WO2017026083A1 - Appareil d'affichage véhiculaire, et procédé d'affichage véhiculaire - Google Patents

Appareil d'affichage véhiculaire, et procédé d'affichage véhiculaire Download PDF

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Publication number
WO2017026083A1
WO2017026083A1 PCT/JP2016/002455 JP2016002455W WO2017026083A1 WO 2017026083 A1 WO2017026083 A1 WO 2017026083A1 JP 2016002455 W JP2016002455 W JP 2016002455W WO 2017026083 A1 WO2017026083 A1 WO 2017026083A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
display
unit
overhead
steering
Prior art date
Application number
PCT/JP2016/002455
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English (en)
Japanese (ja)
Inventor
田端　清史
修治 小川
Original Assignee
株式会社Ｊｖｃケンウッド
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2015157921A external-priority patent/JP6547510B2/ja
Priority claimed from JP2016043291A external-priority patent/JP6711027B2/ja
Application filed by 株式会社Ｊｖｃケンウッド filed Critical 株式会社Ｊｖｃケンウッド
Priority to EP16834787.0A priority Critical patent/EP3337166B1/fr
Priority to CN201680026519.4A priority patent/CN107534757B/zh
Publication of WO2017026083A1 publication Critical patent/WO2017026083A1/fr
Priority to US15/867,573 priority patent/US10596966B2/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
    • 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
    • B60R2300/602—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 with an adjustable viewpoint
    • B60R2300/605—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 with an adjustable viewpoint the adjustment being automatic
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking

Definitions

  • the present invention relates to a vehicle display device and a vehicle display method, and more particularly to a vehicle display device and a vehicle display method for displaying a bird's-eye view video.
  • Patent Document 1 There is a technique for capturing a video around a vehicle and generating a bird's-eye-view video obtained by converting the viewpoint of the captured video as viewed from above the vehicle. Recently, an increasing number of vehicles are equipped with vehicle display devices that implement this technology. In such a vehicle, a bird's-eye view image is displayed during a parking operation or the like.
  • a bird's-eye view image is often displayed on a display unit arranged on a center console.
  • the display unit arranged on the center console has a horizontally long rectangular shape.
  • the bird's-eye view image is generally a vertically long image in which the front of the vehicle is displayed upward. Therefore, when displaying a bird's-eye view video on the display unit, the bird's-eye view image is displayed such that the vertical width of the vertically long overhead view image is within the vertical width of the horizontally long display unit.
  • Such display reduces the display area of the bird's-eye view video, which may cause an obstacle such as overlooking an obstacle displayed in the bird's-eye view video.
  • since such a display makes it impossible to align the overhead view video with respect to the traveling direction of the vehicle, there is a possibility that it becomes difficult to grasp the positional relationship of the obstacle displayed in the overhead view video. .
  • the display pattern of the bird's-eye view image must be selected by the user (in many cases, the driver). It is inappropriate to select a bird's-eye view video display pattern during a parking operation because it causes the user to take time and effort.
  • the display position of the overhead view image on the display unit arranged in the center console is generally fixed, and it is difficult to view the overhead view image together with visual observation outside the vehicle. There are many. Therefore, depending on the driver, there is a case where the parking operation is performed while gazing at the bird's-eye view image displayed on the display unit with little visual observation outside the vehicle. However, there are cases where obstacles etc. above the position of the imaging unit are not displayed in the overhead view image, or the sense of distance may be distorted due to the synthesis process, etc. It is preferable to use together.
  • the present invention has been made to solve any of the above-described problems, and even when a horizontally long display unit is used, the area of the display screen is effectively used, and the traveling direction of the vehicle
  • a vehicle display device and a vehicle display method that can display a bird's-eye view image that is consistent with the vehicle, or that facilitates the combined use of a driver's view of the bird's-eye view image and a view outside the vehicle. With the goal.
  • the vehicle display device is An imaging unit that captures a video around the vehicle; An overhead video generation unit that generates an overhead video obtained by converting the viewpoint of the video captured by the imaging unit as viewed from above the vehicle; A horizontally long display unit disposed in front of the driver's seat in the vehicle; An information acquisition unit for acquiring information on a steering angle of the vehicle; A direction determination unit that determines whether the steering direction of the vehicle is leftward or rightward based on information on the steering angle of the vehicle acquired by the information acquisition unit; A display control unit that controls to change and display the display form of the overhead view video on the display unit according to the steering direction of the vehicle determined by the direction determination unit.
  • the vehicle display method is as follows.
  • a vehicle display method by a vehicle display device including a horizontally long display unit disposed in front of a driver seat in a vehicle Taking a picture of the surroundings of the vehicle, Generate a bird's-eye view image obtained by converting the viewpoint of the image around the vehicle as seen from above the vehicle, Obtaining information on the steering angle of the vehicle, Based on the information of the steering angle of the vehicle, determine whether the steering direction of the vehicle is left or right, According to the steering direction of the vehicle, the display form of the overhead view video on the display unit is changed and displayed.
  • the present embodiment even when a horizontally long display unit is used, it is possible to display an overhead view image that effectively uses the area of the display screen and is aligned with the traveling direction of the vehicle. The effect that the combined use of the visual observation of the overhead image by the driver and the visual observation outside the vehicle is facilitated can be obtained.
  • FIG. 10 is a diagram showing an example of an overhead view image generated by the vehicle display device according to the first to seventh embodiments.
  • 3 is a flowchart illustrating an example of a bird's-eye view display operation in the vehicle display apparatus according to the first embodiment; It is a figure which shows the example of a display of the bird's-eye view image displayed with the display apparatus for vehicles concerning Embodiment 1,3,6.
  • FIG. 1 It is a figure which shows the example of a display of the bird's-eye view image displayed with the display apparatus for vehicles concerning Embodiment 1,3,6.
  • 6 is a flowchart illustrating an example of a bird's-eye view display operation in the vehicle display device according to the second embodiment; It is a figure which shows the example of a display of the bird's-eye view image displayed with the display apparatus for vehicles concerning Embodiment 2.
  • FIG. It is a figure which shows the example of a display of the bird's-eye view image displayed with the display apparatus for vehicles concerning Embodiment 2.
  • 10 is a flowchart illustrating an example of a bird's-eye view display operation in the vehicle display apparatus according to the third embodiment; It is a schematic diagram which shows the example ahead of the driver's seat in the vehicle by which the vehicle display apparatus concerning Embodiment 4,5,7 is mounted.
  • 12 is a flowchart illustrating an example of a bird's-eye view display operation in the vehicle display device according to the fourth embodiment; It is a figure which shows the example of a display of the bird's-eye view image displayed with the display apparatus for vehicles concerning Embodiment 4,5,7. It is a figure which shows the example of a display of the bird's-eye view image displayed with the display apparatus for vehicles concerning Embodiment 4,5,7.
  • FIG. 12 is a flowchart illustrating an example of a bird's-eye view display operation in the vehicle display device according to the fifth embodiment
  • FIG. 9 is a block diagram illustrating a configuration example of a vehicle display device according to sixth and seventh embodiments.
  • 14 is a flowchart illustrating an example of a bird's-eye view display operation in the vehicle display device according to the sixth embodiment
  • 15 is a flowchart illustrating an example of a bird's-eye view display operation in the vehicle display device according to the seventh embodiment
  • It is a figure which shows the example of a display of the bird's-eye view image displayed with the display apparatus for vehicles concerning other embodiment.
  • FIG. 1 is a diagram schematically illustrating an example in front of a driver seat in a vehicle in which the vehicle display device according to the first embodiment is mounted.
  • the bird's-eye view video is displayed on the horizontally long display unit 11 disposed on the center console 20.
  • a cluster panel 30, a steering wheel 40, a windshield 50, a dashboard 60, a rear view mirror 70, and the like are arranged in front of the driver's seat in the vehicle shown in FIG. Has been.
  • the display unit 11 displays the above-described overhead view video and displays a navigation screen or the like before switching to the overhead view video.
  • the steering wheel 40 is for the driver to perform a steering operation.
  • the steering direction of the vehicle is changed according to the steering operation by the steering wheel 40.
  • the cluster panel 30 is disposed on the dashboard 60 below the windshield 50, and displays a speedometer, an engine tachometer, and the like.
  • the rear view mirror 70 is a mirror for the driver to check the rear of the vehicle.
  • FIG. 2 is a block diagram illustrating a configuration example of the vehicle display device 10 according to the first embodiment.
  • the vehicle display device 10 shown in FIG. 2 includes a display unit 11, a control unit 12, a front camera 131, a rear camera 132, a left side camera 133, and a right side camera 134.
  • the control unit 12 includes a shooting control unit 121, an overhead video generation unit 122, a display control unit 123, an orientation determination unit 124, and an information acquisition unit 125.
  • the imaging control unit 121, the front camera 131, the rear camera 132, the left side camera 133, and the right side camera 134 constitute the imaging unit 13 that captures images around the vehicle.
  • Each component constituting the control unit 12 may be configured by a processor, or may be software or a module in which processing is executed by the processor executing a program stored in a memory.
  • the front camera 131 is a camera that captures a front image in front of the vehicle.
  • the rear camera 132 is a camera that captures a rear image behind the vehicle.
  • the left side camera 133 is a camera that captures a left side image of the left side of the vehicle.
  • the right side camera 134 is a camera that captures a right side image of the right side of the vehicle.
  • the imaging control unit 121 controls each of the front camera 131, the rear camera 132, the left side camera 133, and the right side camera 134 to capture the above-described video.
  • the bird's-eye view image generation unit 122 generates a bird's-eye view image X obtained by converting the viewpoint of the image around the vehicle as viewed from above the vehicle.
  • FIG. 3 is a diagram illustrating an example of the overhead video X generated by the overhead video generation unit 122.
  • the bird's-eye view image generation unit 122 is a front image a, a rear image b, a left image c, and a right image d captured by the front camera 131, the rear camera 132, the left camera 133, and the right camera 134, respectively. Is converted from the viewpoint as viewed from above the vehicle, and the images converted from the viewpoint are combined with the virtual vehicle image e to generate the overhead view video X.
  • the overhead image generation unit 122 generates a vertically long overhead image X in which the vehicle length direction of the vehicle in the overhead image X is vertically arranged.
  • the overhead view video generation unit 122 generates a vertically long overhead view video X with the front of the vehicle facing upward.
  • the display unit 11 is a horizontally long display unit that is disposed in front of the driver's seat in the vehicle and displays the overhead view video X generated by the overhead view video generation unit 122.
  • the display unit 11 is disposed on the center console 20.
  • the information acquisition unit 125 acquires various types of information from a CAN (Controller Area Network), a sensor, or the like.
  • the information acquisition part 125 shall acquire the information of the steering angle of a vehicle from CAN or a steering angle sensor.
  • the information on the steering angle of the vehicle acquired by the information acquisition unit 125 is information indicating a ⁇ angle based on the steering angle 0 degree of the steering angle of the vehicle or a voltage value corresponding to the angle.
  • a ⁇ angle based on the steering angle 0 degree of the steering angle of the vehicle or a voltage value corresponding to the angle.
  • the direction determination unit 124 determines whether the steering direction of the vehicle is leftward or rightward based on the information on the steering angle of the vehicle acquired by the information acquisition unit 125. For example, the direction determination unit 124 determines the steering direction of the vehicle based on the steering angle of the vehicle steering angle of 0 degrees as a reference and whether the vehicle is facing left or right as viewed from the reference. Alternatively, the direction determination unit 124 uses the vehicle steering direction as a reference when the display of the bird's-eye view image is started (the bird's-eye view image starts when, for example, the reverse gear is selected). The steering direction of the vehicle is determined based on whether the vehicle is facing left or right.
  • the display control unit 123 controls the display unit 11 to display the overhead view video X generated by the overhead view video generation unit 122 on the display unit 11.
  • the display control unit 123 controls the display unit 11 to display the bird's-eye view video X generated by the bird's-eye view video generation unit 122
  • the display control unit 123 performs a bird's-eye view according to the steering direction of the vehicle determined by the direction determination unit 124. Control is performed so that the display form of the video X is changed and displayed on the display unit 11.
  • Changing the display form of the overhead view video X according to the steering direction of the vehicle changes the display direction of the overhead view video X according to the steering direction of the vehicle, or displays the overhead view video X in the left-right direction on the display unit 11.
  • the display control unit 123 changes the display direction of the overhead view image X according to the steering direction of the vehicle. Specifically, the display control unit 123 performs control so that the bird's-eye view image X is displayed sideways on the display unit 11 so that the front of the vehicle in the bird's-eye view image X faces the steering direction of the vehicle.
  • FIG. 4 is a flowchart illustrating an example of a display operation of the overhead view video X in the vehicle display device 10 according to the first embodiment.
  • the display control unit 123 determines whether or not the display start condition of the overhead view video X generated by the overhead view video generation unit 122 is satisfied (step A1).
  • the display start conditions for the overhead view video X are various, for example, that the reverse gear is selected, that the garage entry display mode is selected, that the current position is located in a pre-registered garage or parking lot, etc. It is possible to apply various conditions.
  • step A1 when the display start condition for the overhead view video X is not satisfied (No in step A1), the process returns to step A1.
  • the display control unit 123 applies the overhead video X generated by the overhead video generation unit 122 to the display unit 11. Control to start display (step A2). At this time, the display control unit 123 performs control so that the overhead view video X is displayed vertically on the display unit 11.
  • the display control unit 123 determines whether or not the display end condition of the overhead view video X is satisfied (step A3).
  • the display end condition of the overhead image X is, for example, that the display start condition described above is not satisfied. Specifically, a gear other than the reverse gear has been selected, a display mode other than the garage entry display mode has been selected, the current position has deviated from a pre-registered garage or parking location, etc. .
  • step A3 when the display end condition of the overhead view video X is satisfied (Yes in step A3), the process ends.
  • the direction determination unit 124 determines whether or not the steering direction of the vehicle has been changed (Step A4). . Note that the direction determination unit 124 determines that the steering direction of the vehicle has been changed in the case of making a determination in step A4 for the first time after shifting from step A2.
  • step A4 when the steering direction of the vehicle has not been changed (No in step A4), the process returns to step A3.
  • the direction determination unit 124 changes the determination result of the steering direction of the vehicle, and the display control unit 123 The steering direction of the vehicle is determined (step A5).
  • step A5 when the steering direction of the vehicle after the change is leftward, the display control unit 123 changes the direction of the overhead view video X generated by the overhead view video generation unit 122 in the left rotation direction and displays it on the display unit 11. (Step A6). Thereby, the front of the vehicle in the overhead view image X displayed on the display unit 11 is directed to the left which is the steering direction of the vehicle.
  • a display example of the overhead view video X displayed on the display unit 11 at this time is shown in FIG.
  • step A5 when the steering direction of the vehicle after the change is rightward in step A5, the display control unit 123 changes the direction of the overhead view video X generated by the overhead view video generation unit 122 in the right rotation direction to the display unit 11.
  • the display is controlled (step A7).
  • the front of the vehicle in the overhead view image X displayed on the display unit 11 is directed to the right, which is the steering direction of the vehicle.
  • a display example of the overhead view video X displayed on the display unit 11 at this time is shown in FIG.
  • the vehicular display device 10 determines the steering direction of the vehicle based on the information on the steering angle of the vehicle, and according to the steering direction of the vehicle, the overhead image X Is displayed on the display unit 11. Therefore, even when the horizontally long display unit 11 is used, the bird's-eye view video X can be displayed with a large display area, and the area of the display screen of the display unit 11 can be used effectively. Moreover, since the display direction of the bird's-eye view image X is changed and displayed according to the steering direction of the vehicle, the display direction of the bird's-eye view image X can be changed without requiring the user to take time and effort. Furthermore, the traveling direction of the vehicle corresponds to the display direction of the bird's-eye view video X, and the bird's-eye view image X can be displayed without any sense of incongruity, which is consistent with the traveling direction of the vehicle.
  • the direction determining unit 124 determines the steering direction of the vehicle based on the steering angle of the vehicle steering angle of 0 degrees or the like and whether the vehicle is facing left or right as viewed from the reference. Therefore, the steering direction of the vehicle may be switched by a slight steering operation near the reference. If the steering direction of the vehicle is frequently switched near the reference, and the direction determination unit 124 determines that the steering direction of the vehicle has been changed in step A4 in FIG. Thus, the left and right orientations of the vehicle in the overhead view video X to be switched frequently.
  • the direction determination unit 124 determines that the steering direction of the vehicle has been changed to the rotated direction.
  • the direction determination unit 124 changes the steering direction of the vehicle if the steering angle of the vehicle does not rotate more than a predetermined angle even when the steering direction of the vehicle is switched to either the left or right near the reference.
  • a predetermined angle changes also with vehicle models, if a lock-to-lock is 3 rotations, it is possible to consider it as 90 degree
  • FIG. 7 is a flowchart illustrating an example of a display operation example of the overhead view video X of the vehicle display device 10 according to the second embodiment.
  • the flowchart shown in FIG. 7 differs from the flowchart of the first embodiment shown in FIG. 4 in that steps A6 and A7 are replaced with steps B1 and B2.
  • step A5 when the changed steering direction of the vehicle is leftward, the direction determination unit 124 determines the steering angle of the vehicle based on the information on the steering angle of the vehicle acquired by the information acquisition unit 125.
  • the display control unit 123 performs control so that the overhead view video X is tilted to the left and displayed on the display unit 11 so that the front of the vehicle in the overhead view video X generated by the overhead view video generation unit 122 faces left.
  • the display control unit 123 performs control so that the overhead view video X generated by the overhead view video generation unit 122 is displayed on the display unit 11 by changing the direction in the left rotation direction at an angle corresponding to the steering angle.
  • step B1 the process returns to step A3.
  • the direction determination unit 124 determines the steering angle of the vehicle based on the information on the steering angle of the vehicle acquired by the information acquisition unit 125. .
  • the display control unit 123 performs control so that the bird's-eye view video X is tilted to the right and displayed on the display unit 11 so that the front of the vehicle in the bird's-eye view image X generated by the bird's-eye view image generation unit 122 faces right.
  • the display control unit 123 performs control so that the overhead view video X generated by the overhead view video generation unit 122 is displayed on the display unit 11 with the direction corresponding to the steering angle changed in the right rotation direction.
  • step B2 the process returns to step A3.
  • the vehicle display device 10 determines the steering direction of the vehicle and the steering angle of the vehicle based on the information on the steering angle of the vehicle, and displays the vehicle in the overhead image X.
  • the overhead image X is displayed on the display unit 11 at an angle corresponding to the steering angle of the vehicle so that the front faces the steering direction of the vehicle.
  • the second embodiment is the same as the first embodiment in that the display direction of the overhead view video X is changed according to the steering direction of the vehicle. For this reason, in the second embodiment, similarly to the first embodiment, even when the horizontally long display unit 11 is used, the area of the display screen is effectively used, and the user is not troubled.
  • the display direction of the overhead view video X can be changed.
  • the vehicle traveling direction and the display direction of the bird's-eye view video X correspond to each other, and it is possible to display the bird's-eye view video X that is consistent with the vehicle traveling direction and has no sense of incongruity.
  • Embodiment 3 The vehicle on which the vehicle display device 10 according to the third embodiment is mounted is the same as that in the first embodiment. Further, the vehicular display device 10 according to the third embodiment is similar in configuration to the first embodiment, but operates differently.
  • the display control unit 123 displays the overhead view video X so that the front of the vehicle in the overhead view video X faces the steering direction of the vehicle when the steering direction of the vehicle is maintained for a predetermined time or more. It controls to display on the display unit 11 in landscape orientation. Therefore, below, description is abbreviate
  • FIG. 10 is a flowchart illustrating an example of a display operation of the overhead view video X of the vehicle display device 10 according to the third embodiment.
  • the flowchart shown in FIG. 10 differs from the flowchart of the first embodiment shown in FIG. 4 in that steps C1 and C2 are added.
  • step A5 when the steering direction of the vehicle after the change is leftward, the direction determination unit 124 measures the time during which the steering direction of the vehicle is maintained to the left, and the display control unit 123 determines whether the steering direction of the vehicle is It is determined whether or not the left side is maintained for a predetermined time or longer (step C1). At this time, the direction determination unit 124 determines that the vehicle is maintained in the left direction if the steering direction of the vehicle is the left direction regardless of the change in the steering angle of the vehicle.
  • the predetermined time may be about 5 seconds.
  • step C1 when the steering direction of the vehicle is maintained to the left for a predetermined time or longer (Yes in step C1), the display control unit 123 rotates the bird's-eye view video X generated by the bird's-eye view video generation unit 122 to the left and horizontally Then, the display unit 11 is controlled to display (Step A6). On the other hand, if the steering direction of the vehicle is not maintained to the left for a predetermined time or longer in Step C1 (No in Step C1), the process returns to Step A3. In addition, as a case where step C1 is No, the case where the steering direction of the vehicle was changed from the left direction to the right direction before the predetermined time has passed can be considered.
  • step A5 when the steering direction of the vehicle after the change is rightward, the direction determination unit 124 measures the time during which the steering direction of the vehicle is maintained rightward, and the display control unit 123 It is determined whether or not the direction is maintained to the right for a predetermined time or more (step C2). At this time, the direction determination unit 124 determines that the vehicle is maintained in the right direction if the steering direction of the vehicle is rightward regardless of the change in the steering angle of the vehicle.
  • the predetermined time may be about 5 seconds, for example, as in step C1.
  • step C2 when the steering direction of the vehicle is maintained to the right for a predetermined time or more (Yes in step C2), the display control unit 123 rotates the bird's-eye view video X generated by the bird's-eye view video generation unit 122 to the right and turns sideways Then, the display unit 11 is controlled to display (step A7).
  • step C2 if the steering direction of the vehicle is not maintained to the right for a predetermined time or longer in Step C2 (No in Step C2), the process returns to Step A3.
  • step C2 is No, the case where the steering direction of the vehicle is changed from the right direction to the left direction before the predetermined time elapses can be considered.
  • the vehicle display device 10 when the vehicle steering direction is changed and the changed direction is maintained for a predetermined time or longer, the vehicle display device 10 indicates that the front of the vehicle in the overhead view image X is The overhead view video X is displayed horizontally on the display unit 11 so as to face the steering direction of the vehicle after the change. Therefore, even if the steering direction of the vehicle is changed, if the steering direction of the vehicle returns before the predetermined time elapses, the front of the vehicle in the overhead view image X displayed on the display unit 11 is It remains facing the steering direction of the vehicle. Thereby, it is possible to prevent the left and right directions of the vehicle in the overhead view image X displayed on the display unit 11 from being frequently switched.
  • the third embodiment is the same as the first embodiment in that the display direction of the overhead view video X is changed according to the steering direction of the vehicle. For this reason, in the third embodiment, similarly to the first embodiment, even when the horizontally long display unit 11 is used, the area of the display screen is effectively used, and the user is not troubled.
  • the display direction of the overhead view video X can be changed.
  • the vehicle traveling direction and the display direction of the bird's-eye view video X correspond to each other, and it is possible to display the bird's-eye view video X that is consistent with the vehicle traveling direction and has no sense of incongruity.
  • FIG. 11 is a diagram schematically illustrating an example in front of a driver's seat in a vehicle on which the vehicle display device 10 according to the fourth embodiment is mounted.
  • the vehicle shown in FIG. 11 has a horizontally elongated cluster panel arranged in front of the driver's seat in the dashboard 60 on the lower side of the windshield 50.
  • the display unit 11 is different in that an overhead video is displayed on the display unit 11 and a navigation screen 80 is arranged on the center console 20 instead of the display unit 11.
  • the display unit 11 is a cluster panel, and displays a speedometer, an engine tachometer, and the like in addition to the above-described overhead view video.
  • the vehicular display device 10 according to the fourth embodiment has the same configuration as the first embodiment, but the operation is different.
  • the display control unit 123 displays the bird's-eye view video X in the left-right direction on the display unit 11 according to the steering direction of the vehicle. Specifically, the display control unit 123 controls the display unit 11 to display the overhead view video X in the same direction as the steering direction of the vehicle.
  • the display control unit 123 displays the bird's-eye view video X at the left end portion of the display unit 11 when the steering direction of the vehicle is leftward, and the display unit when the steering direction of the vehicle is rightward. 11 is controlled to display the overhead view video X at the right end portion.
  • FIG. 12 is a flowchart illustrating an example of a display operation of the bird's-eye view video X of the vehicle display device 10 according to the fourth embodiment.
  • the flowchart shown in FIG. 12 differs from the flowchart of the first embodiment shown in FIG. 4 in that steps A6 and A7 are replaced with steps D1 and D2.
  • step A5 when the steering direction of the vehicle after the change is leftward, the display control unit 123 controls to display the overhead view video X generated by the overhead view video generation unit 122 on the left end portion of the display unit 11 (step D1). ).
  • a display example of the overhead view video X displayed on the display unit 11 at this time is shown in FIG.
  • the display control unit 123 shifts from step A2 and performs the process of step D1 for the first time in a vehicle with the steering wheel 40 mounted on the right side
  • the display position of the overhead view video X is the left end of the display unit 11. Leave the part unchanged.
  • step D1 ends, the process returns to step A3.
  • step A5 when the steering direction of the vehicle after the change is rightward, the display control unit 123 performs control to display the overhead view video X generated by the overhead view video generation unit 122 on the right end portion of the display unit 11 ( Step D2).
  • a display example of the overhead view video X displayed on the display unit 11 at this time is shown in FIG.
  • the display control unit 123 shifts from step A2 and performs the processing of step D2 for the first time in a vehicle with the steering wheel 40 mounted on the left side
  • the display position of the overhead view video X is the right end of the display unit 11. Leave the part unchanged.
  • the vehicle display device 10 determines the steering direction of the vehicle based on the information on the steering angle of the vehicle, and displays the display unit 11 according to the steering direction of the vehicle.
  • the overhead view video X is displayed in the horizontal direction at.
  • the overhead view video X is displayed in the left-right direction on the display unit 11 in accordance with the steering direction of the vehicle. Specifically, the overhead image X is displayed in the same direction as the steering direction of the vehicle on the display unit 11.
  • the bird's-eye view image X is displayed in the same direction as the viewing direction in which the driver is viewing the outside of the vehicle. This facilitates the combined use of visual observation of the bird's-eye view by the driver and visual observation outside the vehicle.
  • Embodiment 5 The vehicle on which the vehicle display device 10 according to the fifth embodiment is mounted is the same as that of the fourth embodiment. Further, the vehicular display device 10 according to the fifth embodiment has the same configuration as the fourth embodiment, but the operation is different.
  • the display control unit 123 controls the display unit 11 to display the overhead view video X in the same direction as the steering direction of the vehicle when the steering direction of the vehicle is maintained for a predetermined time or more. To do. Therefore, below, description is abbreviate
  • FIG. 15 is a flowchart illustrating an example of a display operation of the bird's-eye view video X of the vehicle display device 10 according to the fifth embodiment.
  • the flowchart shown in FIG. 15 differs from the flowchart of the fourth embodiment shown in FIG. 12 in that steps E1 and E2 are added.
  • step A5 when the steering direction of the vehicle after the change is leftward, the direction determination unit 124 measures the time during which the steering direction of the vehicle is maintained to the left, and the display control unit 123 determines whether the steering direction of the vehicle is It is determined whether or not the left side is maintained for a predetermined time or longer (step E1). At this time, the direction determination unit 124 determines that the vehicle is maintained in the left direction if the steering direction of the vehicle is the left direction regardless of the change in the steering angle of the vehicle.
  • the predetermined time may be about 5 seconds.
  • step E1 when the steering direction of the vehicle is maintained leftward for a predetermined time or longer (Yes in step E1), the display control unit 123 displays the overhead view video X generated by the overhead view video generation unit 122 on the left end of the display unit 11. (Step D1). On the other hand, when the steering direction of the vehicle has not been maintained to the left for a predetermined time or longer in Step E1 (No in Step E1), the process returns to Step A3. In addition, as a case where step E1 is No, the case where the steering direction of the vehicle is changed from the left direction to the right direction before the predetermined time elapses can be considered.
  • step A5 when the steering direction of the vehicle after the change is rightward, the direction determination unit 124 measures the time during which the steering direction of the vehicle is maintained rightward, and the display control unit 123 It is determined whether or not the direction is maintained to the right for a predetermined time or more (step E2). At this time, the direction determination unit 124 determines that the vehicle is maintained in the right direction if the steering direction of the vehicle is rightward regardless of the change in the steering angle of the vehicle. It is conceivable that the predetermined time is, for example, about 5 seconds as in step E1.
  • step E2 when the steering direction of the vehicle is maintained to the right for a predetermined time or longer (Yes in step E2), the display control unit 123 displays the overhead image X generated by the overhead image generation unit 122 on the right end of the display unit 11. (Step D2). On the other hand, if the steering direction of the vehicle is not maintained to the right for a predetermined time or longer in step E2 (No in step E2), the process returns to step A3. In addition, as a case where step E2 is No, the case where the steering direction of the vehicle is changed from the right direction to the left direction before the predetermined time elapses can be considered.
  • the vehicular display device 10 changes the display unit 11 after the change when the steering direction of the vehicle is changed and the changed direction is maintained for a predetermined time or more.
  • An overhead video X is displayed in the same direction as the steering direction of the vehicle. Therefore, even if the steering direction of the vehicle is changed, if the steering direction of the vehicle returns before the predetermined time elapses, the display position of the overhead view video X on the display unit 11 is the steering direction of the original vehicle. Will remain in the position. Thereby, it can prevent that the display position of the bird's-eye view video X in the display part 11 switches frequently in the left-right direction.
  • the fifth embodiment is the same as the fourth embodiment in that the overhead image X is displayed in the left-right direction on the display unit 11 in accordance with the steering direction of the vehicle. Therefore, in the fifth embodiment, as in the fourth embodiment, an effect that the combined use of the visual observation of the overhead view by the driver and the visual observation outside the vehicle is obtained.
  • FIG. 16 is a block diagram illustrating a configuration example of the vehicle display device 10 according to the sixth embodiment.
  • the vehicle display device 10 shown in FIG. 16 is different from the configuration of the first embodiment shown in FIG. 2 in that a travel determination unit 126 is added.
  • the information acquisition unit 125 acquires information on the traveling speed of the vehicle from the CAN or the vehicle speed sensor, in addition to acquiring information on the steering angle of the vehicle from the CAN or the steering angle sensor. Shall be obtained.
  • the traveling determination unit 126 uses the information on the traveling speed of the vehicle acquired by the information acquisition unit 125, and the traveling of the vehicle while maintaining the changed steering direction of the vehicle. Measure distance.
  • the display control unit 123 causes the front of the vehicle in the overhead view image X to face the steering direction of the vehicle when the vehicle travels a predetermined distance or more while the steering direction of the vehicle is maintained.
  • the overhead view video X is controlled to be displayed on the display unit 11 in a landscape orientation.
  • FIG. 17 is a flowchart illustrating an example of a display operation of the overhead view video X of the vehicle display device 10 according to the sixth embodiment.
  • the flowchart shown in FIG. 17 differs from the flowchart of the first embodiment shown in FIG. 4 in that steps F1 and F2 are added.
  • step A5 when the steering direction of the vehicle after the change is leftward, the travel determination unit 126 measures the travel distance traveled by the vehicle while the vehicle steering direction is maintained to the left, and the display control unit 123 It is determined whether or not the vehicle is traveling more than a predetermined distance while the steering direction of the vehicle is maintained to the left (step F1). At this time, the traveling determination unit 126 measures the traveling distance by adding the elapsed time after the steering direction of the vehicle is changed to the left to the traveling speed of the vehicle acquired by the information acquisition unit 125.
  • step F1 when the vehicle has traveled a predetermined distance or more while the steering direction of the vehicle is maintained to the left (Yes in step F1), the display control unit 123 moves the overhead view video X generated by the overhead view video generation unit 122 to the left.
  • the display is controlled so as to be rotated horizontally and displayed on the display unit 11 (step A6).
  • step F1 when the vehicle does not travel more than a predetermined distance while the steering direction of the vehicle is maintained to the left (No in step F1), the process returns to step A3.
  • step F1 is No, the case where the steering direction of the vehicle is changed from the left direction to the right direction before the vehicle travels a predetermined distance is conceivable.
  • a time-out period may be provided, and a case where the vehicle has not traveled a predetermined distance even after the time-out period has elapsed since the steering direction of the vehicle has been changed to the left may be determined as No in step F1.
  • step A5 when the steering direction of the vehicle after the change is rightward, the travel determination unit 126 measures the travel distance traveled by the vehicle while maintaining the steering direction of the vehicle rightward, and the display control unit 123. Determines whether or not the vehicle is traveling more than a predetermined distance while the steering direction of the vehicle is maintained to the right (step F2).
  • the method by which the travel determination unit 126 measures the travel distance in step F2 is the same as in step F1.
  • step F2 if the vehicle has traveled a predetermined distance or more while the steering direction of the vehicle is maintained to the right (Yes in step F2), the display control unit 123 displays the overhead view video X generated by the overhead view video generation unit 122 to the right. The display is controlled so that it is rotated horizontally and displayed on the display unit 11 (step A7).
  • step F2 if the vehicle does not travel more than a predetermined distance while the steering direction of the vehicle is maintained to the right (No in step F2), the process returns to step A3.
  • step F2 is No, the case where the steering direction of the vehicle was changed from right direction to left direction before the vehicle travels a predetermined distance, etc. can be considered.
  • a time-out period may be provided, and a case where the vehicle has not traveled more than a predetermined distance even after the time-out period has elapsed after the steering direction of the vehicle has been changed to the right may be determined as No in step F2.
  • the vehicle display device 10 in the overhead view video X when the vehicle steering direction is changed and the vehicle has traveled more than a predetermined distance in the changed direction, the vehicle display device 10 in the overhead view video X However, the bird's-eye view video X is displayed horizontally on the display unit 11 so as to face the steering direction of the vehicle after the change. Therefore, even if the steering direction of the vehicle is changed, if the steering direction of the vehicle returns before the vehicle travels a predetermined distance, the front of the vehicle in the overhead view video X displayed on the display unit 11 is It remains facing the steering direction of the original vehicle. Thereby, it is possible to prevent the left and right directions of the vehicle in the overhead view image X displayed on the display unit 11 from being frequently switched.
  • the sixth embodiment is the same as the first embodiment in that the display direction of the overhead view video X is changed according to the steering direction of the vehicle. For this reason, in the sixth embodiment, similarly to the first embodiment, even when the horizontally long display unit 11 is used, the area of the display screen is effectively used, and the user is not troubled.
  • the display direction of the overhead view video X can be changed.
  • the vehicle traveling direction and the display direction of the bird's-eye view video X correspond to each other, and it is possible to display the bird's-eye view video X that is consistent with the vehicle traveling direction and has no sense of incongruity.
  • Embodiment 7 The vehicle on which the vehicle display device 10 according to the seventh embodiment is mounted is the same as that of the fourth embodiment. Further, the vehicular display device 10 according to the seventh embodiment is similar in structure to the sixth embodiment, but operates differently.
  • the display control unit 123 displays the overhead image X in the same direction as the steering direction of the vehicle on the display unit 11 when the vehicle travels a predetermined distance or more while the steering direction of the vehicle is maintained. Control to display. Therefore, below, description is abbreviate
  • FIG. 18 is a flowchart illustrating an example of a display operation example of the overhead view video X of the vehicle display device 10 according to the seventh embodiment.
  • the flowchart shown in FIG. 18 differs from the flowchart of the fourth embodiment shown in FIG. 12 in that steps G1 and G2 are added.
  • step A5 when the steering direction of the vehicle after the change is leftward, the travel determination unit 126 measures the travel distance traveled by the vehicle while the vehicle steering direction is maintained to the left, and the display control unit 123 It is determined whether or not the vehicle is traveling more than a predetermined distance while the steering direction of the vehicle is maintained to the left (step G1). At this time, the traveling determination unit 126 measures the traveling distance by adding the elapsed time after the steering direction of the vehicle is changed to the left to the traveling speed of the vehicle acquired by the information acquisition unit 125.
  • step G1 when the vehicle has traveled a predetermined distance or more while the steering direction of the vehicle is maintained to the left (Yes in step G1), the display control unit 123 displays the overhead view video X generated by the overhead view video generation unit 122. Control is performed so that the image is displayed at the left end of the unit 11 (step D1).
  • step G1 when the vehicle does not travel more than a predetermined distance while the steering direction of the vehicle is maintained to the left (No in step G1), the process returns to step A3.
  • step G1 is No, the case where the steering direction of the vehicle is changed from the left direction to the right direction before the vehicle travels a predetermined distance is conceivable.
  • a time-out period may be provided, and a case where the vehicle has not traveled a predetermined distance even after the time-out period has elapsed after the steering direction of the vehicle has been changed to the left may be determined as No in step G1.
  • step A5 when the steering direction of the vehicle after the change is rightward, the travel determination unit 126 measures the travel distance traveled by the vehicle while maintaining the steering direction of the vehicle rightward, and the display control unit 123. Determines whether or not the vehicle is traveling more than a predetermined distance while the steering direction of the vehicle is maintained to the right (step G2).
  • the method by which the travel determination unit 126 measures the travel distance in step G2 is the same as in step G1.
  • step G2 when the vehicle has traveled more than a predetermined distance while the steering direction of the vehicle is maintained to the right (Yes in step G2), the display control unit 123 displays the overhead view video X generated by the overhead view video generation unit 122. Control is performed so that the image is displayed at the right end of the unit 11 (step D2). On the other hand, in step G2, if the vehicle does not travel more than a predetermined distance while the steering direction of the vehicle is maintained to the right (No in step G2), the process returns to step A3. In addition, as a case where step G2 is No, the case where the steering direction of the vehicle is changed from the right direction to the left direction before the vehicle travels a predetermined distance can be considered.
  • a time-out period may be provided, and a case where the vehicle has not traveled more than a predetermined distance even after the time-out period has elapsed since the steering direction of the vehicle has been changed to the right may be determined as No in step G2.
  • the vehicular display device 10 is changed in the display unit 11 when the steering direction of the vehicle is changed and the vehicle travels more than a predetermined distance in the changed direction.
  • the overhead view video X is displayed in the same direction as the steering direction of the vehicle. Therefore, even if the steering direction of the vehicle is changed, if the steering direction of the vehicle returns before the vehicle travels a predetermined distance, the display position of the overhead view video X on the display unit 11 is the same as that of the original vehicle. It remains in the steering position. Thereby, it can prevent that the display position of the bird's-eye view video X in the display part 11 switches frequently in the left-right direction.
  • the seventh embodiment is the same as the fourth embodiment in that the overhead image X is displayed in the left-right direction on the display unit 11 in accordance with the steering direction of the vehicle. Therefore, as in the fourth embodiment, the seventh embodiment has an effect that the combined use of the visual observation of the bird's-eye view by the driver and the visual observation outside the vehicle is facilitated.
  • the overhead view video generation unit 122 generates the overhead view video X so that the vehicle in the overhead view video X is positioned approximately near the center.
  • This is not a limitation.
  • the display controller 123 controls the display controller 123 to change the display direction of the overhead image X and display it on the display unit 11, the vehicle in the overhead image X is displayed closer to the upper side of the display unit 11. It is also possible to generate a bird's-eye view video X that has been made.
  • FIG. 19 is a display example when the steering direction of the vehicle is leftward in the first, third, and sixth embodiments.
  • FIG. 20 is a display example when the steering direction of the vehicle is rightward in the first, third, and sixth embodiments.
  • FIG. 21 is a display example when the steering direction of the vehicle is leftward in the second embodiment.
  • FIG. 22 is a display example when the steering direction of the vehicle is rightward in the second embodiment.
  • the bird's-eye view video X can be displayed so that the driver can easily see it. .
  • the display control unit 123 controls to display the vertically-shaped overhead view video X generated by the overhead view video generation unit 122 without being tilted.
  • the display control unit 123 may perform control so that the overhead image X is tilted so that the lower side of the overhead image X is closer to the center in the left-right direction of the display unit 11 than the upper side.
  • Display examples in the case where the overhead view video X is tilted and displayed on the display unit 11 are shown in FIGS.
  • FIG. 23 is a display example when the steering direction of the vehicle is leftward
  • FIG. 24 is a display example when the steering direction of the vehicle is rightward.
  • the overhead view video generation unit 122 generates the overhead view video X so that the vehicle in the overhead view video X is located near the center. Is not limited. For example, when the driver visually confirms the front of the vehicle, the virtual viewpoint position of the bird's-eye view video X is considered to transition to the upper part of the display unit 11 and the center in the left-right direction. Therefore, when the display control unit 123 controls the display control unit 123 to display the overhead view video X in the left-right direction on the display unit 11, the vehicle in the overhead view video X is closer to the upper side of the display unit 11 and the center in the left-right direction. A bird's-eye view video X that is displayed closer may be generated.
  • FIG. 25 is a display example when the steering direction of the vehicle is leftward.
  • the display control unit 123 may control to display the overhead view video X shown in FIG. 25 in an inclined manner so that the lower side of the overhead view video X is closer to the center in the left-right direction of the display unit 11 than the upper side. good.
  • FIG. 26 shows a display example when the overhead view video X shown in FIG. 25 is tilted and displayed on the display unit 11.
  • the display control unit 123 controls to display the bird's-eye view video X at the left and right ends of the display unit 11, but is not limited thereto.
  • the display control unit 123 may display the bird's-eye view video X on the left side when viewed from the center of the display unit 11 if the steering direction of the vehicle is leftward, and the center of the display unit 11 if the steering direction of the vehicle is rightward. What is necessary is just to display the bird's-eye view video X on the right side as viewed from the top.
  • the display unit 11 is arranged on the center console 20, and according to the fourth, fifth, and seventh embodiments, the display unit 11. was a cluster panel, but is not limited to this.
  • the display unit 11 may be a rear view monitor or a head-up display as an alternative to the rear view mirror 70 as long as the display unit 11 is disposed in front of the driver's seat.
  • the present invention is applicable to a vehicle display device that displays a bird's-eye view image and a vehicle equipped with the vehicle display device, and has industrial applicability.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Abstract

Un appareil d'affichage véhiculaire (10) comprend : une unité de capture d'image (13) qui capture une vidéo des alentours d'un véhicule; une unité de génération de vidéo en vue aérienne (122) qui génère une vidéo en vue aérienne en exécutant une conversion de point de vue sur la vidéo capturée par l'unité de capture d'image (13) comme si le véhicule était vu du dessus; une unité d'affichage (11) placée à l'intérieur du véhicule et à l'avant du siège conducteur et ayant une forme allongée horizontalement; une unité d'acquisition d'informations (125) qui acquiert des informations concernant l'angle de braquage du véhicule; une unité de détermination de direction (124) qui détermine, d'après les informations concernant l'angle de braquage du véhicule, acquises par l'unité d'acquisition d'informations (125), si le braquage du véhicule se fait vers la gauche ou vers la droite; et une unité de commande d'affichage (123) qui exécute une commande amenant la vidéo en vue aérienne à s'afficher sur l'unité d'affichage (11) selon un mode d'affichage modifié d'après la direction de braquage du véhicule telle que déterminée par l'unité de détermination de direction (124).
PCT/JP2016/002455 2015-08-10 2016-05-19 Appareil d'affichage véhiculaire, et procédé d'affichage véhiculaire WO2017026083A1 (fr)

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EP16834787.0A EP3337166B1 (fr) 2015-08-10 2016-05-19 Appareil d'affichage véhiculaire, et procédé d'affichage véhiculaire
CN201680026519.4A CN107534757B (zh) 2015-08-10 2016-05-19 车辆用显示装置以及车辆用显示方法
US15/867,573 US10596966B2 (en) 2015-08-10 2018-01-10 Display device for vehicle and display method for vehicle

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JP2015-157920 2015-08-10
JP2015157921A JP6547510B2 (ja) 2015-08-10 2015-08-10 車両用表示装置及び車両用表示方法
JP2015157920 2015-08-10
JP2015-157921 2015-08-10
JP2016043291A JP6711027B2 (ja) 2015-08-10 2016-03-07 車両用表示装置、車両用表示方法、及びプログラム
JP2016-043291 2016-03-07

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JP2013006548A (ja) * 2011-06-27 2013-01-10 Clarion Co Ltd 駐車支援装置
WO2013183674A1 (fr) * 2012-06-07 2013-12-12 日立建機株式会社 Dispositif d'affichage destiné à un engin industriel autopropulsé

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WO2013183674A1 (fr) * 2012-06-07 2013-12-12 日立建機株式会社 Dispositif d'affichage destiné à un engin industriel autopropulsé

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WO2019080051A1 (fr) 2017-10-26 2019-05-02 Harman International Industries, Incorporated Système de vision périphérique et procédé associé
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