤と緑の組み合わせ、赤と青の組み合わせ等としてもよい。なお、以降の説明では、ほぼ等しい色相は、例えば、図4に示すマンセル色相環において、ある色に対して隣接する色を含む。
なお、補色関係を有する色相の選択においては、他の色相データを用いてもよいことはもちろんである。
このように、長手方向に隣接する色の色相が補色関係を有していることにより、隣接する色が互いの色を引き立て合う相乗効果を奏し、ガイド線を明確に認識可能となる。特に色覚障害者に対して有効な表示となり、ガイド線の認識精度をより一層高めることができる。なお、ガイド線は長手方向に隣接する色の濃淡が異なるものであってもよい。色の濃淡は明度と彩度のいずれか一方もしくはその両方に基づいている。
メモリ4は、色情報メモリ41と、画像メモリ42とを含む。
色情報メモリ41には、ガイド線の配色パターンテーブルが記憶されている。配色パターンテーブルの一例を図6に示す。この配色パターンテーブルは、ガイド線の色の組み合わせからなる配色パターンが複数記憶されたものであり、それぞれにパターン番号が付してある。例えば、パターン番号1は、基準色が黄色で反対色が青色の組み合わせからなる。さらに、基準色と反対色とにそれぞれ明度が設定されていてもよい。
画像メモリ42には、撮像部3で撮像された撮像画像やガイド線画像が記憶されている。
画像重畳手段56は、撮像画像にガイド線を重畳させる処理を行う。なお、ここではガイド線の配色パターンや明度を設定した後にガイド線を重畳させる構成を示しているが、先に撮像画像にガイド線を重畳させた後に配色パターンや明度を設定し直す構成としてもよい。
配色パターン選択手段51は、入力手段7からの入力信号に応じて色情報メモリ41から配色パターンを選択する。
色属性検出手段52は、ガイド線が重畳される撮像画像領域の色相若しくは明度を検出する。なお、色属性検出手段52は、さらに色の濃淡を検出するものであってもよい。 明度選択手段53は、入力手段からの入力信号に応じてガイド線の明度を選択する。
なお、画像処理部5は、撮像画像の空間周波数に応じて、ガイド線の配色パターンや明度を変更してもよい。ここで、空間周波数は、空間的な周期を表すものであり、空間周波数が高いとは撮像画像において空間的な変化が多いことを意味する。
図7に示すように、例えば、撮像画像に映し出される一部位の色が灰色で、ガイド線の色が赤色であり、且つ該一部位とガイド線の色の明度が一致する場合、明度設定手段55では、ガイド線の色を色相および彩度は同一のまま明度のみ変更する。ここでは、明度の高い明るい赤色から明度の低い暗い赤色に変更している。
このように、一つのガイド線23において部分的にガイド線23の配色パターンまたは明度を異ならせてもよい。
また、撮像画像部位とガイド線とで色相若しくは明度が一致若しくは近似する場合に、ガイド線の配色パターンまたは明度を変更する構成とすることにより、撮像画像の色に関わらず常に最も認識しやすいガイド線を表示することが可能となる。
まず、ステップS1として、コントローラ部6にて、車両に搭載されるシフト位置検出センサからシフトレバーの位置を取得し、このシフト位置から車両が現在走行中であるか否かを判断する。走行中と判断されたとき、ステップS2として、回線8を介して取得した入力信号に基づいて、配色パターン選択手段51にて色情報メモリ41から配色パターンを選択する。そして、ステップS3として、この選択された配色パターンが現状設定されている配色パターンと同じか否かを配色パターン設定手段54にて判断し、異なる場合にはステップS4でガイド線の配色パターンを変更する。
このような車両の走行支援装置であっても、撮像画像の色合いや形状に左右されることなく明確に認識可能なガイド線を重畳表示させることができる。
このような車両の走行支援装置であっても、撮像画像の色合いや形状に左右されることなく明確に認識可能なガイド線を重畳表示させることができる。
本出願は、2011年1月27日出願の日本特許出願・出願番号2011-015807、に基づくものであり、その内容はここに参照として取り込まれる。
2 撮像光学系
3 撮像部
4 メモリ
5 画像処理部
6 コントローラ部
7 入力手段
9 表示手段
20 撮像画像
21~23 ガイド線
Claims (16)
- 車両周辺の撮像画像を車内モニタ上に表示させる車両の走行支援装置において、
前記車両に搭載されて前記車両周辺の撮像画像を撮像する撮像部と、
前記撮像部から出力される撮像画像にガイド線を重畳表示させる画像処理部とを有し、
前記画像処理部は、前記ガイド線をその長手方向に周期的に色を変化させて表示させる車両の走行支援装置。 - 前記ガイド線は、少なくとも第1色部と第2色部を有しており、
前記第1色部と前記第2色部は、前記ガイド線の前記長手方向に互いに隣接していることを請求項1に記載の車両走行装置。 - 隣接する前記前記第1色部と前記第2色部の色相が互いに補色関係を有している請求項2に記載の車両の走行支援装置。
- 隣接する前記第1色部と前記第2色部は互いにほぼ等しい色相を有し、かつ異なる濃淡を有する、請求項2に記載の車両の走行支援装置。
- 前記第1色部と前記第2色部は、それぞれ塗りつぶし部と枠線部を備え、
前記塗りつぶし部と前記枠線部は、異なる彩度を有する、請求項2から4のいずれか一項に記載の車両の走行支援装置。 - 前記画像処理部は、前記撮像画像の空間周波数が高いほど、前記第1色部と前記第2色部の長さをより長くする、請求項2から5のいずれか一項に記載の車両の走行支援装置。
- 前記画像処理部は、前記撮像画像の空間周波数が高い場合、前記第1色部と前記第2色部の色を周期的に変化させない、請求項2から5のいずれか一項に記載の車両の走行支援装置。
- 前記画像処理部は、前記ガイド線を車両側から遠方側にわたって表示し、
前記画像処理部は、前記車両側の前記第1色部と前記第2色部の長さを、前記遠方側の前記第1色部と前記第2色部の長さより、短くする請求項2から5のいずれか一項に記載の車両の走行支援装置。 - 前記画像処理部は、前記ガイド線を車両側から遠方側にわたって表示し、
前記画像処理部は、前記車両側の前記第1色部と前記第2色部の長さを、前記遠方側の前記第1色部と前記第2色部の長さより、長くする、請求項2から5のいずれか一項に記載の車両の走行支援装置。 - 隣接する前記第1色部と前記第2色部は互いに異なる色相を有し、
前記画像処理部は、前記第1色部と前記第2色部のそれぞれの濃淡を周期的に変化させて表示させる、請求項2から5のいずれか一項に記載の車両の走行支援装置。 - 前記画像処理部は、前記ガイド線を車両側から遠方側にわたって表示し、
前記画像処理部は、前記車両側の前記ガイド線の明度を、前記遠方側の前記ガイド線の明度に比べて、高くする、請求項1から5のいずれか一項に記載の車両の走行支援装置。 - 前記ガイド線の色の組み合わせからなる配色パターンを複数記憶した記憶部をさらに有し、
前記画像処理部は、
前記記憶部から前記配色パターンを選択する配色パターン選択部と、
前記ガイド線の配色パターンを前記配色パターン選択部で選択された配色パターンに設定する配色パターン設定部と、
を含む請求項1から11のいずれか一項に記載の車両の走行支援装置。 - 前記画像処理部は、
前記ガイド線の明度を選択する明度選択部と、
前記ガイド線の明度を前記明度選択部で選択された明度に設定する明度設定部と、
を含む請求項1から12のいずれか一項に記載の車両の走行支援装置。 - 前記画像処理部は、
前記ガイド線が重畳される撮像画像領域の色相と明度の少なくとも一方を検出する色属性検出部と、
前記撮像画像領域と前記ガイド線とで、色相若しくは明度の前記少なくとも一方を比較し、色相若しくは明度の前記少なくとも一方が一致若しくは近似する部位が存在する場合に、少なくとも前記一致若しくは近似する部位における前記ガイド線の配色パターンと前記ガイド線の明度の少なくとも一方を変更する配色パターン設定部または明度設定部と、
を含む請求項1から13のいずれか一項に記載の車両の走行支援装置。 - 車両周辺の撮像画像を車内モニタ上に表示させる車両の走行支援装置において、
前記車両周辺の撮像画像を取得する画像取得部と、
前記撮像部から出力される撮像画像にガイド線を重畳表示させる画像処理部とを備え、
前記画像処理部は、前記ガイド線をその長手方向に周期的に色を変化させて表示させる車両の走行支援装置。 - 車両周辺の撮像画像を車内モニタ上に表示させる車両の走行支援装置において、
前記車両に搭載されて前記車両周辺の撮像画像を撮像する撮像部と、
前記撮像部から出力される撮像画像にガイド線を重畳表示させる画像処理部と、
前記ガイド線が重畳される撮像画像領域の色相と明度の少なくとも一方を検出する色属性検出部とを有し、
前記画像処理部は、前記撮像画像領域と前記ガイド線とで色相と明度の前記少なくとも一方を比較し、色相若しくは明度の前記少なくとも一方が一致若しくは近似する部位が存在する場合に、前記一致若しくは近似する部位における前記ガイド線の色を変更する車両の走行支援装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012554872A JP5643344B2 (ja) | 2011-01-27 | 2012-01-27 | 車両の走行支援装置 |
US13/982,245 US9363485B2 (en) | 2011-01-27 | 2012-01-27 | Vehicle driving assist device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011015807 | 2011-01-27 | ||
JP2011-015807 | 2011-01-27 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2012102392A1 true WO2012102392A1 (ja) | 2012-08-02 |
Family
ID=46580955
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2012/051872 WO2012102392A1 (ja) | 2011-01-27 | 2012-01-27 | 車両の走行支援装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US9363485B2 (ja) |
JP (1) | JP5643344B2 (ja) |
WO (1) | WO2012102392A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014146149A (ja) * | 2013-01-29 | 2014-08-14 | Kyocera Corp | 画像処理装置および走行支援方法 |
JP2019155967A (ja) * | 2018-03-07 | 2019-09-19 | パナソニックIpマネジメント株式会社 | 表示制御装置、車両周辺表示システムおよびコンピュータプログラム |
US10930156B2 (en) | 2016-08-09 | 2021-02-23 | JVC Kenwood Corporation | Display control apparatus, display apparatus, display control method, and program |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013224081A (ja) * | 2012-04-20 | 2013-10-31 | Kyocera Corp | 画像処理装置および走行支援方法 |
JP6115104B2 (ja) * | 2012-12-04 | 2017-04-19 | アイシン精機株式会社 | 車両の制御装置、及び制御方法 |
US10184218B1 (en) * | 2014-06-10 | 2019-01-22 | Mark Belloni | Marker light |
DE102015002923B4 (de) | 2015-03-06 | 2023-01-12 | Mekra Lang Gmbh & Co. Kg | Anzeigeeinrichtung für ein Fahrzeug insbesondere Nutzfahrzeug |
JP7113348B2 (ja) * | 2018-03-15 | 2022-08-05 | パナソニックIpマネジメント株式会社 | 車両周辺表示システム、表示制御装置およびコンピュータプログラム |
JP2023043540A (ja) * | 2021-09-16 | 2023-03-29 | トヨタ自動車株式会社 | 車両用表示装置、車両用表示システム、車両用表示方法及びプログラム |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000280822A (ja) * | 1999-03-30 | 2000-10-10 | Yazaki Corp | 車両用バックモニタ装置 |
JP2009126353A (ja) * | 2007-11-22 | 2009-06-11 | Aisin Seiki Co Ltd | 駐車支援装置 |
JP2009232331A (ja) * | 2008-03-25 | 2009-10-08 | Alpine Electronics Inc | 車両運転支援装置 |
JP2010018102A (ja) * | 2008-07-09 | 2010-01-28 | Honda Motor Co Ltd | 運転支援装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7366595B1 (en) * | 1999-06-25 | 2008-04-29 | Seiko Epson Corporation | Vehicle drive assist system |
US6411867B1 (en) * | 1999-10-27 | 2002-06-25 | Fujitsu Ten Limited | Vehicle driving support system, and steering angle detection device |
JP3575364B2 (ja) * | 1999-12-28 | 2004-10-13 | 株式会社豊田自動織機 | 操舵支援装置 |
JP2002362270A (ja) | 2001-06-11 | 2002-12-18 | Matsushita Electric Ind Co Ltd | 運転支援装置 |
JP5636609B2 (ja) | 2008-05-08 | 2014-12-10 | アイシン精機株式会社 | 車両周辺表示装置 |
JP4623395B2 (ja) | 2008-05-08 | 2011-02-02 | アイシン精機株式会社 | 車両周辺表示装置 |
US8340870B2 (en) * | 2008-09-16 | 2012-12-25 | Honda Motor Co., Ltd. | Vehicle maneuver assistance device |
JP2010136289A (ja) * | 2008-12-08 | 2010-06-17 | Denso It Laboratory Inc | 運転支援装置及び運転支援方法 |
-
2012
- 2012-01-27 US US13/982,245 patent/US9363485B2/en active Active
- 2012-01-27 WO PCT/JP2012/051872 patent/WO2012102392A1/ja active Application Filing
- 2012-01-27 JP JP2012554872A patent/JP5643344B2/ja active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000280822A (ja) * | 1999-03-30 | 2000-10-10 | Yazaki Corp | 車両用バックモニタ装置 |
JP2009126353A (ja) * | 2007-11-22 | 2009-06-11 | Aisin Seiki Co Ltd | 駐車支援装置 |
JP2009232331A (ja) * | 2008-03-25 | 2009-10-08 | Alpine Electronics Inc | 車両運転支援装置 |
JP2010018102A (ja) * | 2008-07-09 | 2010-01-28 | Honda Motor Co Ltd | 運転支援装置 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014146149A (ja) * | 2013-01-29 | 2014-08-14 | Kyocera Corp | 画像処理装置および走行支援方法 |
US10930156B2 (en) | 2016-08-09 | 2021-02-23 | JVC Kenwood Corporation | Display control apparatus, display apparatus, display control method, and program |
JP2019155967A (ja) * | 2018-03-07 | 2019-09-19 | パナソニックIpマネジメント株式会社 | 表示制御装置、車両周辺表示システムおよびコンピュータプログラム |
Also Published As
Publication number | Publication date |
---|---|
JPWO2012102392A1 (ja) | 2014-07-03 |
US9363485B2 (en) | 2016-06-07 |
JP5643344B2 (ja) | 2014-12-17 |
US20130307985A1 (en) | 2013-11-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5643344B2 (ja) | 車両の走行支援装置 | |
JP5960466B2 (ja) | 画像処理装置、撮像装置、車両の運転支援装置、及び画像処理方法 | |
JP5454572B2 (ja) | 画像入力装置 | |
US20120169875A1 (en) | Rearward view assistance apparatus | |
US20150312556A1 (en) | Rgb-ir sensor, and method and apparatus for obtaining 3d image by using same | |
US20100134616A1 (en) | Color mask for an image sensor of a vehicle camera | |
CN105774656A (zh) | 车辆周边监视装置 | |
EP2769883B1 (en) | Vehicle driving support device | |
JP5260696B2 (ja) | エッジ点抽出装置、車線検出装置、およびプログラム | |
US10275914B2 (en) | Display system for a vehicle, in particular commercial vehicle | |
CN103680399B (zh) | 显示装置及其驱动方法 | |
JP7074136B2 (ja) | 撮像装置とフリッカー補正方法およびプログラム | |
JP4783047B2 (ja) | 走行支援装置、走行支援方法、走行支援プログラム、および記録媒体 | |
JP2005051791A (ja) | 多種光学センサを備えたセンサアレイ | |
JP2010018102A (ja) | 運転支援装置 | |
CN110073655A (zh) | 固态摄像器件、电子设备和用于控制固态摄像器件的方法 | |
JP2009023471A (ja) | 車両情報表示装置 | |
JP2012121527A (ja) | 画像表示装置 | |
WO2020170565A1 (ja) | 信号処理方法および撮像装置 | |
JP3961969B2 (ja) | 車両周辺画像処理システム | |
CN106657746A (zh) | 具有改进的红外灵敏度的自动车辆成像设备 | |
CN105810699B (zh) | 具有支撑结构以提供经改进滤光器厚度均匀性的彩色滤光器阵列 | |
JP6297630B2 (ja) | 画像処理装置、撮像装置、車両の運転支援装置、及び画像処理方法 | |
CN107079108A (zh) | 具有直方图扩展的机动车辆相机装置 | |
CN111316322A (zh) | 路面区域检测装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 12738853 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2012554872 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 13982245 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 12738853 Country of ref document: EP Kind code of ref document: A1 |