WO2012144076A1 - Vehicle periphery monitoring device and display method for vehicle periphery monitoring information - Google Patents

Vehicle periphery monitoring device and display method for vehicle periphery monitoring information Download PDF

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Publication number
WO2012144076A1
WO2012144076A1 PCT/JP2011/059966 JP2011059966W WO2012144076A1 WO 2012144076 A1 WO2012144076 A1 WO 2012144076A1 JP 2011059966 W JP2011059966 W JP 2011059966W WO 2012144076 A1 WO2012144076 A1 WO 2012144076A1
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Prior art keywords
vehicle
screen
display
image
periphery monitoring
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PCT/JP2011/059966
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French (fr)
Japanese (ja)
Inventor
有華 祖父江
竜路 岡村
愛 吉岡
悠 日栄
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トヨタ自動車株式会社
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Priority to PCT/JP2011/059966 priority Critical patent/WO2012144076A1/en
Publication of WO2012144076A1 publication Critical patent/WO2012144076A1/en

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    • 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

Definitions

  • the present invention relates to a vehicle periphery monitoring device and a vehicle periphery monitoring information display method.
  • a driving support device disclosed in Japanese Patent Application Laid-Open No. 2002-109697 is known.
  • this device when the shift position of the vehicle is a forward gear, an image in front of the vehicle is displayed together with an image of the entire periphery of the vehicle.
  • the shift position of the vehicle is a reverse gear, the entire periphery of the vehicle is displayed.
  • the image behind the vehicle is displayed on the screen together with the image.
  • the vehicle periphery monitoring device of the present invention includes a display device that displays information obtained by vehicle periphery monitoring on the screen, and the display device collides with a vehicle icon representing the vehicle and a surrounding obstacle among the parts of the vehicle. And an image in the vicinity of the possibility of collision, and the display position of the vehicle icon on the screen is determined based on the position of the possibility of collision It is characterized by.
  • the display device that displays the information obtained by the vehicle periphery monitoring collides with a vehicle icon representing the vehicle and a surrounding obstacle among the parts of the vehicle.
  • An image of the vicinity of the likely collision part is displayed on the screen together, and the display position of the vehicle icon on the screen is determined based on the position of the collision possibility part.
  • the vehicle icon and an image of the vicinity of the collision potential portion are displayed together on the screen of the display device.
  • the display position of the vehicle icon is determined based on the position of the collision possibility part. For this reason, the positional relationship between the vehicle icon and an image in the vicinity of the collision possibility part also changes according to the position of the collision possibility part. Therefore, the position of the collision possibility part is associated with the position of the vehicle icon on the screen, and a screen display that allows the driver to intuitively recognize the situation can be performed.
  • the direction of the display position of the image in the vicinity of the collision possibility portion with respect to the display position of the vehicle icon may be assigned so as to correspond to the direction of the collision possibility portion with respect to the actual vehicle.
  • an image of the vicinity of the collision possibility part viewed from the vehicle icon is displayed on the screen in correspondence with the positional relationship between the actual vehicle and the collision possibility part. Therefore, it is possible for the driver to perform a screen display that makes it easy to intuitively recognize the position of the collision possibility part.
  • the display position of the vehicle icon on the screen may be determined based on the expected course of the vehicle.
  • the expected course of the vehicle is information that is closely related to the position of the potential collision site. Therefore, according to the said structure, the position of a collision possibility site
  • the display position of the vehicle icon may be shifted in a direction away from the display position of the image in the vicinity of the collision possibility portion as viewed from the center of the screen.
  • the vehicle periphery monitoring device and the vehicle periphery monitoring information display method of the present invention it is possible to perform screen display that allows the driver to easily recognize the situation.
  • FIG. 1 is a diagram illustrating a first embodiment of a vehicle periphery monitoring device according to the present invention and a vehicle including the same.
  • FIG. 2 is a diagram illustrating an example of a collision possibility region image.
  • FIG. 3 is a diagram illustrating a screen display when the front bumper of the vehicle is about to collide with an obstacle ahead.
  • FIG. 4 is a diagram showing a screen display when the rear bumper of the vehicle is about to collide with an obstacle behind the vehicle.
  • FIG. 5 is a diagram illustrating a screen display when the left bumper of the vehicle is about to collide with an obstacle on the left side.
  • FIG. 6 is a diagram showing a screen display when the right bumper of the vehicle is about to collide with an obstacle on the right side.
  • FIG. 1 is a diagram illustrating a first embodiment of a vehicle periphery monitoring device according to the present invention and a vehicle including the same.
  • FIG. 2 is a diagram illustrating an example of a collision possibility region image.
  • FIG. 7 is a diagram showing a screen display when the front right corner bumper of the vehicle is about to collide with an obstacle on the right front.
  • FIG. 8 is a diagram showing a screen display when the rear left corner bumper of the vehicle is about to collide with an obstacle on the left rear.
  • FIG. 9 is a diagram showing a screen display in the second embodiment of the vehicle periphery monitoring device of the present invention.
  • a vehicle periphery monitoring device 1 shown in FIG. 1 is a device that is mounted on a vehicle (automobile) 100 and that supports driving of a driver.
  • the vehicle periphery monitoring device 1 includes a plurality of cameras 11, a plurality of periphery recognition sensors 13, a display monitor 15, and an information processing unit 17.
  • Each of the plurality of cameras 11 is installed outside the vehicle body of the vehicle 100 with the outer side facing downward, and captures an image of the vehicle periphery of the vehicle 100. If the images obtained by the plurality of cameras 11 are combined, an image of 360 degrees around the vehicle 100 can be acquired. For example, the cameras 11 are installed at four locations on the front, rear, right side, and left side of the vehicle.
  • the plurality of surrounding recognition sensors 13 are installed outside the vehicle body of the vehicle 100 and detect obstacles around the vehicle 100. By using the plurality of surrounding recognition sensors 13, an obstacle around 360 degrees around the vehicle 100 can be detected.
  • the periphery recognition sensor 13 is a clearance sonar that recognizes the presence of an obstacle around the host vehicle using ultrasonic waves and detects the distance to the obstacle.
  • the periphery recognition sensor 13 is installed, for example, on the front right side, front left side, rear right side, and rear left side of the vehicle 100.
  • a sensor that detects an obstacle by image processing based on an image acquired by the camera 11 may be employed.
  • a case where a clearance sonar is used as the periphery recognition sensor 13 will be described as an example.
  • the display monitor (display device) 15 is installed in the driver's seat of the vehicle 100.
  • the display monitor 15 displays information obtained by monitoring the periphery of the vehicle 100 on a screen and provides it to the driver. Specifically, when there is a possibility that one part of the vehicle 100 collides with a surrounding obstacle, an image near the part is displayed on the display monitor 15.
  • a display monitor 15 for example, a multi-function monitor that also serves as a monitor of a car navigation system is used.
  • a portion of the vehicle 100 that may collide with an obstacle is referred to as a “collision potential portion”.
  • the information processing unit 17 is an electronic control unit that controls the entire vehicle periphery monitoring device 1, and is mainly configured by a computer including a CPU, a ROM, and a RAM, for example.
  • the information processing unit 17 generates a display screen to be displayed on the display monitor 15 and transmits an image signal to the display monitor 15.
  • the information processing unit 17 includes an information storage unit 21, an image processing unit 23, an expected trajectory calculation unit 25, and a history trajectory calculation unit 27. These components such as the information storage unit 21, the image processing unit 23, the expected trajectory calculation unit 25, and the history trajectory calculation unit 27 are configured such that hardware such as the CPU, RAM, and ROM of the information processing unit 17 cooperates according to a predetermined program. It is a component realized by software by operating and operating.
  • the information storage unit 21 stores vehicle information related to the characteristics of the vehicle 100.
  • vehicle information includes information such as the body size, body shape, minimum turning radius of the vehicle 100, for example.
  • the image processing unit 23 performs image processing such as partial image clipping, enlargement / reduction, viewpoint conversion, and image synthesis based on the image signal from each camera 11.
  • the image processing unit 23 can generate, for example, an image of the periphery of the vehicle viewed from directly above the vehicle 100 by processing a plurality of images obtained from each camera 11. Further, the image processing unit 23 can generate, for example, an image showing a part of the periphery of the vehicle 100 in an enlarged manner.
  • the image processing unit 23 can generate an enlarged image of an obstacle existing around the vehicle 100. At this time, an image showing the positional relationship between the collision possibility part and the obstacle is obtained by cutting out the image including the collision possibility part facing the surrounding obstacle. Further, the image processing unit 23 can generate an image in which a plurality of images are superimposed. The image processing unit 23 transmits the generated image to the display monitor 15 as an electrical signal. The display monitor 15 displays an image on the screen based on the electrical signal.
  • the expected trajectory calculation unit 25 predicts a trajectory that the outer contour of the bumper of the vehicle 100 will pass in the future. Specifically, the expected trajectory of the bumper outline is calculated based on the current vehicle speed and the current steering angle of the vehicle 100 and the vehicle information of the vehicle 100.
  • the current vehicle speed of the vehicle 100 is input from the vehicle speed sensor 31a of the vehicle 100 to the predicted locus calculation unit 25 as an electrical signal.
  • the current steering angle of the vehicle 100 is input from the steering angle sensor 31b of the vehicle 100 to the predicted trajectory calculation unit 25 as an electrical signal.
  • vehicle information such as the body size, body shape, and minimum turning radius of the vehicle 100 is read from the information storage unit 21.
  • the history trajectory calculation unit 27 calculates a trajectory (history trajectory) that the outer contour of the bumper of the vehicle 100 has passed in the past.
  • the history trajectory of the Pamper outline is calculated based on the current vehicle speed and current steering angle of the vehicle 100, and vehicle information of the vehicle 100.
  • the part of the bumper approaching the obstacle is recognized as the “possibility of collision”.
  • the image processing unit 23 processes the captured image of the camera 11 and generates an image in the vicinity of the collision possibility part.
  • an image in the vicinity of the collision possibility part is referred to as a “collision part image”.
  • the collision possibility part image is cut out so that a part of the bumper which is a collision possibility part and an obstacle are reflected.
  • FIG. 2 shows an example of the collision possibility part image 31.
  • the collision possibility region image 31 includes the obstacle S and the left front end portion of the bumper B.
  • the vehicle periphery monitoring apparatus 1 provides image information that makes it easy to recognize the situation of a collision-possible part by using screen layouts as shown in FIGS.
  • first case When the front bumper of the vehicle 100 is about to collide with an obstacle ahead (hereinafter, “first case”), a screen as illustrated in FIG. 3 is displayed on the display monitor 15.
  • second case When the rear bumper of the vehicle 100 is about to collide with an obstacle behind (hereinafter, “second case”), a screen illustrated in FIG. 4 is displayed on the display monitor 15.
  • third case When the left bumper of the vehicle 100 is about to collide with an obstacle on the left (hereinafter, “third case”), a screen illustrated in FIG. 5 is displayed on the display monitor 15.
  • fourth case When the right bumper of the vehicle 100 is about to collide with an obstacle on the right (hereinafter, “fourth case”), a screen illustrated in FIG. 6 is displayed on the display monitor 15.
  • a screen illustrated in FIG. 7 is displayed on the display monitor 15.
  • a screen illustrated in FIG. 8 is displayed on the display monitor 15.
  • a vehicle icon C is displayed on the display monitor 15 together with the collision possibility part image 31 on the screen.
  • the obstacle S and a bumper near the obstacle S are reflected.
  • the image obtained by each camera 11 is rotated so as to correspond to the front, rear, left and right of the actual vehicle 100 and displayed as a collision possibility part image 31.
  • the vehicle icon C is a view of the vehicle 100 viewed from directly above. Then, the triangle icon T is lit and displayed on the vehicle icon C at a position corresponding to the collision possibility part. For example, when the center part of the front bumper of the vehicle 100 is a collision possibility part (first case), a triangle icon T is lit and displayed at the center part of the front bumper on the vehicle icon C as illustrated in FIG. The Similarly, when the rear left corner bumper of the vehicle 100 is a collision possibility part (sixth case), a triangle icon T is displayed on the rear left corner bumper portion on the vehicle icon C as illustrated in FIG. Lights up. In addition, as illustrated in FIGS. 4 to 7, the triangle icon T is lit in the same manner in the second to fifth cases.
  • the direction of the display position of the collision possibility part image 31 viewed from the display position of the vehicle icon C on the screen is assigned so as to correspond to the direction of the collision possibility part with respect to the center of the actual vehicle 100.
  • a collision-possible part is located forward as viewed from the center of the vehicle 100.
  • the collision possibility part image 31 is assigned to a position in front of the vehicle icon C (upward of the screen).
  • a collision possibility portion is located obliquely left rearward when viewed from the center of the vehicle 100.
  • the collision possibility part image 31 is assigned to a position diagonally left rear (diagonal lower left of the screen) as viewed from the vehicle icon C.
  • the screens are assigned according to the same rule in the third to fifth cases.
  • the display position of the vehicle icon C on the screen is shifted in a direction away from the display position of the collision possibility part image 31 when viewed from the center of the screen.
  • the display position of the vehicle icon C is shifted downward as viewed from the center of the screen so as to move away from the collision possibility part image 31 at the top of the screen.
  • the display position of the vehicle icon C is shifted obliquely upward to the right when viewed from the center of the screen so as to move away from the collision possibility part image 31 obliquely to the lower left of the screen.
  • the display area of the collision possibility part image 31 is expanded using the space
  • FIG. As shown in FIGS. 4 to 7, in the third to fifth cases, the vehicle icon C is displayed at a position shifted according to the same rule.
  • the driver can recognize the situation of the collision possibility part and the obstacle from the collision possibility part image 31. Then, the vehicle icon C on the screen is displayed at a position shifted from the center of the screen, and the display position is determined in association with the position of the collision possibility part in the actual vehicle 100. Furthermore, the positional relationship between the vehicle icon C shown on the screen and the collision potential region image 31 substantially matches the positional relationship between the actual vehicle 100 and the collision potential region. Therefore, the driver can intuitively recognize the position of the vehicle 100 where the collision possibility part image 31 is projected.
  • the display position of the vehicle icon C on the screen is shifted in a direction away from the display position of the collision possibility part image 31 when viewed from the center of the screen.
  • the display area of the collision possibility part image 31 can be enlarged using the area that is vacated by shifting the display position of the vehicle icon C. As a result, the driver can know in detail the possibility of collision and the state of obstacles in a wide display area.
  • the display monitor 15 can further display a screen as illustrated in FIG.
  • the screen display of FIG. 9 is displayed by switching from the screen display of FIGS. 3 to 8, for example.
  • FIG. 9 is an example of a screen display in the case of the fifth case described above.
  • an image around the vehicle hereinafter referred to as an “overhead image” 51 as seen from directly above the vehicle 100, an expected course display 53, and the collision described above.
  • the possible part image 31 is superimposed and displayed.
  • a triangle icon T is lit and displayed on the vehicle icon C at a position corresponding to the collision possibility part.
  • the bird's-eye view image 51 is configured by combining viewpoint images of images captured by a plurality of cameras 11 and adding a vehicle icon C thereto.
  • the collision possibility part image 31 is displayed so as to be hidden so as to hide a part of the overhead image 51.
  • the predicted course display 53 represents the expected course of the vehicle 100 in the future on the overhead image 51 with an arrow.
  • the predicted course of the vehicle 100 is calculated by the predicted trajectory calculation unit 25.
  • the direction of the display position of the collision possibility part image 31 with respect to the display position of the vehicle icon C is assigned so as to correspond to the direction of the collision possibility part with respect to the center of the actual vehicle 100. That is, in the case of the fifth case, the collision possibility portion is located obliquely right forward as viewed from the center of the vehicle 100.
  • a collision possibility part image 31 is assigned to a position obliquely upper right as viewed from the vehicle icon C.
  • the display position of the vehicle icon C on the screen is set to a position moved substantially opposite to the expected course direction when viewed from the center of the screen. That is, as indicated by the expected course display 53, the expected course of the vehicle 100 is directed to the front right side. Correspondingly, the display position of the vehicle icon C on the screen is shifted to the lower left in the direction opposite to the expected course as seen from the center of the screen.
  • the peripheral image on the expected trajectory in the overhead image 51 is displayed without being hidden by the collision possibility part image 31. Therefore, it is possible to display an image on an expected trajectory with a higher necessity for confirmation of an obstacle without being lost.
  • places where the vehicle 100 has already passed or deviated from the expected trajectory are outside the display area, but such places may be problematic because the necessity for checking obstacles is relatively low. Few.
  • information that is highly necessary for the driver can be displayed on the screen in a form that allows the driver to intuitively recognize the situation.
  • SYMBOLS 1 Vehicle periphery monitoring apparatus, 15 ... Display monitor (display apparatus), 31 ... Collision possible part image, 53 ... Expected course display, 100 ... Vehicle, C ... Vehicle icon, S ... Surrounding obstacle.

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  • General Physics & Mathematics (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)

Abstract

Provided are a vehicle periphery monitoring device and a display method for vehicle periphery monitoring information which perform screen display that facilitates recognition of conditions by a driver. The vehicle periphery monitoring device is provided with a display device for performing screen display of information acquired on the basis of monitoring of the periphery of a vehicle, wherein the display device displays together upon a screen: a vehicle icon representing the vehicle, and an image of the vicinity of a potential collision section, for which there is a possibility of a collision with a peripheral obstacle, among sections of the vehicle. The display position of the vehicle icon upon the screen is characterized in being determined on the basis of the position of the potential collision section.

Description

車両周辺監視装置及び車両周辺監視情報の表示方法Vehicle periphery monitoring device and display method of vehicle periphery monitoring information
　本発明は、車両周辺監視装置及び車両周辺監視情報の表示方法に関するものである。 The present invention relates to a vehicle periphery monitoring device and a vehicle periphery monitoring information display method.
　従来、この分野の技術として、特開平２００２－１０９６９７号公報に開示された運転支援装置が知られている。この装置では、車両のシフト位置が前進ギアの場合には、車両の全周囲画像と一緒に車両の前方の画像を画面表示し、車両のシフト位置が後退ギアの場合には、車両の全周囲画像と一緒に車両の後方の画像を画面表示する。 Conventionally, as a technology in this field, a driving support device disclosed in Japanese Patent Application Laid-Open No. 2002-109697 is known. In this device, when the shift position of the vehicle is a forward gear, an image in front of the vehicle is displayed together with an image of the entire periphery of the vehicle. When the shift position of the vehicle is a reverse gear, the entire periphery of the vehicle is displayed. The image behind the vehicle is displayed on the screen together with the image.
特開平２００２－１０９６９７号公報Japanese Patent Application Laid-Open No. 2002-109697
　この種の装置においては、例えば車両の一部が障害物に衝突する可能性があるといった場合には、ドライバに対する警告を画面表示する必要がある。そして、上記の警告の表示においては、ドライバにとって状況を認識しやすい画面表示が望まれる。 In this type of device, for example, when a part of the vehicle may collide with an obstacle, it is necessary to display a warning for the driver on the screen. In the above warning display, a screen display that allows the driver to easily recognize the situation is desired.
　本発明は、ドライバにとって状況を認識しやすい画面表示を行う車両周辺監視装置及び車両周辺監視情報の表示方法を提供することを目的とする。 It is an object of the present invention to provide a vehicle periphery monitoring apparatus and a vehicle periphery monitoring information display method for displaying a screen that allows a driver to easily recognize the situation.
　本発明の車両周辺監視装置は、車両の周辺監視により得られる情報を画面表示する表示装置を備え、前記表示装置は、前記車両を表す車両アイコンと、前記車両の部位のうち周辺障害物に衝突する可能性がある衝突可能性部位の近傍の画像と、を一緒に画面上に表示し、前記画面上における前記車両アイコンの表示位置は、前記衝突可能性部位の位置に基づいて決定されることを特徴とする。 The vehicle periphery monitoring device of the present invention includes a display device that displays information obtained by vehicle periphery monitoring on the screen, and the display device collides with a vehicle icon representing the vehicle and a surrounding obstacle among the parts of the vehicle. And an image in the vicinity of the possibility of collision, and the display position of the vehicle icon on the screen is determined based on the position of the possibility of collision It is characterized by.
　また、本発明の車両周辺監視情報の表示方法は、車両の周辺監視により得られる情報を画面表示する表示装置が、前記車両を表す車両アイコンと、前記車両の部位のうち周辺障害物に衝突する可能性がある衝突可能性部位の近傍の画像と、を一緒に画面上に表示し、前記画面上における前記車両アイコンの表示位置は、前記衝突可能性部位の位置に基づいて決定されることを特徴とする。 In the vehicle periphery monitoring information display method of the present invention, the display device that displays the information obtained by the vehicle periphery monitoring collides with a vehicle icon representing the vehicle and a surrounding obstacle among the parts of the vehicle. An image of the vicinity of the likely collision part is displayed on the screen together, and the display position of the vehicle icon on the screen is determined based on the position of the collision possibility part. Features.
　本発明の車両周辺監視装置及び車両周辺監視情報の表示方法によれば、表示装置の画面上に、車両アイコンと衝突可能性部位の近傍の画像とが一緒に表示される。このとき、衝突可能性部位の位置に基づいて車両アイコンの表示位置が決定される。このため、車両アイコンと衝突可能性部位の近傍の画像との位置関係も、衝突可能性部位の位置に応じて変化することになる。従って、衝突可能性部位の位置が、画面上の車両アイコンの位置に関連付けられ、ドライバにとって直感的に状況認識し易い画面表示を行うことができる。 According to the vehicle periphery monitoring device and the vehicle periphery monitoring information display method of the present invention, the vehicle icon and an image of the vicinity of the collision potential portion are displayed together on the screen of the display device. At this time, the display position of the vehicle icon is determined based on the position of the collision possibility part. For this reason, the positional relationship between the vehicle icon and an image in the vicinity of the collision possibility part also changes according to the position of the collision possibility part. Therefore, the position of the collision possibility part is associated with the position of the vehicle icon on the screen, and a screen display that allows the driver to intuitively recognize the situation can be performed.
　また、前記車両アイコンの表示位置に対する、前記衝突可能性部位の近傍の画像の表示位置の方向が、現実の前記車両に対する前記衝突可能性部位の方向に対応するように割り付けられることとしてもよい。 Further, the direction of the display position of the image in the vicinity of the collision possibility portion with respect to the display position of the vehicle icon may be assigned so as to correspond to the direction of the collision possibility portion with respect to the actual vehicle.
　この構成によれば、現実の車両と衝突可能性部位との位置関係に対応させて、画面上で、車両アイコンから見た衝突可能性部位の近傍の画像が表示される。よって、ドライバにとって、衝突可能性部位の位置を直感的に認識し易い画面表示を行うことができる。 According to this configuration, an image of the vicinity of the collision possibility part viewed from the vehicle icon is displayed on the screen in correspondence with the positional relationship between the actual vehicle and the collision possibility part. Therefore, it is possible for the driver to perform a screen display that makes it easy to intuitively recognize the position of the collision possibility part.
　また、前記画面上における前記車両アイコンの表示位置は、前記車両の予想進路に基づいて決定されることとしてもよい。 Further, the display position of the vehicle icon on the screen may be determined based on the expected course of the vehicle.
　車両の予想進路は、衝突可能性部位の位置に密接に関連する情報である。従って、上記構成によれば、衝突可能性部位の位置が、予想進路を介して間接的に画面上の車両アイコンの位置に関連付けられる。従って、衝突可能性部位の位置が、画面上の車両アイコンの位置に関連付けられ、ドライバにとって直感的に状況認識し易い画面表示を行うことができる。 The expected course of the vehicle is information that is closely related to the position of the potential collision site. Therefore, according to the said structure, the position of a collision possibility site | part is linked | related with the position of the vehicle icon on a screen indirectly via an estimated course. Therefore, the position of the collision possibility part is associated with the position of the vehicle icon on the screen, and a screen display that allows the driver to intuitively recognize the situation can be performed.
　また、前記車両アイコンの表示位置は、前記画面の中心から見て、前記衝突可能性部位の近傍の画像の表示位置から遠ざかる方向にずれていることとしてもよい。 Further, the display position of the vehicle icon may be shifted in a direction away from the display position of the image in the vicinity of the collision possibility portion as viewed from the center of the screen.
　この構成によれば、車両アイコンの表示位置をずらして空いた領域を利用して、衝突可能性部位の近傍の画像を大きく表示することができる。 According to this configuration, it is possible to display a large image of the vicinity of the collision-prone portion by using the empty area by shifting the display position of the vehicle icon.
　本発明の車両周辺監視装置及び車両周辺監視情報の表示方法によれば、ドライバにとって状況を認識しやすい画面表示を行うことができる。 According to the vehicle periphery monitoring device and the vehicle periphery monitoring information display method of the present invention, it is possible to perform screen display that allows the driver to easily recognize the situation.
図１は、本発明の車両周辺監視装置の第１実施形態及びそれを備える車両を示す図である。FIG. 1 is a diagram illustrating a first embodiment of a vehicle periphery monitoring device according to the present invention and a vehicle including the same. 図２は、衝突可能性部位画像の一例を示す図である。FIG. 2 is a diagram illustrating an example of a collision possibility region image. 図３は、車両のフロントバンパーが前方の障害物に衝突しそうになった場合の画面表示を示す図である。FIG. 3 is a diagram illustrating a screen display when the front bumper of the vehicle is about to collide with an obstacle ahead. 図４は、車両のリアバンパーが後方の障害物に衝突しそうになった場合の画面表示を示す図である。FIG. 4 is a diagram showing a screen display when the rear bumper of the vehicle is about to collide with an obstacle behind the vehicle. 図５は、車両の左バンパーが左方の障害物に衝突しそうになった場合の画面表示を示す図である。FIG. 5 is a diagram illustrating a screen display when the left bumper of the vehicle is about to collide with an obstacle on the left side. 図６は、車両の右バンパーが右方の障害物に衝突しそうになった場合の画面表示を示す図である。FIG. 6 is a diagram showing a screen display when the right bumper of the vehicle is about to collide with an obstacle on the right side. 図７は、車両の前右コーナーバンパーが右前方の障害物に衝突しそうになった場合の画面表示を示す図である。FIG. 7 is a diagram showing a screen display when the front right corner bumper of the vehicle is about to collide with an obstacle on the right front. 図８は、車両の後左コーナーバンパーが左後方の障害物に衝突しそうになった場合の画面表示を示す図である。FIG. 8 is a diagram showing a screen display when the rear left corner bumper of the vehicle is about to collide with an obstacle on the left rear. 図９は、本発明の車両周辺監視装置の第２実施形態における画面表示を示す図である。FIG. 9 is a diagram showing a screen display in the second embodiment of the vehicle periphery monitoring device of the present invention.
　以下、図面を参照しつつ本発明に係る車両周辺監視装置及び車両周辺監視情報の表示方法の好適な実施形態について詳細に説明する。 Hereinafter, preferred embodiments of a vehicle periphery monitoring device and a vehicle periphery monitoring information display method according to the present invention will be described in detail with reference to the drawings.
（第１実施形態）
　図１に示す車両周辺監視装置１は、車両（自動車）１００に搭載され、ドライバの運転支援を行う装置である。車両周辺監視装置１は、複数のカメラ１１と、複数の周辺認識センサ１３と、ディスプレイモニター１５と、情報処理部１７と、を備えている。 (First embodiment)
A vehicle periphery monitoring device 1 shown in FIG. 1 is a device that is mounted on a vehicle (automobile) 100 and that supports driving of a driver. The vehicle periphery monitoring device 1 includes a plurality of cameras 11, a plurality of periphery recognition sensors 13, a display monitor 15, and an information processing unit 17.
　複数の各カメラ１１は、外側下方を向けて車両１００の車体外側に設置され、車両１００の車両周辺の画像を撮像する。複数のカメラ１１で得られる各画像を合わせれば、車両１００の周囲３６０度の画像を取得することができる。例えば、カメラ１１は、車両の前部、後部、右側部、左側部の４箇所に設置される。 Each of the plurality of cameras 11 is installed outside the vehicle body of the vehicle 100 with the outer side facing downward, and captures an image of the vehicle periphery of the vehicle 100. If the images obtained by the plurality of cameras 11 are combined, an image of 360 degrees around the vehicle 100 can be acquired. For example, the cameras 11 are installed at four locations on the front, rear, right side, and left side of the vehicle.
　複数の周辺認識センサ１３は、車両１００の車体外側に設置され、車両１００の周辺にある障害物を検出する。複数の周辺認識センサ１３を用いることで、車両１００の周囲３６０度の障害物を検出することができる。例えば、周辺認識センサ１３はクリアランスソナーであり、超音波で自車両の周辺の障害物の存在を認識すると共に当該障害物までの距離を検知する。周辺認識センサ１３としてクリアランスソナーを用いる場合、周辺認識センサ１３は、例えば、車両１００の車体の前部右側、前部左側、後部右側、後部左側に設置される。周辺認識センサ１３としては、例えば、上記カメラ１１で取得した画像に基づいて、画像処理により障害物を検出するものを採用してもよい。また、周辺認識センサ１３としては、例えば、レーザを用いて障害物を検出するものを採用してもよい。以下の説明においては、周辺認識センサ１３としてクリアランスソナーを用いる場合を一例として説明する。 The plurality of surrounding recognition sensors 13 are installed outside the vehicle body of the vehicle 100 and detect obstacles around the vehicle 100. By using the plurality of surrounding recognition sensors 13, an obstacle around 360 degrees around the vehicle 100 can be detected. For example, the periphery recognition sensor 13 is a clearance sonar that recognizes the presence of an obstacle around the host vehicle using ultrasonic waves and detects the distance to the obstacle. When a clearance sonar is used as the periphery recognition sensor 13, the periphery recognition sensor 13 is installed, for example, on the front right side, front left side, rear right side, and rear left side of the vehicle 100. As the periphery recognition sensor 13, for example, a sensor that detects an obstacle by image processing based on an image acquired by the camera 11 may be employed. Moreover, as the periphery recognition sensor 13, you may employ | adopt what detects an obstruction using a laser, for example. In the following description, a case where a clearance sonar is used as the periphery recognition sensor 13 will be described as an example.
　ディスプレイモニター（表示装置）１５は車両１００の運転席に設置される。ディスプレイモニター１５は、車両１００の周辺監視により得られる情報を画面表示してドライバに提供する。具体的には、車両１００の一部位が周辺の障害物に衝突する可能性がある場合に、当該部位の近傍の画像が、ディスプレイモニター１５に画面表示される。ディスプレイモニター１５としては、例えば、カーナビゲーションシステムのモニターを兼ねる多機能モニターが用いられる。以下、車両１００の部位のうち障害物に衝突する可能性がある部位を、「衝突可能性部位」と称する。 The display monitor (display device) 15 is installed in the driver's seat of the vehicle 100. The display monitor 15 displays information obtained by monitoring the periphery of the vehicle 100 on a screen and provides it to the driver. Specifically, when there is a possibility that one part of the vehicle 100 collides with a surrounding obstacle, an image near the part is displayed on the display monitor 15. As the display monitor 15, for example, a multi-function monitor that also serves as a monitor of a car navigation system is used. Hereinafter, a portion of the vehicle 100 that may collide with an obstacle is referred to as a “collision potential portion”.
　情報処理部１７は、車両周辺監視装置１全体の制御を行う電子制御ユニットであり、例えばＣＰＵ、ＲＯＭ、ＲＡＭを含むコンピュータを主体として構成されている。情報処理部１７は、ディスプレイモニター１５に表示するべき表示画面を生成し、画像信号をディスプレイモニター１５に送信する。情報処理部１７は、情報格納部２１と、画像処理部２３と、予想軌跡演算部２５と、履歴軌跡演算部２７と、を備えている。これらの情報格納部２１、画像処理部２３、予想軌跡演算部２５、履歴軌跡演算部２７といった各構成要素は、情報処理部１７のＣＰＵ、ＲＡＭ、ＲＯＭ等のハードウエアが、所定のプログラムに従い協働して動作することによってソフトウエア的に実現される構成要素である。 The information processing unit 17 is an electronic control unit that controls the entire vehicle periphery monitoring device 1, and is mainly configured by a computer including a CPU, a ROM, and a RAM, for example. The information processing unit 17 generates a display screen to be displayed on the display monitor 15 and transmits an image signal to the display monitor 15. The information processing unit 17 includes an information storage unit 21, an image processing unit 23, an expected trajectory calculation unit 25, and a history trajectory calculation unit 27. These components such as the information storage unit 21, the image processing unit 23, the expected trajectory calculation unit 25, and the history trajectory calculation unit 27 are configured such that hardware such as the CPU, RAM, and ROM of the information processing unit 17 cooperates according to a predetermined program. It is a component realized by software by operating and operating.
　情報格納部２１には、車両１００の特性に関する車両情報が記憶されている。上記車両情報には、例えば、車両１００のボディーサイズ、ボディー形状、最小回転半径等の情報が含まれる。 The information storage unit 21 stores vehicle information related to the characteristics of the vehicle 100. The vehicle information includes information such as the body size, body shape, minimum turning radius of the vehicle 100, for example.
　画像処理部２３は、各カメラ１１からの画像信号に基づいて、画像の一部切り出し、拡大・縮小、視点変換、及び画像の合成といった画像処理を行う。画像処理部２３は、各カメラ１１から得られる複数の画像を処理することにより、例えば、車両１００の真上から俯瞰した状態の車両周辺の画像を生成することができる。また、画像処理部２３は、例えば、車両１００の車両周辺の一部を拡大して示す画像を生成することができる。 The image processing unit 23 performs image processing such as partial image clipping, enlargement / reduction, viewpoint conversion, and image synthesis based on the image signal from each camera 11. The image processing unit 23 can generate, for example, an image of the periphery of the vehicle viewed from directly above the vehicle 100 by processing a plurality of images obtained from each camera 11. Further, the image processing unit 23 can generate, for example, an image showing a part of the periphery of the vehicle 100 in an enlarged manner.
　また、画像処理部２３では、車両１００の周辺に存在する障害物の拡大画像を生成することができる。このとき、当該周辺障害物に対面する衝突可能性部位を含めて画像を切り出すことにより、衝突可能性部位と障害物との位置関係を示す画像が得られる。また、画像処理部２３は、複数の画像を重畳させた画像を生成することができる。画像処理部２３は、生成した画像を電気信号としてディスプレイモニター１５に送信する。ディスプレイモニター１５は、上記電気信号に基づいて画像を画面表示する。 Further, the image processing unit 23 can generate an enlarged image of an obstacle existing around the vehicle 100. At this time, an image showing the positional relationship between the collision possibility part and the obstacle is obtained by cutting out the image including the collision possibility part facing the surrounding obstacle. Further, the image processing unit 23 can generate an image in which a plurality of images are superimposed. The image processing unit 23 transmits the generated image to the display monitor 15 as an electrical signal. The display monitor 15 displays an image on the screen based on the electrical signal.
　予想軌跡演算部２５は、車両１００のパンパーの外郭が将来通過する軌跡を予想する。具体的には、バンパー外郭の予想軌跡は、車両１００の現在の車速や現在の舵角、車両１００の車両情報に基づいて演算される。車両１００の現在の車速は、当該車両１００の車速センサ３１ａから、電気信号として予想軌跡演算部２５に入力される。車両１００の現在の舵角は、当該車両１００の舵角センサ３１ｂから、電気信号として予想軌跡演算部２５に入力される。また、車両１００のボディーサイズ、ボディー形状、最小回転半径といった車両情報は、情報格納部２１から読み出される。 The expected trajectory calculation unit 25 predicts a trajectory that the outer contour of the bumper of the vehicle 100 will pass in the future. Specifically, the expected trajectory of the bumper outline is calculated based on the current vehicle speed and the current steering angle of the vehicle 100 and the vehicle information of the vehicle 100. The current vehicle speed of the vehicle 100 is input from the vehicle speed sensor 31a of the vehicle 100 to the predicted locus calculation unit 25 as an electrical signal. The current steering angle of the vehicle 100 is input from the steering angle sensor 31b of the vehicle 100 to the predicted trajectory calculation unit 25 as an electrical signal. In addition, vehicle information such as the body size, body shape, and minimum turning radius of the vehicle 100 is read from the information storage unit 21.
　履歴軌跡演算部２７は、車両１００のバンパーの外郭が過去に通過した軌跡（履歴軌跡）を演算する。パンパー外郭の履歴軌跡は、車両１００の現在の車速や現在の舵角、車両１００の車両情報に基づいて演算される。 The history trajectory calculation unit 27 calculates a trajectory (history trajectory) that the outer contour of the bumper of the vehicle 100 has passed in the past. The history trajectory of the Pamper outline is calculated based on the current vehicle speed and current steering angle of the vehicle 100, and vehicle information of the vehicle 100.
　続いて、車両１００が低速で取り回し運転（例えば、駐車スペースへの出し入れ等）される場合におけるディスプレイモニター１５の画面表示について説明する。 Subsequently, the screen display of the display monitor 15 when the vehicle 100 is operated at low speed (for example, in and out of a parking space) will be described.
　取り回し運転時に、周辺認識センサ１３が障害物との接近を検出した場合、当該障害物に接近中のバンパーの部位が「衝突可能性部位」として認識される。画像処理部２３は、カメラ１１の撮像画像を処理し、衝突可能性部位の近傍の画像を生成する。以下、衝突可能性部位の近傍の画像を、「衝突可能性部位画像」という。衝突可能性部位画像は、衝突可能性部位であるバンパーの一部と、障害物とが映り込むように切り出される。図２には、衝突可能性部位画像３１の一例が示されている。図２の例では、衝突可能性部位画像３１には、障害物ＳとバンパーＢの左前端部とが含まれている。このような衝突可能性部位画像３１がディスプレイモニター１５上に画面表示されることにより、ドライバは、衝突可能性の存在を知ることができる。更に、ドライバは、衝突可能性部位画像３１によって、障害物と車体との位置関係を知ることができる。 When the periphery recognition sensor 13 detects the approach with the obstacle during the handling operation, the part of the bumper approaching the obstacle is recognized as the “possibility of collision”. The image processing unit 23 processes the captured image of the camera 11 and generates an image in the vicinity of the collision possibility part. Hereinafter, an image in the vicinity of the collision possibility part is referred to as a “collision part image”. The collision possibility part image is cut out so that a part of the bumper which is a collision possibility part and an obstacle are reflected. FIG. 2 shows an example of the collision possibility part image 31. In the example of FIG. 2, the collision possibility region image 31 includes the obstacle S and the left front end portion of the bumper B. By displaying such a collision possibility region image 31 on the display monitor 15, the driver can know the existence of the collision possibility. Further, the driver can know the positional relationship between the obstacle and the vehicle body from the collision possibility part image 31.
　ところが、バンパーＢの一部が拡大された画像のみでは、衝突可能性部位が車両１００のどの位置であるかが判りにくい。そこで、車両周辺監視装置１においては、次に説明する図３～図８のような画面レイアウトによって、衝突可能性部位の状況を認識しやすい画像情報を提供する。 However, it is difficult to determine at which position of the vehicle 100 the collision-possible portion is only based on an enlarged image of a part of the bumper B. In view of this, the vehicle periphery monitoring apparatus 1 provides image information that makes it easy to recognize the situation of a collision-possible part by using screen layouts as shown in FIGS.
　車両１００のフロントバンパーが前方の障害物に衝突しそうになった場合（以下、「第１ケース」）、図３に例示するような画面がディスプレイモニター１５に表示される。車両１００のリアバンパーが後方の障害物に衝突しそうになった場合（以下、「第２ケース」）、図４に例示するような画面がディスプレイモニター１５に表示される。車両１００の左バンパーが左方の障害物に衝突しそうになった場合（以下、「第３ケース」）、図５に例示するような画面がディスプレイモニター１５に表示される。車両１００の右バンパーが右方の障害物に衝突しそうになった場合（以下、「第４ケース」）、図６に例示するような画面がディスプレイモニター１５に表示される。車両１００の前右コーナーバンパーが右前方の障害物に衝突しそうになった場合（以下、「第５ケース」）、図７に例示するような画面がディスプレイモニター１５に表示される。車両１００の後左コーナーバンパーが左後方の障害物に衝突しそうになった場合（以下、「第６ケース」）、図８に例示するような画面がディスプレイモニター１５に表示される。 When the front bumper of the vehicle 100 is about to collide with an obstacle ahead (hereinafter, “first case”), a screen as illustrated in FIG. 3 is displayed on the display monitor 15. When the rear bumper of the vehicle 100 is about to collide with an obstacle behind (hereinafter, “second case”), a screen illustrated in FIG. 4 is displayed on the display monitor 15. When the left bumper of the vehicle 100 is about to collide with an obstacle on the left (hereinafter, “third case”), a screen illustrated in FIG. 5 is displayed on the display monitor 15. When the right bumper of the vehicle 100 is about to collide with an obstacle on the right (hereinafter, “fourth case”), a screen illustrated in FIG. 6 is displayed on the display monitor 15. When the front right corner bumper of the vehicle 100 is about to collide with an obstacle on the right front (hereinafter, “fifth case”), a screen illustrated in FIG. 7 is displayed on the display monitor 15. When the rear left corner bumper of the vehicle 100 is about to collide with an obstacle on the left rear (hereinafter, “sixth case”), a screen illustrated in FIG. 8 is displayed on the display monitor 15.
　図３～図８に示すように、ディスプレイモニター１５上には、衝突可能性部位画像３１と一緒に、車両アイコンＣが画面表示される。衝突可能性部位画像３１には、障害物Ｓと当該障害物Ｓ近傍のバンパーとが映り込んでいる。各カメラ１１により得られた画像が、現実の車両１００の前後左右に対応するように回転処理され、衝突可能性部位画像３１として表示される。 As shown in FIG. 3 to FIG. 8, a vehicle icon C is displayed on the display monitor 15 together with the collision possibility part image 31 on the screen. In the collision possibility part image 31, the obstacle S and a bumper near the obstacle S are reflected. The image obtained by each camera 11 is rotated so as to correspond to the front, rear, left and right of the actual vehicle 100 and displayed as a collision possibility part image 31.
　車両アイコンＣは、真上から俯瞰した車両１００の図である。そして、車両アイコンＣ上で衝突可能性部位に対応する位置に、三角形アイコンＴを点灯表示させる。例えば、車両１００のフロントバンパーの中央部が衝突可能性部位である場合（第１ケース）には、図３に例示されるように、車両アイコンＣ上のフロントバンパー中央部分に三角形アイコンＴが点灯表示される。同様に、車両１００の後左コーナーバンパーが衝突可能性部位である場合（第６ケース）には、図８に例示されるように、車両アイコンＣ上の後左コーナーバンパー部分に三角形アイコンＴが点灯表示される。その他、図４～図７に例示されるように、第２～第５ケースにおいても、同様の規則で三角形アイコンＴが点灯表示される。 The vehicle icon C is a view of the vehicle 100 viewed from directly above. Then, the triangle icon T is lit and displayed on the vehicle icon C at a position corresponding to the collision possibility part. For example, when the center part of the front bumper of the vehicle 100 is a collision possibility part (first case), a triangle icon T is lit and displayed at the center part of the front bumper on the vehicle icon C as illustrated in FIG. The Similarly, when the rear left corner bumper of the vehicle 100 is a collision possibility part (sixth case), a triangle icon T is displayed on the rear left corner bumper portion on the vehicle icon C as illustrated in FIG. Lights up. In addition, as illustrated in FIGS. 4 to 7, the triangle icon T is lit in the same manner in the second to fifth cases.
　更に、ディスプレイモニター１５の画面上における衝突可能性部位画像３１と車両アイコンＣとの位置関係について説明する。 Furthermore, the positional relationship between the collision possibility part image 31 and the vehicle icon C on the screen of the display monitor 15 will be described.
　画面上で車両アイコンＣの表示位置から見た衝突可能性部位画像３１の表示位置の方向は、現実の車両１００の中心に対する衝突可能性部位の方向に対応するように割り付けられている。具体的には、第１ケースでは、車両１００の中心から見て前方に衝突可能性部位が位置する。これに対応して、ディスプレイモニター１５の画面上では、図３に示すように、車両アイコンＣから見て前方（画面の上方）の位置に衝突可能性部位画像３１が割り付けられる。同様に、第６ケースでは、車両１００の中心から見て斜め左後方に衝突可能性部位が位置する。これに対応して、ディスプレイモニター１５の画面上では、図８に示すように、車両アイコンＣから見て斜め左後方（画面の斜め左下方）の位置に衝突可能性部位画像３１が割り付けられる。図４～図７に例示されるように、第３～第５ケースにおいても、同様の規則で画面の割り付けがなされている。 The direction of the display position of the collision possibility part image 31 viewed from the display position of the vehicle icon C on the screen is assigned so as to correspond to the direction of the collision possibility part with respect to the center of the actual vehicle 100. Specifically, in the first case, a collision-possible part is located forward as viewed from the center of the vehicle 100. Correspondingly, on the screen of the display monitor 15, as shown in FIG. 3, the collision possibility part image 31 is assigned to a position in front of the vehicle icon C (upward of the screen). Similarly, in the sixth case, a collision possibility portion is located obliquely left rearward when viewed from the center of the vehicle 100. Correspondingly, on the screen of the display monitor 15, as shown in FIG. 8, the collision possibility part image 31 is assigned to a position diagonally left rear (diagonal lower left of the screen) as viewed from the vehicle icon C. As illustrated in FIGS. 4 to 7, the screens are assigned according to the same rule in the third to fifth cases.
　更に、画面上における車両アイコンＣの表示位置は、画面中心から見て、衝突可能性部位画像３１の表示位置から遠ざかる方向にずれている。具体的には、第１ケースでは、図３に示すように、画面上方の衝突可能性部位画像３１から遠ざかるように、車両アイコンＣの表示位置が画面中心から見て下方にずれている。同様に、第６ケースでは、図８に示すように、画面斜め左下方の衝突可能性部位画像３１から遠ざかるように、車両アイコンＣの表示位置が画面中心から見て斜め右上方にずれている。そして、車両アイコンＣの表示位置をずらして空いた領域を利用して、衝突可能性部位画像３１の表示領域が拡大されている。図４～図７に示すように、第３～第５ケースにおいても、同様の規則でずらした位置に車両アイコンＣが表示される。 Furthermore, the display position of the vehicle icon C on the screen is shifted in a direction away from the display position of the collision possibility part image 31 when viewed from the center of the screen. Specifically, in the first case, as shown in FIG. 3, the display position of the vehicle icon C is shifted downward as viewed from the center of the screen so as to move away from the collision possibility part image 31 at the top of the screen. Similarly, in the sixth case, as shown in FIG. 8, the display position of the vehicle icon C is shifted obliquely upward to the right when viewed from the center of the screen so as to move away from the collision possibility part image 31 obliquely to the lower left of the screen. . And the display area of the collision possibility part image 31 is expanded using the space | gap area which shifted the display position of the vehicle icon C. FIG. As shown in FIGS. 4 to 7, in the third to fifth cases, the vehicle icon C is displayed at a position shifted according to the same rule.
　以上のようなディスプレイモニター１５の画面表示によれば、ドライバは、衝突可能性部位画像３１で、衝突可能性部位及び障害物の状況を認識することができる。そして、画面上における車両アイコンＣは画面中心からずれた位置に表示され、その表示位置が、現実の車両１００における衝突可能性部位の位置に対応付けて決定される。更に、画面上に示された車両アイコンＣと衝突可能性部位画像３１との位置関係が、現実の車両１００と衝突可能性部位との位置関係にほぼ一致している。従って、ドライバは、衝突可能性部位画像３１が車両１００のどの位置を映し出しているのかを直感的に認識することができる。 According to the screen display of the display monitor 15 as described above, the driver can recognize the situation of the collision possibility part and the obstacle from the collision possibility part image 31. Then, the vehicle icon C on the screen is displayed at a position shifted from the center of the screen, and the display position is determined in association with the position of the collision possibility part in the actual vehicle 100. Furthermore, the positional relationship between the vehicle icon C shown on the screen and the collision potential region image 31 substantially matches the positional relationship between the actual vehicle 100 and the collision potential region. Therefore, the driver can intuitively recognize the position of the vehicle 100 where the collision possibility part image 31 is projected.
　また、画面上における車両アイコンＣの表示位置が、画面中心から見て、衝突可能性部位画像３１の表示位置から遠ざかる方向にずれている。この構成によれば、車両アイコンＣの表示位置をずらして空いた領域を利用して、衝突可能性部位画像３１の表示領域を拡大することができる。その結果、ドライバは、衝突可能性部位及び障害物の状況を、広い表示領域でより詳細に知ることができる。 Also, the display position of the vehicle icon C on the screen is shifted in a direction away from the display position of the collision possibility part image 31 when viewed from the center of the screen. According to this configuration, the display area of the collision possibility part image 31 can be enlarged using the area that is vacated by shifting the display position of the vehicle icon C. As a result, the driver can know in detail the possibility of collision and the state of obstacles in a wide display area.
（第２実施形態）
　本実施形態の周辺監視装置では、ディスプレイモニター１５において、更に図９に例示するような画面表示が可能である。図９の画面表示は、例えば、上記図３～図８の画面表示から切り替えて表示される。 (Second Embodiment)
In the periphery monitoring device of this embodiment, the display monitor 15 can further display a screen as illustrated in FIG. The screen display of FIG. 9 is displayed by switching from the screen display of FIGS. 3 to 8, for example.
　図９は、前述した第５ケースの場合の画面表示の一例である。図９に示すように、ディスプレイモニター１５の画面上には、車両１００の真上から俯瞰した状態の車両周辺の画像（以下、「俯瞰画像」）５１と、予想進路表示５３と、前述の衝突可能性部位画像３１と、が重畳され表示される。更に、車両アイコンＣ上で衝突可能性部位に対応する位置に、三角形アイコンＴが点灯表示される。 FIG. 9 is an example of a screen display in the case of the fifth case described above. As shown in FIG. 9, on the screen of the display monitor 15, an image around the vehicle (hereinafter referred to as an “overhead image”) 51 as seen from directly above the vehicle 100, an expected course display 53, and the collision described above. The possible part image 31 is superimposed and displayed. Further, a triangle icon T is lit and displayed on the vehicle icon C at a position corresponding to the collision possibility part.
　俯瞰画像５１は、複数のカメラ１１で撮像された画像を視点変換して合成し、更に車両アイコンＣを加えて構成される。衝突可能性部位画像３１は、俯瞰画像５１の一部を隠すように重ねて表示される。予想進路表示５３は、将来の車両１００の予想進路を俯瞰画像５１上に矢印で表したものである。車両１００の予想進路は、予想軌跡演算部２５で演算される。 The bird's-eye view image 51 is configured by combining viewpoint images of images captured by a plurality of cameras 11 and adding a vehicle icon C thereto. The collision possibility part image 31 is displayed so as to be hidden so as to hide a part of the overhead image 51. The predicted course display 53 represents the expected course of the vehicle 100 in the future on the overhead image 51 with an arrow. The predicted course of the vehicle 100 is calculated by the predicted trajectory calculation unit 25.
　車両アイコンＣの表示位置に対する衝突可能性部位画像３１の表示位置の方向は、現実の車両１００の中心に対する衝突可能性部位の方向に対応するように割り付けられている。すなわち、第５ケースの場合には、車両１００の中心から見て斜め右前方に衝突可能性部位が位置する。これに対応して、ディスプレイモニター１５の画面上では、図９に示すように、車両アイコンＣから見て斜め右上方の位置に衝突可能性部位画像３１が割り付けられている。 The direction of the display position of the collision possibility part image 31 with respect to the display position of the vehicle icon C is assigned so as to correspond to the direction of the collision possibility part with respect to the center of the actual vehicle 100. That is, in the case of the fifth case, the collision possibility portion is located obliquely right forward as viewed from the center of the vehicle 100. Correspondingly, on the screen of the display monitor 15, as shown in FIG. 9, a collision possibility part image 31 is assigned to a position obliquely upper right as viewed from the vehicle icon C.
　更に、画面上における車両アイコンＣの表示位置は、画面中心から見て、予想進路の向きに対し略反対側に移動した位置に設定されている。すなわち、予想進路表示５３で示されているとおり、車両１００の予想進路は前方右側に向かうものである。これに対応して、画面上の車両アイコンＣの表示位置は、画面中心から見て、予想進路とは反対方向の斜め左下方にずれている。 Furthermore, the display position of the vehicle icon C on the screen is set to a position moved substantially opposite to the expected course direction when viewed from the center of the screen. That is, as indicated by the expected course display 53, the expected course of the vehicle 100 is directed to the front right side. Correspondingly, the display position of the vehicle icon C on the screen is shifted to the lower left in the direction opposite to the expected course as seen from the center of the screen.
　このような画面表示によれば、俯瞰画像５１における予想軌跡上の周辺画像が、衝突可能性部位画像３１に隠されることなく表示される。よって、障害物の確認の必要性がより高い予想軌跡上の画像を、欠落させることなく表示することができる。その一方、車両１００が既に通過済みの場所や予想軌跡から外れた場所は表示領域外になるが、このような場所は、障害物の確認の必要性が比較的低いので、問題となることが少ない。以上のように、上記画面表示によれば、ドライバにとって必要性が高い情報を、ドライバにとって直感的に状況認識しやすい形態で画面表示することができる。 According to such a screen display, the peripheral image on the expected trajectory in the overhead image 51 is displayed without being hidden by the collision possibility part image 31. Therefore, it is possible to display an image on an expected trajectory with a higher necessity for confirmation of an obstacle without being lost. On the other hand, places where the vehicle 100 has already passed or deviated from the expected trajectory are outside the display area, but such places may be problematic because the necessity for checking obstacles is relatively low. Few. As described above, according to the screen display, information that is highly necessary for the driver can be displayed on the screen in a form that allows the driver to intuitively recognize the situation.
　１…車両周辺監視装置、１５…ディスプレイモニター（表示装置）、３１…衝突可能性部位画像、５３…予想進路表示、１００…車両、Ｃ…車両アイコン、Ｓ…周辺障害物。 DESCRIPTION OF SYMBOLS 1 ... Vehicle periphery monitoring apparatus, 15 ... Display monitor (display apparatus), 31 ... Collision possible part image, 53 ... Expected course display, 100 ... Vehicle, C ... Vehicle icon, S ... Surrounding obstacle.

Claims (8)

  1. 　車両の周辺監視により得られる情報を画面表示する表示装置を備え、
    　前記表示装置は、
    　前記車両を表す車両アイコンと、前記車両の部位のうち周辺障害物に衝突する可能性がある衝突可能性部位の近傍の画像と、を一緒に画面上に表示し、
    　前記画面上における前記車両アイコンの表示位置は、
    　前記衝突可能性部位の位置に基づいて決定されることを特徴とする車両周辺監視装置。     Provided with a display device that displays information obtained by monitoring the surroundings of the vehicle,
    The display device
    A vehicle icon representing the vehicle and an image of the vicinity of a collision possibility part that may collide with a surrounding obstacle among the parts of the vehicle are displayed together on the screen,
    The display position of the vehicle icon on the screen is
    The vehicle periphery monitoring device, wherein the vehicle periphery monitoring device is determined based on a position of the collision possibility portion.
  2. 　前記車両アイコンの表示位置に対する、前記衝突可能性部位の近傍の画像の表示位置の方向が、現実の前記車両に対する前記衝突可能性部位の方向に対応するように割り付けられることを特徴とする請求項１に記載の車両周辺監視装置。 The display position of an image in the vicinity of the collision possibility portion with respect to the display position of the vehicle icon is assigned so as to correspond to the direction of the collision possibility portion with respect to the actual vehicle. The vehicle periphery monitoring apparatus according to 1.
  3. 　前記画面上における前記車両アイコンの表示位置は、
    　前記車両の予想進路に基づいて決定されることを特徴とする請求項１又は２に記載の車両周辺監視装置。     The display position of the vehicle icon on the screen is
    The vehicle periphery monitoring device according to claim 1, wherein the vehicle periphery monitoring device is determined based on an expected course of the vehicle.
  4. 　前記車両アイコンの表示位置は、前記画面の中心から見て、前記衝突可能性部位の近傍の画像の表示位置から遠ざかる方向にずれていることを特徴とする請求項１～３の何れか１項に記載の車両周辺監視装置。 The display position of the vehicle icon is deviated in a direction away from the display position of an image in the vicinity of the collision possibility portion as viewed from the center of the screen. The vehicle periphery monitoring device according to claim 1.
  5. 　車両の周辺監視により得られる情報を画面表示する表示装置が、
    　前記車両を表す車両アイコンと、前記車両の部位のうち周辺障害物に衝突する可能性がある衝突可能性部位の近傍の画像と、を一緒に画面上に表示し、
    　前記画面上における前記車両アイコンの表示位置は、
    　前記衝突可能性部位の位置に基づいて決定されることを特徴とする車両周辺監視情報の表示方法。     A display device that displays information obtained by vehicle periphery monitoring on the screen,
    A vehicle icon representing the vehicle and an image of the vicinity of a collision possibility part that may collide with a surrounding obstacle among the parts of the vehicle are displayed together on the screen,
    The display position of the vehicle icon on the screen is
    The vehicle periphery monitoring information display method, wherein the vehicle periphery monitoring information is determined based on the position of the collision possibility part.
  6. 　前記車両アイコンの表示位置に対する、前記衝突可能性部位の近傍の画像の表示位置の方向が、現実の前記車両に対する前記衝突可能性部位の方向に対応するように割り付けられることを特徴とする請求項５に記載の車両周辺監視情報の表示方法。 The display position of an image in the vicinity of the collision possibility portion with respect to the display position of the vehicle icon is assigned so as to correspond to the direction of the collision possibility portion with respect to the actual vehicle. 5. A display method of vehicle periphery monitoring information according to 5.
  7. 　前記画面上における前記車両アイコンの表示位置は、
    　前記車両の予想進路に基づいて決定されることを特徴とする請求項５又は６に記載の車両周辺監視情報の表示方法。     The display position of the vehicle icon on the screen is
    The vehicle periphery monitoring information display method according to claim 5, wherein the vehicle periphery monitoring information display method is determined based on an expected course of the vehicle.
  8. 　前記車両アイコンの表示位置は、前記画面の中心から見て、前記衝突可能性部位の近傍の画像の表示位置から遠ざかる方向にずれていることを特徴とする請求項５～７の何れか１項に記載の車両周辺監視情報の表示方法。 The display position of the vehicle icon is deviated in a direction away from the display position of an image in the vicinity of the collision possibility portion as viewed from the center of the screen. The display method of the vehicle periphery monitoring information described in 1.
PCT/JP2011/059966 2011-04-22 2011-04-22 Vehicle periphery monitoring device and display method for vehicle periphery monitoring information WO2012144076A1 (en)

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