WO2013038509A1 - Vehicle periphery monitoring apparatus, and vehicle periphery monitoring system - Google Patents

Vehicle periphery monitoring apparatus, and vehicle periphery monitoring system Download PDF

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Publication number
WO2013038509A1
WO2013038509A1 PCT/JP2011/070883 JP2011070883W WO2013038509A1 WO 2013038509 A1 WO2013038509 A1 WO 2013038509A1 JP 2011070883 W JP2011070883 W JP 2011070883W WO 2013038509 A1 WO2013038509 A1 WO 2013038509A1
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WIPO (PCT)
Prior art keywords
video
peripheral
detected
vehicle
obstacle
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PCT/JP2011/070883
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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/JP2011/070883 priority Critical patent/WO2013038509A1/en
Publication of WO2013038509A1 publication Critical patent/WO2013038509A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • 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
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • 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
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint

Definitions

  • the present invention relates to a vehicle periphery monitoring device and a vehicle periphery monitoring system.
  • a vehicle periphery monitoring system that displays a vehicle periphery image such as an omnidirectional bird's-eye view image around the vehicle and images of the front, rear, and side of the vehicle on an in-vehicle monitor is known.
  • the driver monitors the surroundings of the vehicle to check for obstacles (stationary objects, moving objects) around the vehicle in situations such as starting at a crossroad with poor visibility, shifting to a toll gate, reverse parking, and parallel parking.
  • the system may be used.
  • Japanese Patent Application Laid-Open No. 7-223487 discloses a system that detects an obstacle around a vehicle and emphasizes the display area of the obstacle according to the degree of danger and displays it on a monitor. However, this system assumes that the driver continues to watch the monitor to confirm the safety around the vehicle.
  • the driver does not keep gazing at the monitor, and usually looks at the monitor while driving the vehicle and confirms safety.
  • peripheral images such as a bird's eye view image and a rear image are displayed in a multi-screen configuration
  • the driver does not see all of the plurality of peripheral images, but only a part of the peripheral images. It is only a confirmation. Therefore, unless the line of sight is moved to a peripheral image capturing the presence of an obstacle, the presence may not be noticed, and safety may not be appropriately confirmed.
  • the present invention seeks to provide a vehicle periphery monitoring device and a vehicle periphery monitoring system with improved monitoring performance.
  • the present invention is applied to a vehicle periphery monitoring system that acquires a video around a vehicle, generates a plurality of different peripheral images from the acquired video, and displays the plurality of peripheral images in a plurality of screen configurations.
  • An obstacle detection unit that detects an obstacle located in the vicinity of a vehicle from a plurality of surrounding images and detects the presence of an obstacle that is not detected in other surrounding images, and another surrounding image
  • a vehicle periphery monitoring device is provided that includes a display control unit that performs display control so that at least a part of a surrounding image in which the presence of an obstacle that has not been detected is detected is emphasized over other surrounding images.
  • a video acquisition unit that acquires a video around the vehicle, a video generation unit that generates a plurality of different peripheral videos from the acquired video, and a plurality of peripheral videos configured in multiple screens
  • a vehicle periphery monitoring system includes the video display unit that displays the above and the vehicle periphery monitoring device described above.
  • the vehicle periphery monitoring device in the vehicle periphery monitoring system, a video around the vehicle is acquired, and a plurality of different peripheral images are generated from the acquired video. Peripheral images are displayed in a multi-screen configuration.
  • the obstacle detection unit detects an obstacle located around the vehicle from a plurality of surrounding images, and detects the presence of an obstacle that has not been detected from other surrounding images.
  • the display control unit performs display control so that at least a part of the peripheral video in which the presence of an obstacle not detected in the other peripheral video is detected is emphasized more than the other peripheral video.
  • the display control unit raises at least one of the brightness and the saturation higher than those of the other peripheral images by setting at least a part of the peripheral video in which the presence of the obstacle not detected in the other peripheral images is detected. You may control to display. According to such a configuration, since at least a part of the peripheral video in which the presence of the obstacle is detected is controlled to be displayed with at least one of brightness and saturation higher than those of other peripheral videos, The driver's line of sight can be reliably guided to surrounding images that capture obstacles.
  • the display control unit may perform display control so that the entire peripheral video in which the presence of an obstacle that has not been detected in other peripheral video is detected is emphasized more than the other peripheral video. According to such a configuration, the entire peripheral video in which the presence of the obstacle is detected is highlighted, so that the driver's line of sight is guided not only to the obstacle image but also to the entire peripheral image including the obstacle. It is possible to appropriately confirm not only the safety to objects but also the safety around obstacles.
  • the vehicle periphery monitoring device may further include a warning output unit that warns the driver of the presence of an obstacle when the presence of an obstacle that has not been detected in other surrounding images is detected.
  • a warning output unit that warns the driver of the presence of an obstacle when the presence of an obstacle that has not been detected in other surrounding images is detected.
  • FIG. 1 is a diagram illustrating a configuration of a vehicle periphery monitoring system according to an embodiment of the present invention. It is a flowchart which shows operation
  • FIG. 1 is a diagram showing a configuration of a vehicle periphery monitoring system 10 according to an embodiment of the present invention.
  • the vehicle periphery monitoring system 10 includes a video acquisition unit 11, a video generation unit 13, a video display unit 15, and a vehicle periphery monitoring device 20.
  • the vehicle periphery monitoring device 20 is configured as an ECU including an obstacle detection unit 21, a display control unit 23, and a warning output unit 25. Note that some of the functions of the vehicle periphery monitoring device 20 may be realized by components other than the vehicle periphery monitoring device 20.
  • the video acquisition unit 11 acquires video around the vehicle.
  • the video acquisition unit 11 is configured as a front camera, a rear camera, a left and right side camera, a front fisheye camera, a rear fisheye camera, a side mirror camera, and the like. Images around the vehicle are acquired as images of the front, rear, side, front wide angle, rear wide angle, and obliquely rear of the vehicle.
  • the video generation unit 13 generates a plurality of different peripheral videos from the acquired video.
  • the plurality of peripheral images are an omnidirectional bird's-eye view image around the vehicle, a vehicle front image, a rear image, a side image, a front wide angle image, a rear wide angle image, an oblique rear image, and the like.
  • the plurality of surrounding images represent different areas around the vehicle.
  • the bird's-eye view video represents the situation of a certain range of area surrounding the vehicle
  • the rear wide-angle video covers a wider area than the bird's-eye view video for the situation of the area behind the vehicle.
  • the video generation unit 13 generates a peripheral video suitable for peripheral monitoring according to the traveling state of the vehicle. For example, a bird's-eye view video and a rear wide-angle video suitable for safety confirmation when reversing are generated in a situation where the vehicle is moving backward in a parking lot. Is generated.
  • the plurality of peripheral images are also generated in other combinations depending on the traveling state of the vehicle.
  • the video generation unit 13 may be configured to generate a desired peripheral video according to a driver's switching operation separately from the vehicle traveling state.
  • the video generation unit 13 generates a peripheral video using at least video data supplied from the video acquisition unit 11.
  • the bird's-eye view video is obtained by processing video data of a front camera, a rear camera, and a side camera, and combining the processed data with image data (such as an image showing the own vehicle) read from a storage unit (not shown). Generated.
  • image data such as an image showing the own vehicle
  • a travel guide line that assists the steering by the driver may be combined according to the sensor value of the vehicle sensor (not shown).
  • the front image, rear image, side image, front wide angle image, rear wide angle image, and oblique rear image of the vehicle are the front camera, rear camera, side camera, front fisheye camera, rear fisheye camera, and side mirror, respectively. It is generated by processing camera video data.
  • the video display unit 15 displays a plurality of peripheral videos in a plurality of screen configurations.
  • the video display unit 15 is configured as an in-vehicle monitor disposed near the driver's seat.
  • a plurality of peripheral images are displayed in a plurality of screen configurations so that they can be distinguished from each other in an arrangement such as a vertical direction, a horizontal direction, and a lattice shape.
  • a case where two peripheral videos are displayed in a two-screen configuration will be described, but three or more peripheral videos may be displayed in a multi-screen configuration.
  • the obstacle detection unit 21 detects an obstacle located around the vehicle from a plurality of surrounding images.
  • a stationary object and a moving object located in an area covered by each peripheral video are detected as obstacles.
  • the obstacle detection unit 21 performs pattern recognition processing on each peripheral image to detect an obstacle located around the vehicle.
  • the obstacle detection unit 21 compares the obstacles detected in each peripheral image with each other, and detects the presence of an obstacle that has not been detected in other peripheral images. For example, when a pedestrian is not detected in the bird's-eye view video and a pedestrian is detected in the rear wide-angle video, the presence of the pedestrian in the rear wide-angle video is detected.
  • the obstacle detection unit 21 determines the risk of collision with the obstacle according to the type of obstacle (stationary object, moving object) detected on the surrounding image, the movement status (movement direction, movement speed), position, and the like. You may decide. In this case, the detection result of the presence of the obstacle may be corrected according to the collision risk of the obstacle. For example, if another vehicle is detected in the rear wide-angle image but the other vehicle is moving at a high speed in a direction away from the host vehicle, and the collision risk falls below a predetermined threshold, the detection result of the presence of the other vehicle is invalid. It may be said.
  • the display control unit 23 performs display control so that at least a part of the peripheral video in which the presence of an obstacle not detected in the other peripheral video is detected is emphasized more than the other peripheral video.
  • the entire peripheral image may be emphasized, or only the area near the obstacle may be emphasized.
  • the enhancement of the peripheral video may be performed, for example, through correction of the video data itself, or may be performed through control of the video display unit 15.
  • the enhancement of the peripheral video may be performed, for example, by displaying at least a part of the corresponding peripheral video with higher brightness and / or saturation than other peripheral videos.
  • the brightness and / or saturation of at least a part of the corresponding peripheral video may be higher than normal, and conversely, the brightness and / or saturation of the peripheral video that is not applicable may be lower than normal.
  • the enhancement of the surrounding video may be performed by blinking at least a part of the corresponding surrounding video over a predetermined period.
  • the warning output unit 25 warns the driver of the presence of an obstacle when the presence of an obstacle that has not been detected in other peripheral images is detected.
  • the warning output unit 25 is configured as a speaker that outputs a warning sound, a vibrator that vibrates an operation grip of the steering wheel, a blinking lamp that is mounted on a rearview mirror, or the like.
  • the warning output unit 25 configured as a speaker may be configured to notify the driver of the type, position, movement state, and the like of the obstacle along with the warning sound.
  • FIG. 2 is a flowchart showing the operation of the vehicle periphery monitoring system 10.
  • 3 and 4 are explanatory diagrams for explaining the operation of the vehicle periphery monitoring system 10.
  • the video acquisition unit 11 acquires a video around the vehicle (step S11). For example, images of the front, rear, left and right sides, front wide angle, rear wide angle, and diagonally rear of the vehicle are acquired. Note that in the video acquisition unit 11, the video to be acquired may be selected in advance in accordance with the driving situation of the vehicle.
  • the video generation unit 13 generates a plurality of different peripheral videos from the acquired video in accordance with the traveling state of the vehicle (step S13). For example, in a situation of retreating in a parking lot, a bird's-eye view image and a rear wide-angle image are generated.
  • the obstacle detection unit 21 detects an obstacle located around the vehicle from a plurality of surrounding images (step S15), and further detects the presence of an obstacle that has not been detected from other surrounding images (step S17). ).
  • the obstacle detection unit 21 determines whether the presence of an obstacle that has not been detected in other peripheral images is detected (step S19). When the presence of an obstacle is detected, the obstacle detection unit 21 notifies the display control unit 23 of the identification information of the corresponding peripheral image and the presence of the obstacle, and notifies the warning output unit 25 of the presence of the obstacle. Notice. Then, the display control unit 23 performs display control so that at least a part of the corresponding peripheral image is highlighted and displayed (step S21), and the warning output unit 25 warns the driver of the presence of an obstacle (step S23). . Then, the video display unit 15 displays a plurality of peripheral images, that is, a plurality of peripheral images in which at least a part of the corresponding peripheral image is emphasized in a plurality of screen configurations (step S25).
  • step S19 if the presence of an obstacle is not detected in step S19, the process proceeds to step 25, and the video display unit 15 displays a plurality of peripheral images, that is, a plurality of unenhanced peripheral images in a plurality of screen configurations. .
  • the processes of steps S11 to S25 are repeated until the process is completed (step S27).
  • FIG. 3A it is assumed that a pedestrian P is present behind the vehicle in a situation where the host vehicle V moves backward in the parking lot.
  • the presence of the pedestrian P is not detected in the bird's-eye view video I1 on the in-vehicle monitor M, but is newly detected in the rear wide-angle video I2.
  • the display control unit 23 is notified of the identification information of the rear wide-angle image I2 and the presence of the pedestrian P, and the warning output unit 25 is notified of the presence of the pedestrian P. Then, the display control unit 23 performs display control so that the entire rear wide-angle video I2 is emphasized more than the bird's-eye view video I1.
  • the rear wide-angle video I2 that is highlighted as a whole in FIG. 3B, the entire image is indicated by a thick line
  • the bird's-eye view video I1 that is not highlighted in FIG. 3B.
  • the image is displayed in a two-screen configuration, and the driver is warned from the warning output unit 25 that the pedestrian P is present.
  • the driver highlights the entire rear wide-angle video I2 in which the presence of the pedestrian P that has not been detected in the bird's-eye view video I1 is detected, so that the driver looks at both the bird's-eye view video I1 and the rear wide-angle video I2. Even if it does not move, the safety of the pedestrian P can be confirmed by moving the line of sight only to the rear wide-angle image I2 highlighted as a whole.
  • FIG. 4A a case is assumed where a pedestrian P is present on the side of the vehicle in a situation where the host vehicle V moves forward in a parking lot.
  • FIG. 4B the presence of the pedestrian P is not detected in the front wide-angle video I3 on the in-vehicle monitor M, but is newly detected in the bird's-eye view video I1.
  • the display control unit 23 is notified of the identification information of the bird's eye view video I1 and the presence of the pedestrian P, and the warning output unit 25 is notified of the presence of the pedestrian P.
  • the display control unit 23 performs display control so that a part of the bird's-eye view video I1 and the area where the pedestrian P is detected are emphasized more than the front wide-angle video I3.
  • the video display unit 15 partially highlights the bird's-eye view video I1 (in FIG. 4B, the image of the pedestrian P is indicated by a bold line) and the front wide angle that is not highlighted.
  • Video I3 in FIG. 4B, the entire image is lightly colored
  • the warning output unit 25 warns the driver of the presence of pedestrian P.
  • the driver partially highlights the bird's-eye view image I1 in which the presence of the pedestrian P that has not been detected in the front wide-angle image I3 is detected, so that the driver looks at both the bird's-eye view image I1 and the front wide-angle image I3. Even if it does not move, safety can be confirmed about the pedestrian P by moving a visual line only to the bird's-eye view image I1 partially highlighted.
  • the obstacle detection unit 21 detects an obstacle located around the vehicle from a plurality of surrounding images, and other surrounding images. Detects the presence of obstacles that have not been detected in.
  • the display control unit 23 performs display control so that at least a part of the peripheral video in which the presence of an obstacle not detected in the other peripheral video is detected is emphasized more than the other peripheral video. As a result, at least a part of the peripheral video in which the presence of an obstacle that has not been detected in the other peripheral video is detected is highlighted, so that the driver does not have to move the line of sight to all of the plurality of peripheral videos. However, it is possible to confirm the safety against the obstacle by moving the line of sight only to the peripheral video highlighted at least partially. Therefore, the monitoring performance by the vehicle periphery monitoring system can be improved.
  • the present invention relates to a program for executing the detection of the presence of an obstacle, highlighting processing, and the like based on the above-described vehicle periphery monitoring algorithm, or a computer-readable recording medium storing the program It can also be applied to.

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  • Engineering & Computer Science (AREA)
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  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)

Abstract

A vehicle periphery monitoring apparatus (20) is applied to a vehicle periphery monitoring system (10) that acquires a picture of the periphery of a vehicle, generates a plurality of mutually different periphery pictures from the acquired picture, and displays the plurality of periphery pictures in a multi-screen configuration, and is provided with: an obstacle detection unit (21) that detects an obstacle in the periphery of the vehicle in a plurality of periphery pictures and that detects the presence of an obstacle in a periphery picture that is not detected in other periphery pictures; and a display control unit (23) that implements display control to emphasize at least a part of the periphery picture in which the presence of the obstacle that is not detected in the other periphery pictures is detected, compared with the other periphery pictures.

Description

車両周辺監視装置および車両周辺監視システムVehicle periphery monitoring device and vehicle periphery monitoring system
　本発明は、車両周辺監視装置および車両周辺監視システムに関する。 The present invention relates to a vehicle periphery monitoring device and a vehicle periphery monitoring system.
　従来、車両周辺の全方位鳥瞰図映像、車両の前方、後方、側方の各映像など、車両の周辺映像を車載モニタに表示する車両周辺監視システムが知られている。運転者は、見通しの悪い交差路での発進、料金所への幅寄せ、後退駐車、縦列駐車などの状況で、車両周辺の障害物（静止物体、移動物体）を確認するために車両周辺監視システムを利用する場合がある。 2. Description of the Related Art Conventionally, a vehicle periphery monitoring system that displays a vehicle periphery image such as an omnidirectional bird's-eye view image around the vehicle and images of the front, rear, and side of the vehicle on an in-vehicle monitor is known. The driver monitors the surroundings of the vehicle to check for obstacles (stationary objects, moving objects) around the vehicle in situations such as starting at a crossroad with poor visibility, shifting to a toll gate, reverse parking, and parallel parking. The system may be used.
　例えば特開平７－２２３４８７号公報には、車両周辺の障害物を検知し、その危険度に応じて障害物の表示領域を強調してモニタに表示するシステムが開示されている。しかし、このシステムは、運転者が車両周辺の安全を確認するためにモニタを注視し続けることを前提としている。 For example, Japanese Patent Application Laid-Open No. 7-223487 discloses a system that detects an obstacle around a vehicle and emphasizes the display area of the obstacle according to the degree of danger and displays it on a monitor. However, this system assumes that the driver continues to watch the monitor to confirm the safety around the vehicle.
特開平７－２２３４８７号公報JP-A-7-223487
　しかし、上記のような状況を想定すると、運転者は、モニタを注視し続けることはなく、車両を操縦しながらモニタを一寸眺め、安全を確認するのが通常である。ましては、鳥瞰図映像と後方映像など、周辺映像が複数画面構成で表示される場合、運転者は、複数の周辺映像の全てを眺めることはなく、一部の周辺映像のみを眺めて、安全を確認するに過ぎない。よって、障害物の存在を捉えている周辺映像に視線を移動しない限りこの存在に気付かず、適切に安全を確認できない場合がある。 However, assuming the situation as described above, the driver does not keep gazing at the monitor, and usually looks at the monitor while driving the vehicle and confirms safety. In addition, when peripheral images such as a bird's eye view image and a rear image are displayed in a multi-screen configuration, the driver does not see all of the plurality of peripheral images, but only a part of the peripheral images. It is only a confirmation. Therefore, unless the line of sight is moved to a peripheral image capturing the presence of an obstacle, the presence may not be noticed, and safety may not be appropriately confirmed.
　そこで、本発明は、監視性能を向上させた、車両周辺監視装置および車両周辺監視システムを提供しようとするものである。 Therefore, the present invention seeks to provide a vehicle periphery monitoring device and a vehicle periphery monitoring system with improved monitoring performance.
　本発明の一態様によれば、車両周辺の映像を取得し、取得した映像から互いに異なる複数の周辺映像を生成し、複数の周辺映像を複数画面構成で表示する車両周辺監視システムに適用される車両周辺監視装置であって、複数の周辺映像で車両周辺に位置する障害物を検出し、他の周辺映像で検出されていない障害物の存在を検出する障害物検出部と、他の周辺映像で検出されていない障害物の存在が検出された周辺映像の少なくとも一部を、他の周辺映像よりも強調するように表示制御する表示制御部とを備える、車両周辺監視装置が提供される。 According to one aspect of the present invention, the present invention is applied to a vehicle periphery monitoring system that acquires a video around a vehicle, generates a plurality of different peripheral images from the acquired video, and displays the plurality of peripheral images in a plurality of screen configurations. An obstacle detection unit that detects an obstacle located in the vicinity of a vehicle from a plurality of surrounding images and detects the presence of an obstacle that is not detected in other surrounding images, and another surrounding image A vehicle periphery monitoring device is provided that includes a display control unit that performs display control so that at least a part of a surrounding image in which the presence of an obstacle that has not been detected is detected is emphasized over other surrounding images.
　また、本発明の他の態様によれば、車両周辺の映像を取得する映像取得部と、取得した映像から互いに異なる複数の周辺映像を生成する映像生成部と、複数の周辺映像を複数画面構成で表示する映像表示部と、前述した車両周辺監視装置とを備える、車両周辺監視システムが提供される。 According to another aspect of the present invention, a video acquisition unit that acquires a video around the vehicle, a video generation unit that generates a plurality of different peripheral videos from the acquired video, and a plurality of peripheral videos configured in multiple screens A vehicle periphery monitoring system is provided that includes the video display unit that displays the above and the vehicle periphery monitoring device described above.
　前述したような車両周辺監視装置および車両周辺監視システムの構成によれば、車両周辺監視システムでは、車両周辺の映像が取得され、取得された映像から互いに異なる複数の周辺映像が生成され、複数の周辺映像が複数画面構成で表示される。そして、障害物検出部が、複数の周辺映像で車両周辺に位置する障害物を検出し、他の周辺映像で検出されていない障害物の存在を検出する。また、表示制御部が、他の周辺映像で検出されていない障害物の存在が検出された周辺映像の少なくとも一部を、他の周辺映像よりも強調するように表示制御する。 According to the configuration of the vehicle periphery monitoring device and the vehicle periphery monitoring system as described above, in the vehicle periphery monitoring system, a video around the vehicle is acquired, and a plurality of different peripheral images are generated from the acquired video. Peripheral images are displayed in a multi-screen configuration. The obstacle detection unit detects an obstacle located around the vehicle from a plurality of surrounding images, and detects the presence of an obstacle that has not been detected from other surrounding images. In addition, the display control unit performs display control so that at least a part of the peripheral video in which the presence of an obstacle not detected in the other peripheral video is detected is emphasized more than the other peripheral video.
　これにより、他の周辺映像で検出されていない障害物の存在が検出された周辺映像の少なくとも一部が強調表示されるので、運転者は、複数の周辺映像の全てに視線を移動しなくても、少なくとも部分的に強調表示された周辺映像のみに視線を移動することで、障害物に対する安全性を確認できる。よって、車両周辺監視システムによる監視性能を向上させることができる。 As a result, at least a part of the peripheral video in which the presence of an obstacle that has not been detected in the other peripheral video is detected is highlighted, so that the driver does not have to move the line of sight to all of the plurality of peripheral videos. However, it is possible to confirm the safety against the obstacle by moving the line of sight only to the peripheral video highlighted at least partially. Therefore, the monitoring performance by the vehicle periphery monitoring system can be improved.
　また、表示制御部が、他の周辺映像で検出されていない障害物の存在が検出された周辺映像の少なくとも一部を、他の周辺映像よりも明度および彩度のうち少なくともいずれか一方を高くして表示するように制御してもよい。かかる構成によれば、障害物の存在が検出された周辺映像の少なくとも一部を、他の周辺映像よりも明度および彩度のうち少なくともいずれか一方を高くして表示するように制御するので、障害物を捉えた周辺映像に運転者の視線を確実に誘導できる。 In addition, the display control unit raises at least one of the brightness and the saturation higher than those of the other peripheral images by setting at least a part of the peripheral video in which the presence of the obstacle not detected in the other peripheral images is detected. You may control to display. According to such a configuration, since at least a part of the peripheral video in which the presence of the obstacle is detected is controlled to be displayed with at least one of brightness and saturation higher than those of other peripheral videos, The driver's line of sight can be reliably guided to surrounding images that capture obstacles.
　また、表示制御部が、他の周辺映像で検出されていない障害物の存在が検出された周辺映像の全体を、他の周辺映像よりも強調するように表示制御してもよい。かかる構成によれば、障害物の存在が検出された周辺映像の全体が強調表示されるので、障害物の画像のみではなく障害物を含む周辺画像の全体に運転者の視線が誘導され、障害物に対する安全性のみならず障害物周辺に対する安全性を適切に確認できる。 Further, the display control unit may perform display control so that the entire peripheral video in which the presence of an obstacle that has not been detected in other peripheral video is detected is emphasized more than the other peripheral video. According to such a configuration, the entire peripheral video in which the presence of the obstacle is detected is highlighted, so that the driver's line of sight is guided not only to the obstacle image but also to the entire peripheral image including the obstacle. It is possible to appropriately confirm not only the safety to objects but also the safety around obstacles.
　また、車両周辺監視装置が、他の周辺映像で検出されていない障害物の存在が検出されると、障害物の存在を運転者に警告する警告出力部をさらに備えてもよい。かかる構成によれば、他の周辺映像で検出されていない障害物の存在が検出されると、障害物の存在が運転者に警告されるので、運転者は、障害物を捉えた周辺映像に運転者の視線をさらに確実に誘導できる。 In addition, the vehicle periphery monitoring device may further include a warning output unit that warns the driver of the presence of an obstacle when the presence of an obstacle that has not been detected in other surrounding images is detected. According to such a configuration, when the presence of an obstacle that has not been detected in another peripheral image is detected, the driver is warned of the presence of the obstacle. The driver's line of sight can be guided more reliably.
　以上説明したように本発明によれば、監視性能を向上させた、車両周辺監視装置および車両周辺監視システムを提供することができる。 As described above, according to the present invention, it is possible to provide a vehicle periphery monitoring device and a vehicle periphery monitoring system with improved monitoring performance.
本発明の一実施形態に係る車両周辺監視システムの構成を示す図である。1 is a diagram illustrating a configuration of a vehicle periphery monitoring system according to an embodiment of the present invention. 車両周辺監視システムの動作を示すフロー図である。It is a flowchart which shows operation | movement of a vehicle periphery monitoring system. 車両周辺監視システムの動作を説明する説明図である。It is explanatory drawing explaining operation | movement of a vehicle periphery monitoring system. 車両周辺監視システムの他の動作を説明する説明図である。It is explanatory drawing explaining other operation | movement of a vehicle periphery monitoring system.
　まず、図１を参照して、本発明の一実施形態に係る車両周辺監視システム１０の構成について説明する。図１は、本発明の一実施形態に係る車両周辺監視システム１０の構成を示す図である。 First, the configuration of a vehicle periphery monitoring system 10 according to an embodiment of the present invention will be described with reference to FIG. FIG. 1 is a diagram showing a configuration of a vehicle periphery monitoring system 10 according to an embodiment of the present invention.
　図１に示すように、車両周辺監視システム１０は、映像取得部１１、映像生成部１３、映像表示部１５、および車両周辺監視装置２０を含む。車両周辺監視装置２０は、障害物検出部２１、表示制御部２３、および警告出力部２５を含むＥＣＵなどとして構成される。なお、車両周辺監視装置２０の機能の一部が、車両周辺監視装置２０以外の構成要素で実現されてもよい。 As shown in FIG. 1, the vehicle periphery monitoring system 10 includes a video acquisition unit 11, a video generation unit 13, a video display unit 15, and a vehicle periphery monitoring device 20. The vehicle periphery monitoring device 20 is configured as an ECU including an obstacle detection unit 21, a display control unit 23, and a warning output unit 25. Note that some of the functions of the vehicle periphery monitoring device 20 may be realized by components other than the vehicle periphery monitoring device 20.
　映像取得部１１は、車両周辺の映像を取得する。映像取得部１１は、前方カメラ、後方カメラ、左右側方カメラ、前方魚眼カメラ、後方魚眼カメラ、サイドミラーカメラなどとして構成される。車両周辺の映像は、車両の前方、後方、側方、前方広角、後方広角、斜め後方の各映像などとして取得される。 The video acquisition unit 11 acquires video around the vehicle. The video acquisition unit 11 is configured as a front camera, a rear camera, a left and right side camera, a front fisheye camera, a rear fisheye camera, a side mirror camera, and the like. Images around the vehicle are acquired as images of the front, rear, side, front wide angle, rear wide angle, and obliquely rear of the vehicle.
　映像生成部１３は、取得した映像から互いに異なる複数の周辺映像を生成する。複数の周辺映像は、車両周辺の全方位鳥瞰図映像、車両の前方映像、後方映像、側方映像、前方広角映像、後方広角映像、斜め後方映像などである。ここで、複数の周辺映像は、車両周辺の異なる領域の状況を表している。例えば、鳥瞰図映像は、車両を取り巻く一定範囲の領域の状況を表し、後方広角映像は、車両後方の領域の状況について、鳥瞰図映像よりも広範な領域をカバーしている。 The video generation unit 13 generates a plurality of different peripheral videos from the acquired video. The plurality of peripheral images are an omnidirectional bird's-eye view image around the vehicle, a vehicle front image, a rear image, a side image, a front wide angle image, a rear wide angle image, an oblique rear image, and the like. Here, the plurality of surrounding images represent different areas around the vehicle. For example, the bird's-eye view video represents the situation of a certain range of area surrounding the vehicle, and the rear wide-angle video covers a wider area than the bird's-eye view video for the situation of the area behind the vehicle.
　映像生成部１３は、車両の走行状況に応じて、周辺監視に適した周辺映像を生成する。例えば、駐車場で後退する状況では、後退時の安全確認に適した鳥瞰図映像および後方広角映像が生成され、駐車場で前進する状況では、前進時の安全確認に適した鳥瞰図映像および前方広角映像が生成される。複数の周辺映像は、車両の走行状況に応じて、他の組合せでも生成される。また、映像生成部１３は、車両の走行状況とは別に運転者の切替え操作に応じて、所望の周辺映像を生成するように構成されてもよい。 The video generation unit 13 generates a peripheral video suitable for peripheral monitoring according to the traveling state of the vehicle. For example, a bird's-eye view video and a rear wide-angle video suitable for safety confirmation when reversing are generated in a situation where the vehicle is moving backward in a parking lot. Is generated. The plurality of peripheral images are also generated in other combinations depending on the traveling state of the vehicle. In addition, the video generation unit 13 may be configured to generate a desired peripheral video according to a driver's switching operation separately from the vehicle traveling state.
　映像生成部１３は、少なくとも映像取得部１１から供給される映像データを用いて周辺映像を生成する。例えば、鳥瞰図映像は、前方カメラ、後方カメラ、側方カメラの映像データを加工し、加工データを記憶部（不図示）から読み出された画像データ（自車両を示す画像など）と合成して生成される。鳥瞰図映像には、車両センサ（不図示）のセンサ値に応じて、運転者による操舵を支援する走行案内線が合成されてもよい。また、車両の前方映像、後方映像、側方映像、前方広角映像、後方広角映像、斜め後方映像は、それぞれ前方カメラ、後方カメラ、側方カメラ、前方魚眼カメラ、後方魚眼カメラ、サイドミラーカメラの映像データを加工して生成される。 The video generation unit 13 generates a peripheral video using at least video data supplied from the video acquisition unit 11. For example, the bird's-eye view video is obtained by processing video data of a front camera, a rear camera, and a side camera, and combining the processed data with image data (such as an image showing the own vehicle) read from a storage unit (not shown). Generated. In the bird's-eye view video, a travel guide line that assists the steering by the driver may be combined according to the sensor value of the vehicle sensor (not shown). The front image, rear image, side image, front wide angle image, rear wide angle image, and oblique rear image of the vehicle are the front camera, rear camera, side camera, front fisheye camera, rear fisheye camera, and side mirror, respectively. It is generated by processing camera video data.
　映像表示部１５は、複数の周辺映像を複数画面構成で表示する。映像表示部１５は、運転席付近に配置された車載モニタなどとして構成される。複数の周辺映像は、上下方向、左右方向、格子状などの配列で互いに識別可能に、複数画面構成で表示される。なお、以下では、２つの周辺映像が２画面構成で表示される場合について説明するが、３つ以上の周辺映像が多画面構成で表示されてもよい。 The video display unit 15 displays a plurality of peripheral videos in a plurality of screen configurations. The video display unit 15 is configured as an in-vehicle monitor disposed near the driver's seat. A plurality of peripheral images are displayed in a plurality of screen configurations so that they can be distinguished from each other in an arrangement such as a vertical direction, a horizontal direction, and a lattice shape. In the following, a case where two peripheral videos are displayed in a two-screen configuration will be described, but three or more peripheral videos may be displayed in a multi-screen configuration.
　障害物検出部２１は、複数の周辺映像で車両周辺に位置する障害物を検出する。各周辺映像では、各周辺映像がカバーする領域内に位置する静止物体、移動物体が障害物として検出される。障害物検出部２１は、例えば、各周辺映像にパターン認識処理を施して車両周辺に位置する障害物を検出する。また、障害物検出部２１は、各周辺映像で検出された障害物を周辺映像同士で比較し、他の周辺映像で検出されていない障害物の存在を検出する。例えば、鳥瞰図映像で歩行者が検出されておらず、後方広角映像で歩行者が検出されている場合、後方広角映像での歩行者の存在が検出される。 The obstacle detection unit 21 detects an obstacle located around the vehicle from a plurality of surrounding images. In each peripheral video, a stationary object and a moving object located in an area covered by each peripheral video are detected as obstacles. For example, the obstacle detection unit 21 performs pattern recognition processing on each peripheral image to detect an obstacle located around the vehicle. In addition, the obstacle detection unit 21 compares the obstacles detected in each peripheral image with each other, and detects the presence of an obstacle that has not been detected in other peripheral images. For example, when a pedestrian is not detected in the bird's-eye view video and a pedestrian is detected in the rear wide-angle video, the presence of the pedestrian in the rear wide-angle video is detected.
　障害物検出部２１は、周辺画像上で検出された障害物の種類（静止物体、移動物体）、移動状況（移動方向、移動速度）、位置などに応じて、障害物との衝突危険度を決定してもよい。この場合、障害物の存在の検出結果は、障害物の衝突危険度に応じて修正されてもよい。例えば、後方広角映像で他車両が検出されたが、他車両が自車両から遠ざかる方向に高速で移動しているなど、衝突危険度が所定閾値を下回れば、他車両の存在の検出結果が無効とされてもよい。 The obstacle detection unit 21 determines the risk of collision with the obstacle according to the type of obstacle (stationary object, moving object) detected on the surrounding image, the movement status (movement direction, movement speed), position, and the like. You may decide. In this case, the detection result of the presence of the obstacle may be corrected according to the collision risk of the obstacle. For example, if another vehicle is detected in the rear wide-angle image but the other vehicle is moving at a high speed in a direction away from the host vehicle, and the collision risk falls below a predetermined threshold, the detection result of the presence of the other vehicle is invalid. It may be said.
　表示制御部２３は、他の周辺映像で検出されていない障害物の存在が検出された周辺映像の少なくとも一部を、他の周辺映像よりも強調するように表示制御する。周辺映像は、その全体を強調されてもよく、障害物付近の領域のみを強調されてもよい。周辺映像の強調は、例えば映像データ自体の修正を通じて行われてもよく、映像表示部１５の制御を通じて行われてもよい。 The display control unit 23 performs display control so that at least a part of the peripheral video in which the presence of an obstacle not detected in the other peripheral video is detected is emphasized more than the other peripheral video. The entire peripheral image may be emphasized, or only the area near the obstacle may be emphasized. The enhancement of the peripheral video may be performed, for example, through correction of the video data itself, or may be performed through control of the video display unit 15.
　周辺映像の強調は、例えば、該当する周辺映像の少なくとも一部を他の周辺映像よりも高い明度および／または彩度で表示することで行われてもよい。この場合、該当する周辺映像の少なくとも一部の明度および／または彩度を通常よりも高くしてもよく、逆に該当しない周辺映像の明度および／または彩度を通常よりも低くしてもよく、両者を組み合わせてもよい。しかし、運転者の視線を周辺映像に効果的に誘導するという観点からすれば、少なくとも該当する周辺映像の少なくとも一部の明度および／または彩度を通常よりも高くすることが好ましい。なお、周辺映像の強調は、該当する周辺映像の少なくとも一部を所定期間に亘って点滅させることで行われてもよい。 The enhancement of the peripheral video may be performed, for example, by displaying at least a part of the corresponding peripheral video with higher brightness and / or saturation than other peripheral videos. In this case, the brightness and / or saturation of at least a part of the corresponding peripheral video may be higher than normal, and conversely, the brightness and / or saturation of the peripheral video that is not applicable may be lower than normal. , You may combine both. However, from the viewpoint of effectively guiding the driver's line of sight to the surrounding video, it is preferable to increase the brightness and / or saturation of at least a part of the corresponding peripheral video higher than usual. The enhancement of the surrounding video may be performed by blinking at least a part of the corresponding surrounding video over a predetermined period.
　警告出力部２５は、他の周辺映像で検出されていない障害物の存在が検出されると、障害物の存在を運転者に警告する。警告出力部２５は、警告音を出力するスピーカ、ステアリングホイールの操作グリップを振動させるバイブレータ、バックミラーなどに装着された点滅ランプなどとして構成される。スピーカとして構成される警告出力部２５は、警告音とともに、障害物の種類、位置、移動状況などを運転者に通知するように構成されてもよい。 The warning output unit 25 warns the driver of the presence of an obstacle when the presence of an obstacle that has not been detected in other peripheral images is detected. The warning output unit 25 is configured as a speaker that outputs a warning sound, a vibrator that vibrates an operation grip of the steering wheel, a blinking lamp that is mounted on a rearview mirror, or the like. The warning output unit 25 configured as a speaker may be configured to notify the driver of the type, position, movement state, and the like of the obstacle along with the warning sound.
　つぎに、図２～図４を参照して、車両周辺監視システム１０の動作について説明する。図２は、車両周辺監視システム１０の動作を示すフロー図である。図３および図４は、車両周辺監視システム１０の動作を説明する説明図である。 Next, the operation of the vehicle periphery monitoring system 10 will be described with reference to FIGS. FIG. 2 is a flowchart showing the operation of the vehicle periphery monitoring system 10. 3 and 4 are explanatory diagrams for explaining the operation of the vehicle periphery monitoring system 10.
　図２に示すように、車両監視システムでは、まず、映像取得部１１が車両周辺の映像を取得する（ステップＳ１１）。例えば、車両の前方、後方、左右側方、前方広角、後方広角、および斜め後方の映像が取得される。なお、映像取得部１１では、車両の走行状況等に応じて、取得する映像が予め選択されてもよい。つぎに、映像生成部１３が、車両の走行状況等に応じて、取得した映像から互いに異なる複数の周辺映像を生成する（ステップＳ１３）。例えば、駐車場で後退する状況では、鳥瞰図映像および後方広角映像が生成される。つぎに、障害物検出部２１が、複数の周辺映像で車両周辺に位置する障害物を検出し（ステップＳ１５）、さらに他の周辺映像で検出されていない障害物の存在を検出する（ステップＳ１７）。 As shown in FIG. 2, in the vehicle monitoring system, first, the video acquisition unit 11 acquires a video around the vehicle (step S11). For example, images of the front, rear, left and right sides, front wide angle, rear wide angle, and diagonally rear of the vehicle are acquired. Note that in the video acquisition unit 11, the video to be acquired may be selected in advance in accordance with the driving situation of the vehicle. Next, the video generation unit 13 generates a plurality of different peripheral videos from the acquired video in accordance with the traveling state of the vehicle (step S13). For example, in a situation of retreating in a parking lot, a bird's-eye view image and a rear wide-angle image are generated. Next, the obstacle detection unit 21 detects an obstacle located around the vehicle from a plurality of surrounding images (step S15), and further detects the presence of an obstacle that has not been detected from other surrounding images (step S17). ).
　ここで、障害物検出部２１が、他の周辺映像で検出されていない障害物の存在が検出されたかを判定する（ステップＳ１９）。そして、障害物の存在が検出された場合、障害物検出部２１が該当する周辺映像の識別情報および障害物の存在を表示制御部２３に通知するとともに、障害物の存在を警告出力部２５に通知する。すると、表示制御部２３が該当する周辺画像の少なくとも一部を強調して表示するように表示制御し（ステップＳ２１）、警告出力部２５が障害物の存在を運転者に警告する（ステップＳ２３）。そして、映像表示部１５が複数の周辺映像、つまり該当する周辺画像の少なくとも一部が強調された複数の周辺画像を複数画面構成で表示する（ステップＳ２５）。 Here, the obstacle detection unit 21 determines whether the presence of an obstacle that has not been detected in other peripheral images is detected (step S19). When the presence of an obstacle is detected, the obstacle detection unit 21 notifies the display control unit 23 of the identification information of the corresponding peripheral image and the presence of the obstacle, and notifies the warning output unit 25 of the presence of the obstacle. Notice. Then, the display control unit 23 performs display control so that at least a part of the corresponding peripheral image is highlighted and displayed (step S21), and the warning output unit 25 warns the driver of the presence of an obstacle (step S23). . Then, the video display unit 15 displays a plurality of peripheral images, that is, a plurality of peripheral images in which at least a part of the corresponding peripheral image is emphasized in a plurality of screen configurations (step S25).
　一方、ステップＳ１９で障害物の存在が検出されなかった場合、処理がステップ２５に移行し、映像表示部１５が複数の周辺映像、つまり強調されていない複数の周辺画像を複数画面構成で表示する。ステップＳ１１～Ｓ２５の処理は、処理が終了するまで繰り返される（ステップＳ２７）。 On the other hand, if the presence of an obstacle is not detected in step S19, the process proceeds to step 25, and the video display unit 15 displays a plurality of peripheral images, that is, a plurality of unenhanced peripheral images in a plurality of screen configurations. . The processes of steps S11 to S25 are repeated until the process is completed (step S27).
　例えば、図３（ａ）に示すように、駐車場で自車両Ｖが後退する状況で車両後方に歩行者Ｐが存在する場合を想定する。ここで、図３（ｂ）に示すように、歩行者Ｐの存在は、車載モニタＭ上において、鳥瞰図映像Ｉ１では検出されていないが、後方広角映像Ｉ２で新たに検出されている。この場合、表示制御部２３には、後方広角映像Ｉ２の識別情報および歩行者Ｐの存在が通知され、警告出力部２５には、歩行者Ｐの存在が通知される。すると、表示制御部２３が、後方広角映像Ｉ２の全体を鳥瞰図映像Ｉ１よりも強調するように表示制御する。これにより、映像表示部１５には、全体的に強調表示された後方広角映像Ｉ２（図３（ｂ）では、イメージ全体が太線で示されている）と、強調表示されていない鳥瞰図映像Ｉ１（図３（ｂ）では、イメージ全体に薄墨色が施されている）とが２画面構成で表示されるとともに、警告出力部２５から歩行者Ｐの存在が運転者に警告される。 For example, as shown in FIG. 3A, it is assumed that a pedestrian P is present behind the vehicle in a situation where the host vehicle V moves backward in the parking lot. Here, as shown in FIG. 3B, the presence of the pedestrian P is not detected in the bird's-eye view video I1 on the in-vehicle monitor M, but is newly detected in the rear wide-angle video I2. In this case, the display control unit 23 is notified of the identification information of the rear wide-angle image I2 and the presence of the pedestrian P, and the warning output unit 25 is notified of the presence of the pedestrian P. Then, the display control unit 23 performs display control so that the entire rear wide-angle video I2 is emphasized more than the bird's-eye view video I1. As a result, the rear wide-angle video I2 that is highlighted as a whole (in FIG. 3B, the entire image is indicated by a thick line) and the bird's-eye view video I1 that is not highlighted (in FIG. 3B). In FIG. 3 (b), the image is displayed in a two-screen configuration, and the driver is warned from the warning output unit 25 that the pedestrian P is present.
　これにより、運転者は、鳥瞰図映像Ｉ１で検出されていない歩行者Ｐの存在が検出された後方広角映像Ｉ２の全体が強調表示されるので、鳥瞰図映像Ｉ１および後方広角映像Ｉ２の両方に視線を移動しなくても、全体的に強調表示された後方広角映像Ｉ２のみに視線を移動することで、歩行者Ｐについて安全を確認できる。 As a result, the driver highlights the entire rear wide-angle video I2 in which the presence of the pedestrian P that has not been detected in the bird's-eye view video I1 is detected, so that the driver looks at both the bird's-eye view video I1 and the rear wide-angle video I2. Even if it does not move, the safety of the pedestrian P can be confirmed by moving the line of sight only to the rear wide-angle image I2 highlighted as a whole.
　また、例えば、図４（ａ）に示すように、駐車場で自車両Ｖが前進する状況で車両側方に歩行者Ｐが存在する場合を想定する。ここで、図４（ｂ）に示すように、歩行者Ｐの存在は、車載モニタＭ上において、前方広角映像Ｉ３では検出されていないが、鳥瞰図映像Ｉ１で新たに検出されている。この場合、表示制御部２３には、鳥瞰図映像Ｉ１の識別情報および歩行者Ｐの存在が通知され、警告出力部２５には、歩行者Ｐの存在が通知される。すると、表示制御部２３が、鳥瞰図映像Ｉ１の一部、歩行者Ｐが検出された領域を前方広角映像Ｉ３よりも強調するように表示制御する。これにより、映像表示部１５には、部分的に強調表示された鳥瞰図映像Ｉ１（図４（ｂ）では、歩行者Ｐのイメージが太線で示されている）と、強調表示されていない前方広角映像Ｉ３（図４（ｂ）では、イメージ全体に薄墨色が施されている）とが２画面構成で表示されるとともに、警告出力部２５から歩行者Ｐの存在が運転者に警告される。 Also, for example, as shown in FIG. 4A, a case is assumed where a pedestrian P is present on the side of the vehicle in a situation where the host vehicle V moves forward in a parking lot. Here, as shown in FIG. 4B, the presence of the pedestrian P is not detected in the front wide-angle video I3 on the in-vehicle monitor M, but is newly detected in the bird's-eye view video I1. In this case, the display control unit 23 is notified of the identification information of the bird's eye view video I1 and the presence of the pedestrian P, and the warning output unit 25 is notified of the presence of the pedestrian P. Then, the display control unit 23 performs display control so that a part of the bird's-eye view video I1 and the area where the pedestrian P is detected are emphasized more than the front wide-angle video I3. As a result, the video display unit 15 partially highlights the bird's-eye view video I1 (in FIG. 4B, the image of the pedestrian P is indicated by a bold line) and the front wide angle that is not highlighted. Video I3 (in FIG. 4B, the entire image is lightly colored) is displayed in a two-screen configuration, and the warning output unit 25 warns the driver of the presence of pedestrian P.
　これにより、運転者は、前方広角映像Ｉ３で検出されていない歩行者Ｐの存在が検出された鳥瞰図映像Ｉ１が部分的に強調表示されるので、鳥瞰図映像Ｉ１および前方広角映像Ｉ３の両方に視線を移動しなくても、部分的に強調表示された鳥瞰図映像Ｉ１のみに視線を移動することで、歩行者Ｐについて安全を確認できる。 Accordingly, the driver partially highlights the bird's-eye view image I1 in which the presence of the pedestrian P that has not been detected in the front wide-angle image I3 is detected, so that the driver looks at both the bird's-eye view image I1 and the front wide-angle image I3. Even if it does not move, safety can be confirmed about the pedestrian P by moving a visual line only to the bird's-eye view image I1 partially highlighted.
　以上説明したように、本発明の一実施形態に係る車両周辺監視装置２０によれば、障害物検出部２１が、複数の周辺映像で車両周辺に位置する障害物を検出し、他の周辺映像で検出されていない障害物の存在を検出する。また、表示制御部２３が、他の周辺映像で検出されていない障害物の存在が検出された周辺映像の少なくとも一部を、他の周辺映像よりも強調するように表示制御する。これにより、他の周辺映像で検出されていない障害物の存在が検出された周辺映像の少なくとも一部が強調表示されるので、運転者は、複数の周辺映像の全てに視線を移動しなくても、少なくとも部分的に強調表示された周辺映像のみに視線を移動することで、障害物に対する安全性を確認できる。よって、車両周辺監視システムによる監視性能を向上させることができる。 As described above, according to the vehicle periphery monitoring device 20 according to the embodiment of the present invention, the obstacle detection unit 21 detects an obstacle located around the vehicle from a plurality of surrounding images, and other surrounding images. Detects the presence of obstacles that have not been detected in. In addition, the display control unit 23 performs display control so that at least a part of the peripheral video in which the presence of an obstacle not detected in the other peripheral video is detected is emphasized more than the other peripheral video. As a result, at least a part of the peripheral video in which the presence of an obstacle that has not been detected in the other peripheral video is detected is highlighted, so that the driver does not have to move the line of sight to all of the plurality of peripheral videos. However, it is possible to confirm the safety against the obstacle by moving the line of sight only to the peripheral video highlighted at least partially. Therefore, the monitoring performance by the vehicle periphery monitoring system can be improved.
　以上、本発明の実施形態について説明したが、本発明は、上記実施形態に限定されるものではない。例えば、本発明は、前述した車両周辺監視のアルゴリズムに基づいて、障害物の存在の検出、強調表示の処理などを実行するためのプログラム、または当該プログラムを記憶しているコンピュータ読取可能な記録媒体にも適用できる。 As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment. For example, the present invention relates to a program for executing the detection of the presence of an obstacle, highlighting processing, and the like based on the above-described vehicle periphery monitoring algorithm, or a computer-readable recording medium storing the program It can also be applied to.
　１０…車両周辺監視システム、１１…映像取得部、１３…映像生成部、１５…映像表示部、２０…車両周辺監視装置、２１…障害物検出部、２３…表示制御部、２５…警告出力部
  DESCRIPTION OF SYMBOLS 10 ... Vehicle periphery monitoring system, 11 ... Image | video acquisition part, 13 ... Image | video production | generation part, 15 ... Image | video display part, 20 ... Vehicle periphery monitoring apparatus, 21 ... Obstacle detection part, 23 ... Display control part, 25 ... Warning output part

Claims (5)

  1. 　車両周辺の映像を取得し、前記取得した映像から互いに異なる複数の周辺映像を生成し、前記複数の周辺映像を複数画面構成で表示する車両周辺監視システムに適用される車両周辺監視装置であって、
    　前記複数の周辺映像で車両周辺に位置する障害物を検出し、他の周辺映像で検出されていない障害物の存在を検出する障害物検出部と、
    　前記他の周辺映像で検出されていない障害物の存在が検出された周辺映像の少なくとも一部を、前記他の周辺映像よりも強調するように表示制御する表示制御部と、
    を備える、車両周辺監視装置。     A vehicle periphery monitoring device applied to a vehicle periphery monitoring system that acquires a vehicle periphery image, generates a plurality of different periphery images from the acquired image, and displays the plurality of periphery images in a plurality of screen configurations. ,
    An obstacle detection unit that detects obstacles located around the vehicle in the plurality of surrounding images and detects the presence of obstacles that are not detected in other surrounding images;
    A display control unit that performs display control so as to emphasize at least a part of the peripheral video in which the presence of an obstacle not detected in the other peripheral video is detected, than the other peripheral video;
    A vehicle periphery monitoring device comprising:
  2. 　前記表示制御部が、前記他の周辺映像で検出されていない障害物の存在が検出された前記周辺映像の少なくとも一部を、前記他の周辺映像よりも明度および彩度のうち少なくともいずれか一方を高くして表示するように制御する、請求項１に記載の車両周辺監視装置。 The display control unit is configured to display at least one part of the peripheral video in which the presence of an obstacle that has not been detected in the other peripheral video is detected, at least one of brightness and saturation than the other peripheral video. The vehicle periphery monitoring device according to claim 1, wherein the vehicle periphery monitoring device is controlled so as to be displayed at a high level.
  3. 　前記表示制御部が、前記他の周辺映像で検出されていない障害物の存在が検出された前記周辺映像の全体を、前記他の周辺映像よりも強調するように表示制御する、請求項１または２に記載の車両周辺監視装置。 2. The display control unit according to claim 1, wherein the display control unit performs display control so that the entire peripheral video in which the presence of an obstacle not detected in the other peripheral video is detected is emphasized more than the other peripheral video. The vehicle periphery monitoring apparatus according to 2.
  4. 　前記他の周辺映像で検出されていない障害物の存在が検出されると、障害物の存在を運転者に警告する警告出力部をさらに備える、請求項１～３のいずれか一項に記載の車両周辺監視装置。 The warning output unit according to any one of claims 1 to 3, further comprising a warning output unit that warns a driver of the presence of an obstacle when the presence of an obstacle that has not been detected in the other peripheral images is detected. Vehicle periphery monitoring device.
  5. 　車両周辺の映像を取得する映像取得部と、
    　前記取得した映像から互いに異なる複数の周辺映像を生成する映像生成部と、
    　前記複数の周辺映像を複数画面構成で表示する映像表示部と、
    　請求項１～４のいずれか一項に記載の車両周辺監視装置と、
    を備える、車両周辺監視システム。
          A video acquisition unit that acquires video around the vehicle;
    A video generator for generating a plurality of different peripheral videos from the acquired video;
    An image display unit for displaying the plurality of peripheral images in a plurality of screen configurations;
    The vehicle periphery monitoring device according to any one of claims 1 to 4,
    A vehicle periphery monitoring system comprising:
PCT/JP2011/070883 2011-09-13 2011-09-13 Vehicle periphery monitoring apparatus, and vehicle periphery monitoring system WO2013038509A1 (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07223487A (en) * 1994-02-14 1995-08-22 Mitsubishi Motors Corp Situation display device for vehicle
JP2001063500A (en) * 1999-08-26 2001-03-13 Matsushita Electric Works Ltd Monitoring device for obstacle around vehicle

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07223487A (en) * 1994-02-14 1995-08-22 Mitsubishi Motors Corp Situation display device for vehicle
JP2001063500A (en) * 1999-08-26 2001-03-13 Matsushita Electric Works Ltd Monitoring device for obstacle around vehicle

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