WO2017208494A1

WO2017208494A1 - Vehicle display control apparatus, vehicle display system, vehicle display control method, and program

Info

Publication number: WO2017208494A1
Application number: PCT/JP2017/002945
Authority: WO
Inventors: 友喜桜木
Original assignee: 株式会社Ｊｖｃケンウッド
Priority date: 2016-05-31
Filing date: 2017-01-27
Publication date: 2017-12-07

Abstract

A vehicle display control apparatus (10) is provided with: a video data acquisition unit (11) that acquires video data from a rear camera (56) installed to photograph rearward of a vehicle; a recognition unit (12) that recognizes another vehicle in the video data; a position information acquisition unit (13) that acquires information about a change in position in the video data of the other vehicle recognized by the recognition unit (12); an image processing unit (14) that superimposes, on the video data, the moving locus of the other vehicle based on the information about the change in position; and a display control unit (15) that causes a rear-view monitor (53) for displaying the video of rearward of the vehicle (1) to display the video data on which the moving locus has been superimposed.

Description

VEHICLE DISPLAY CONTROL DEVICE, VEHICLE DISPLAY SYSTEM, VEHICLE DISPLAY CONTROL METHOD, AND PROGRAM

The present invention relates to a vehicle display control device, a vehicle display control method, and a program.

Electronic display is being promoted in rear view mirrors (rear view mirrors) used in automobiles.

Patent Document 1 discloses a captured image in which a mark is superimposed on a captured image of a rear (rear side) of a vehicle captured by a camera at or near the position of another vehicle in the captured image. Describes a vehicle rear side photographing device that displays on a display such that the rate of change in the size of the mark in the vehicle is greater than the rate of change in the inter-vehicle distance between the vehicle and another vehicle.

JP 2013-207747 A

During driving, the driver does not always look at the rear view monitor. For this reason, when the driver looks at the rear view monitor, there are cases where he suddenly notices a vehicle behind him that he was not aware of before. Such a case may be, for example, when a rear vehicle traveling in a lane adjacent to the lane in which the host vehicle is traveling suddenly moves to the rear of the host vehicle, or when the rear vehicle has a relatively large relative speed. This can happen when you come close to the back of your vehicle. If the driver suddenly notices the vehicle behind him, he / she does not know what the vehicle was working in before (from what direction the vehicle was approaching), so There has been a problem that it is difficult to predict the subsequent operation (prediction of the direction in which the rear vehicle moves). The technique described in Patent Document 1 is intended to allow the driver to appropriately recognize the inter-vehicle distance of the rear vehicle. Even if the technique described in Patent Document 1 is applied to a rear view monitor, the above-described problem occurs. Is not resolved.

The present embodiment has been made in view of the above background, and provides a vehicle display control device, a vehicle display control system, a vehicle display control method, and a program capable of accurately grasping the operation of a rear vehicle. With the goal.

The present embodiment is a vehicle display control device, a video data acquisition unit that acquires video data from a rear camera that captures the rear of the vehicle, a recognition unit that recognizes another vehicle in the video data, and the recognition unit A position information acquisition unit that acquires information on a change in position of the other vehicle recognized by the image data, an image processing unit that superimposes a movement locus of the other vehicle based on the information on the change of position on the image data, and And a display control unit for displaying video data on which the movement locus is superimposed on a rear view monitor for displaying a video behind the vehicle.

The present embodiment is a vehicle display control method, the step of acquiring video data from a rear camera that captures the rear of the vehicle, the step of recognizing other vehicles in the video data,
Acquiring information relating to a change in position of the recognized other vehicle in the video data, superimposing a movement locus of the other vehicle based on the information relating to the change in position on the video data, and Displaying video data on which the movement locus is superimposed on a rear view monitor for displaying video.

The present embodiment is a program for vehicle display control, a processing procedure for acquiring video data from a rear camera that captures the rear of the vehicle, a processing procedure for recognizing another vehicle in the video data, and the recognition A processing procedure for acquiring information related to a change in position of the other vehicle in the video data, a processing procedure for superimposing a movement trajectory of the other vehicle on the video data based on the information related to the change in position, The computer executes a processing procedure for displaying video data on which the movement locus is superimposed on a rear view monitor for displaying video.

According to this embodiment, it is possible to accurately grasp the operation of the rear vehicle.

It is a figure explaining an example of arrangement | positioning in the driver's cab of the vehicle carrying the vehicle display control apparatus concerning this invention. 1 is a block diagram illustrating a schematic configuration of a vehicle display control apparatus according to a first embodiment; It is a figure which shows an example of the video data acquired by the back camera. FIG. 4 is clipped video data cut out from the video data in FIG. 3. It is a figure which shows an example of the video data (cutout video data) with which the locus | trajectory of the other vehicle was superimposed. FIG. 4 is a block diagram illustrating a schematic configuration of a vehicle display control apparatus according to a second embodiment; It is a figure which shows the relationship between vehicle travel speed and a period interval. It is a figure shown about the case where the locus | trajectory of another vehicle is superimposed on video data (cut-out video data) with a period interval of 20 frames and a display contour number of two. It is a figure shown about the case where the locus | trajectory of another vehicle is superimposed on the video data (cut-out video data) with the period interval of 15 frames and the number of display contours. It is a figure shown about the case where the locus | trajectory of another vehicle is superimposed on the video data (cut-out video data) by the period interval 5 frames and the display outline number 4. FIG. It is a figure which shows an example of the period interval with respect to the running speed of a vehicle, and the number of display outlines. It is a figure which shows an example of the period interval with respect to the environment where the vehicle is drive | running, and the number of display outlines. It is a figure which shows an example of the period interval and display outline number with respect to the legal speed in the road where the vehicle is drive | working. It is a figure which shows an example of the period interval and display outline number with respect to relative speed (relative speed with respect to the vehicle of the other vehicle recognized by the recognition part). It is a figure which shows an example of the period space | interval and the number of display outlines with respect to the degree of visual difficulty in the surrounding environment of a vehicle. It is a figure which shows an example of the period interval with respect to the continuous travel time of a vehicle, and the number of display outlines. FIG. 6 is a block diagram illustrating a schematic configuration of a vehicle display control apparatus according to a third embodiment; It is a flowchart which shows the example of the flow of a process which displays a warning screen on a display part. It is a flowchart which shows another example of the flow of a process which displays a warning screen on a display part. It is a flowchart which shows another example of the flow of a process which displays a warning screen on a display part. FIG. 6 is a block diagram showing a schematic configuration of a vehicle display control apparatus according to a fourth embodiment; It is a figure which shows an example of the prescription | regulation relative speed with respect to vehicle travel speed, and prescription | regulation inter-vehicle distance. It is a figure which shows an example of the prescription | regulation relative speed with respect to driving | running | working environment, and prescription | regulation inter-vehicle distance. It is a figure which shows an example of the prescription | regulation relative speed with respect to the degree of the visual difficulty in the surrounding environment of a vehicle, and prescription | regulation inter-vehicle distance.

[Embodiment 1]
Embodiment 1 of the present invention will be described below with reference to the drawings.
First, an example of arrangement | positioning in the cab of the vehicle 1 which mounts the vehicle display control apparatus concerning this invention is demonstrated.
FIG. 1 is a diagram illustrating an example of an arrangement of a vehicle (automobile) 1 in a driver's cab. As shown in FIG. 1, the cab of the vehicle 1 has a general configuration, and a steering wheel 50, a dashboard 51, a windshield 52, a center console 54, a cluster panel that displays the traveling speed of the vehicle, the engine speed, and the like. 57, and the like. In recent years, the center console 54 is often provided with a display unit 55 for displaying a navigation screen or the like. The rear view monitor 53 is disposed at the same position as a rear view mirror for rear confirmation in a general vehicle, that is, near the upper center of the windshield 52.

Next, a schematic configuration of the vehicle display control apparatus 10 according to the present embodiment will be described.
FIG. 2 is a block diagram illustrating a schematic configuration of the vehicle display control apparatus 10. As shown in FIG. 2, the vehicle display control apparatus 10 includes a video data acquisition unit 11, a recognition unit 12, a position information acquisition unit 13, an image processing unit 14, a display control unit 15, and a cutout processing unit 16. And comprising.

The video data acquisition unit 11 acquires video data from the rear camera 56 that captures the rear of the vehicle 1. The recognition unit 12 collates the recognition dictionary 17 and recognizes another vehicle in the video data acquired by the video data acquisition unit 11. The recognition dictionary 17 is a database that stores image data groups of how the vehicle 1 having several representative shapes is viewed from various directions. Note that the recognition dictionary 17 may be stored in a storage unit included in the vehicle display control device 10, stored in a storage device inside or outside the vehicle display control device 10 and the vehicle 1, and usable via a network. It may be.

The position information acquisition unit 13 acquires information regarding a change in position in the video data of the other vehicle recognized by the recognition unit 12. The image processing unit 14 superimposes the movement trajectory of the other vehicle based on the information related to the position change in the video data of the other vehicle recognized by the recognition unit 12 on the video data. The display control unit 15 displays video data in which the movement trajectory of the other vehicle is superimposed on the rear view monitor 53 for displaying the video behind the vehicle 1. The cutout processing unit 16 cuts out the video data into a display range to be displayed on the rear view monitor 53.

The image processing unit 14 performs edge detection processing on the video data of the other vehicle recognized by the recognition unit 12 to extract the contour line of the other vehicle. For the extracted contour line, a threshold is set for the length and thickness of the contour line in order to exclude unnecessary lines and lines indicating the fine structure in the video data of other vehicles. It is good also as a contour line of other vehicles using a contour line.

The rear camera 56 generally includes a wide-angle lens, for example, a horizontal field angle of 120 to 180 degrees. For this reason, the cutout processing unit 16 performs cutout processing for setting an appropriate display range on the rear view monitor 53 on the video data captured by the rear camera 56. FIG. 3 is a diagram illustrating an example of video data acquired by the rear camera 56. FIG. 4 is clipped video data cut out from the video data in FIG. As shown in FIGS. 3 and 4, the cutout section 16 in the video data A is cut out by the cutout processing unit 16, and cutout video data C is acquired.

The recognition unit 12 may recognize other vehicles in the video data acquired by the video data acquisition unit 11 at predetermined time intervals. For example, when the rear camera 56 acquires the video behind the vehicle 1 at a frame rate of 30 fps (frame per second), the recognition unit 12 recognizes another vehicle every 20 frames for the acquired video data. To do. In this case, the predetermined interval is 20 seconds / 30 seconds.

FIG. 5 is a diagram showing an example of video data (cut-out video data) on which the trajectory of another vehicle is superimposed. As shown in FIG. 5, the contour images 61 a and 61 b of the other vehicle 60 at the time before the current time are superimposed on the video data (cutout video data) as a movement locus. When the predetermined period interval is 20/30 seconds, the contour image 61a is the contour image of the other vehicle recognized one time before the current time, that is, 20 seconds before 30/30. Further, the contour image 61b is the contour image of the other vehicle recognized two times before the current time, that is, 40 seconds before 30 minutes. By displaying the contour image of the other vehicle in this manner, the driver can grasp from which direction the other vehicle has moved. Thereby, the driver can predict in which direction the other vehicle will move. Note that the number of contour images (number of display contours) of other vehicles to be superimposed on the video data (cutout video data) is not limited to 2, and any number may be superimposed as long as it is 1 or more.

It is more effective if the display control unit 15 generates a contour image in which the shape of the contour is processed when generating a contour image of another vehicle. For example, the extracted contour line of the other vehicle may be colored so that the contour image superimposed on the video data is more easily recognized. Furthermore, the contour line in the moving direction of the other vehicle may be deleted from the extracted contour line of the other vehicle. Specifically, when the other vehicle 60 is moving in the right direction with respect to the video data as in the example shown in FIG. 5, the contour video 61 a and the contour video 61 b indicating the contour are respectively displayed on the left half and the left end portion. Only a contour line may be used. Furthermore, it is good also as an outline which becomes thin gradually from the moving direction opposite side of another vehicle to a moving direction.

As described above, the driver of the vehicle 1 can accurately grasp the operation of the rear vehicle by superimposing the movement trajectory of the other vehicle on the video data acquired by the rear camera and displaying it on the rear view mirror.

[Embodiment 2]
The second embodiment of the present invention will be described below with reference to the drawings. In addition, the same code | symbol is attached | subjected to the part which is common in Embodiment 1, and the description is abbreviate | omitted.
FIG. 6 is a block diagram illustrating a schematic configuration of the vehicle display control apparatus 110. As shown in FIG. 6, the vehicle display control device 110 has basically the same configuration as the vehicle display control device 10 described with reference to FIG. 2 in the first embodiment, except that the situation acquisition unit 18 is provided. is there.

The status acquisition unit 18 acquires the status of the vehicle 1 (see FIG. 1) via CAN (CAN: Controller Area Network), various sensors, a navigation system, and the like. In the image processing unit 14, the period interval in which the recognition unit 12 recognizes another vehicle in the video data acquired by the video data acquisition unit 11 is varied according to the status of the vehicle 1 acquired by the status acquisition unit 18.

The situation of the vehicle 1 may be a vehicle traveling speed. That is, the situation acquisition unit 18 acquires information related to the traveling speed of the vehicle 1 from a speed sensor or the like. FIG. 7 is a diagram illustrating an example of the relationship between the vehicle traveling speed and the period interval. As shown in FIG. 7, the image processing unit 14 sets the period interval to 20 frames when the traveling speed V of the vehicle 1 is less than 40 km / h (V <40 km / h), and 40 km / h or more and less than 80 km / h (40 km). / H ≦ V <80 km / h), the period interval is 15 frames, and when 80 km / h or more (80 km / h ≦ V), the period interval is 5 frames. shorten. In addition, when the rear camera 56 acquires the video behind the vehicle 1 at a frame rate of 30 fps, one frame in the period interval is 1/30 second.

The number of contour images 61 (number of display contours) of the other vehicle 60 superimposed on the video data (cutout video data) may be changed according to the period interval. For example, when the period interval is 20 frames, the number of display contours is 2 as shown in FIG. 8, when it is 15 frames, the number of display contours is 3 as shown in FIG. 9, and when it is 5 frames, it is FIG. As shown, the number of display contours is set to four. FIG. 11 shows a list of period intervals and display contour numbers with respect to the traveling speed of the vehicle 1. The faster the traveling speed, the more difficult it is for the driver of the vehicle 1 to notice the sudden approach of another vehicle. By doing so, the driver of the vehicle 1 can grasp the operation of the rear vehicle more accurately. be able to.

[Modification 1]
The situation of the vehicle 1 may be an environment (traveling environment) in which the vehicle 1 is traveling. That is, the situation acquisition unit 18 acquires information related to the travel environment from a navigation system or the like. FIG. 12 is a diagram illustrating an example of the period interval and the number of display contours with respect to the traveling environment. As shown in FIG. 12, if the driving environment is an urban area, the interval is 20 frames and the number of display contours is 2. If the driving environment is a suburb, the interval is 15 frames and the number of display contours is 3. In the case of a dedicated road, the interval is 5 frames and the number of display contours is 4. That is, the image processing unit 14 varies the period interval and the number of display contours according to the traveling environment. The difficulty of the driver of the vehicle 1 noticing suddenly approaching another vehicle changes depending on the driving environment. By doing so, the driver of the vehicle 1 can grasp the operation of the rear vehicle more accurately. Can do.

[Modification 2]
The situation of the vehicle 1 may be a legal speed on a road on which the vehicle 1 is traveling. That is, the situation acquisition unit 18 acquires the legal speed on the road on which the vehicle 1 is traveling from a navigation system or the like. FIG. 13 is a diagram illustrating an example of the period interval and the number of display contours with respect to the legal speed on the road on which the vehicle 1 is traveling. As shown in FIG. 13, when the legal speed VL of the road on which the vehicle 1 is traveling is less than 40 km / h (VL <40 km / h), the interval is 20 frames, the number of display contours is 2, and 40 km / h. When h is less than 80 km / h (40 km / h ≦ VL <80 km / h), the period interval is 15 frames and the number of display contours is 3, and when 80 km / h or more (80 km / h ≦ VL), the period The interval is 5 frames and the number of display contours is 4. That is, the image processing unit 14 shortens the period interval and increases the number of display contours as the legal speed VL increases. The higher the legal speed on the road on which the vehicle 1 is traveling, the more the vehicle 1 travels at a higher speed, so it becomes difficult for the driver of the vehicle 1 to notice the sudden approach of another vehicle. By doing so, the driver of the vehicle 1 can grasp the operation of the rear vehicle more accurately.

[Modification 3]
The situation of the vehicle 1 may be a relative speed of the other vehicle recognized by the recognition unit 12 with respect to the vehicle 1. That is, the situation acquisition unit 18 acquires the relative speed of the other vehicle recognized by the recognition unit 12 with respect to the vehicle 1 from a relative speed detection sensor or the like. FIG. 14 is a diagram illustrating an example of the period interval and the number of display contours with respect to the relative speed. As shown in FIG. 14, when the relative speed VR is less than 10 km / h (VR <10 km / h), the period interval is 20 frames, the number of display contours is 2, and 10 km / h or more and less than 20 km / h (10 km / h). When h ≦ VR <20 km / h), the period interval is 15 frames and the number of display contours is 3, and when 20 km / h or more (20 km / h ≦ VR), the period interval is 5 frames and the number of display contours is 4 To do. That is, the image processing unit 14 shortens the period interval and increases the number of display contours as the relative speed VR is higher. The faster the relative speed, the more difficult it is for the driver of the vehicle 1 to notice the sudden approach of another vehicle. By doing so, the driver of the vehicle 1 can grasp the operation of the rear vehicle more accurately. be able to. Here, the relative speed is a relative speed when the speed of the rear vehicle is higher than that of the vehicle 1.

[Modification 4]
The situation of the vehicle 1 may be a degree of difficulty in viewing (bad visibility) in the surrounding environment of the vehicle 1. That is, the situation acquisition unit 18 acquires the degree of difficulty in viewing in the surrounding environment of the vehicle 1. Specifically, the situation acquisition unit 18 acquires information on the surrounding environment of the vehicle 1 (weather, daytime / nighttime, presence / absence of fog) from a navigation system or the like, and determines the degree of visual difficulty in the surrounding environment of the vehicle 1. . FIG. 15 is a diagram illustrating an example of the period interval and the number of display contours with respect to the degree of visual difficulty in the surrounding environment of the vehicle 1. As shown in FIG. 15, when the degree of visual difficulty in the surrounding environment of the vehicle 1 is low (daytime and clear to cloudy), the interval is 20 frames and the number of display contours is 2, which is slightly high (night and clear to cloudy, Or, in the case of daytime and fog, or in the daytime and rain), the interval interval is 15 frames and the number of display contours is 3, and in the case of high (night and fog or night and rain), the interval interval is 5 frames and the display contour. Equation 4 is assumed. That is, the image processing unit 14 shortens the period interval and increases the number of display contours as the degree of visual difficulty in the surrounding environment of the vehicle 1 is higher. The higher the degree of visual difficulty in the surrounding environment of the vehicle 1, the harder the driver of the vehicle 1 is aware of the sudden approach of another vehicle. In this way, the driver of the vehicle 1 can operate the rear vehicle. It can be grasped more accurately.

[Modification 5]
The situation of the vehicle 1 may be the continuous travel time of the vehicle 1. That is, the situation acquisition unit 18 acquires the continuous travel time of the vehicle 1 from CAN or the like. FIG. 16 is a diagram illustrating an example of the period interval and the number of display contours with respect to the continuous travel time of the vehicle 1. As shown in FIG. 16, when the continuous running time T of the vehicle 1 is less than 1 hour (T <1 hr), the interval is 20 frames, the number of display contours is 2, and the time is 1 hour or more and less than 3 hours (1 hr ≦ T If <3 hr), the period interval is 15 frames and the number of display contours is 3, and if 3 hours or more (3 hr ≦ T), the period interval is 5 frames and the number of display contours is 4. That is, the image processing unit 14 shortens the period interval and increases the number of display contours as the continuous running time of the vehicle 1 is longer. The longer the continuous operation time is, the more likely the driver's judgment of the vehicle 1 becomes dull due to fatigue. By doing so, the driver of the vehicle 1 can more accurately grasp the operation of the rear vehicle. . The continuous running time mentioned here excludes a short stop time due to a temporary stop or a signal wait, for example, a stop of less than 5 minutes.

[Embodiment 3]
The third embodiment of the present invention will be described below with reference to the drawings. In addition, the same code | symbol is attached | subjected to the part which is common in Embodiment 1 and Embodiment 2, and the description is abbreviate | omitted.
First, a schematic configuration of the vehicle display control apparatus 210 according to the present embodiment will be described.
FIG. 17 is a block diagram illustrating a schematic configuration of the vehicle display control device 210. As shown in FIG. 17, the vehicle display control apparatus 210 includes a video data acquisition unit 11, a recognition unit 12, a position information acquisition unit 213, an image processing unit 214, a display control unit 15, and a cutout processing unit 16. And a warning target vehicle determination unit 219 and a vehicle operation determination unit 220.

The vehicle operation determination unit 220 determines whether or not the vehicle 1 is operating. Here, the operation of the vehicle 1 means a state in which the vehicle 1 can be driven if the accelerator of the vehicle 1 is stepped on, for example, a state in which the engine is operating or an ignition switch is on. The video data acquisition unit 11 acquires video data from the rear camera 56 that captures the rear of the vehicle 1 when the vehicle 1 is operating.

The warning target vehicle determination unit 219 determines whether or not the other vehicle recognized by the recognition unit 12 is a warning target. Specifically, when the relative speed of the other vehicle recognized by the recognition unit 12 with respect to the vehicle 1 is equal to or higher than the specified relative speed and the other vehicle approaches the vehicle 1, the warning target vehicle determination unit 219 May be determined to be a warning target. The warning target vehicle determination unit 219 acquires the relative speed of the other vehicle recognized by the recognition unit 12 with respect to the vehicle 1 from a relative speed detection sensor or the like. The warning target vehicle determination unit 219 determines that the other vehicle is a warning target when the inter-vehicle distance between the other vehicle recognized by the recognition unit 12 and the vehicle 1 is less than the specified inter-vehicle distance. Good. The warning target vehicle determination unit 219 acquires the inter-vehicle distance between the other vehicle recognized by the recognition unit 12 and the vehicle 1 from a millimeter wave radar or the like.

The position information acquisition unit 213 acquires information related to a change in position in the video data of another vehicle that is determined to be a warning target by the warning target vehicle determination unit 219. The image processing unit 214 superimposes the movement trajectory of the other vehicle on the video data based on the information on the change in position in the video data of the other vehicle determined to be the warning target by the warning target vehicle determination unit 219. The image processing unit 214 performs edge detection processing on the video data of the other vehicle determined to be the warning target by the warning target vehicle determination unit 219, thereby extracting the contour line of the other vehicle. For the extracted contour line, a threshold is set for the length and thickness of the contour line in order to exclude unnecessary lines and lines indicating the fine structure in the video data of other vehicles. It is good also as a contour line of other vehicles using a contour line.

Next, a flow of processing for displaying a warning screen on the display unit 55 will be described with reference to FIG. In the following description, FIG. 17 is appropriately referred to for the configuration of the vehicle display control device 210.
FIG. 18 is a flowchart illustrating an example of a flow of processing for displaying a warning screen on the display unit 55. As shown in FIG. 18, first, the vehicle operation determination unit 220 determines whether or not the vehicle 1 is operating (step S2101). When it is determined in step S2101 that the vehicle 1 is operating (in the case of YES), the recognition unit 12 determines whether or not another vehicle has been recognized (step S2102). If it is determined in step S2102 that the other vehicle has been recognized (in the case of YES), the warning target vehicle determination unit 219 determines whether the relative speed of the other vehicle with respect to the vehicle 1 is equal to or higher than the specified relative speed (step S2103).

If it is determined in step S2103 that the relative speed of the other vehicle to the vehicle 1 is equal to or greater than the specified relative speed (in the case of YES), the display control unit 15 starts the display of the warning screen or updates the display of the warning screen ( Step S2104). Following step S2104, the recognizing unit 12 determines whether or not the other vehicle still exists in the video captured by the rear camera 56 (step S2106).

If it is determined in step S2103 that the relative speed of the other vehicle to the vehicle 1 is not equal to or greater than the specified relative speed (in the case of NO), the warning target vehicle determination unit 219 determines that the inter-vehicle distance between the other vehicle and the vehicle 1 is less than the specified inter-vehicle distance. It is determined whether or not (step S2105). If it is determined in step S2105 that the inter-vehicle distance between the other vehicle and the vehicle 1 is less than the specified inter-vehicle distance (in the case of YES), the process proceeds to step S2104. If it is determined in step S2105 that the inter-vehicle distance between the other vehicle and the vehicle 1 is not less than the specified inter-vehicle distance (in the case of NO), the process proceeds to step S2106 described above.

If it is determined in step S2106 that the other vehicle is still present in the image captured by the rear camera 56 (YES), the process returns to step S2103. If no other vehicle is present in the image captured by the rear camera 56 in step S2106 (in the case of NO), the display control unit 15 determines whether the warning screen is being displayed (step S2107).

If the warning screen is being displayed in step S2107 (in the case of YES), the display control unit 15 cancels the display of the warning screen (step S2108). Subsequent to step S2108, the vehicle operation determination unit 220 determines whether or not the vehicle 1 is operating (step S2109). If the vehicle 1 is operating in step S2109 (in the case of YES), the process returns to step S2102. If the vehicle 1 is not operating in step S2109 (NO), the process is terminated.

[Modification 6]
FIG. 19 is a flowchart illustrating another example of the flow of processing for displaying a warning screen on the display unit 55. In FIG. 18, when it is determined that the other vehicle is recognized in step S2102, the warning target vehicle determination unit 219 (see FIG. 17) determines whether or not the relative speed of the other vehicle with respect to the vehicle 1 is equal to or higher than the specified relative speed ( In step S2103), it is determined whether the inter-vehicle distance between the other vehicle and the vehicle 1 is less than the specified inter-vehicle distance (step S2105). On the other hand, as shown in FIG. 19, when it is determined that the other vehicle has been recognized (step S202), the warning target vehicle determination unit 219 determines whether the relative speed of the other vehicle with respect to the vehicle 1 is equal to or higher than the specified relative speed. Only the determination (step S203) may be performed. The other steps are the same as those described with reference to FIG.

[Modification 7]
FIG. 20 is a flowchart illustrating yet another example of the flow of processing for displaying a warning screen on the display unit 55. In FIG. 18, when it is determined in step S2102 that the other vehicle has been recognized, it is determined whether the relative speed of the other vehicle with respect to the vehicle 1 is equal to or higher than the specified relative speed (step S2103), and the distance between the other vehicle and the vehicle 1 It is determined whether the distance is less than the specified inter-vehicle distance (step S2105). On the other hand, as shown in FIG. 20, when it is determined that the other vehicle is recognized (step S302), the warning target vehicle determination unit 219 determines that the inter-vehicle distance between the other vehicle and the vehicle 1 is less than the specified inter-vehicle distance. Only the determination (step S303) may be performed. The other steps are the same as those described with reference to FIG.

As described above, in the present embodiment, the warning target vehicle determination unit 219 determines whether the other vehicle recognized by the recognition unit 12 is a warning target based on the relative speed of the other vehicle with respect to the vehicle 1. It is determined by determining whether or not the speed is greater than the relative speed and / or determining whether or not the inter-vehicle distance between the other vehicle and the vehicle 1 is less than the specified inter-vehicle distance. The display control unit 15 causes the display unit 55 to display a warning screen when it is determined that the other vehicle is a warning target. As described above, in the present embodiment, the warning screen is displayed on the display unit 55 only when it is determined that the other vehicle is a warning target, so that the driver can timely indicate that the rear vehicle has approached. It is possible to grasp and to take an appropriate response to the approaching rear vehicle.

[Embodiment 4]
Embodiment 4 of the present invention will be described below with reference to the drawings. It should be noted that portions common to Embodiments 1 to 3 are denoted by common reference numerals, and description thereof is omitted.
The configuration of the vehicle display control device according to the present embodiment is basically the same as that of the vehicle display control device 210 described with reference to FIG. 17 in the third embodiment. In the present embodiment, the flow of processing for displaying a warning screen on the display unit 55 is the same as that described with reference to FIG. 18 in the third embodiment. In the present embodiment, the flow of processing for displaying the warning screen on the display unit 55 is the same as that of the modification 6 shown in FIG. 19 or the modification shown in FIG. 7 may be the same.

FIG. 21 is a block diagram showing a schematic configuration of the vehicle display control device 310. As shown in FIG. 21, the vehicle display control device 310 according to the present embodiment includes a situation acquisition unit 318. This point is different from the vehicle display control device 210 described with reference to FIG. 17 in the first embodiment.

The status acquisition unit 318 acquires the status of the vehicle 1 (see FIG. 1) via CAN (CAN: Controller Area Network), various sensors, a navigation system, and the like. Depending on the situation of the vehicle 1 acquired by the situation acquisition unit 318, the warning target vehicle determination unit 219 varies the specified relative speed and / or the specified inter-vehicle distance.

The situation of the vehicle 1 may be a vehicle traveling speed. That is, the situation acquisition unit 318 acquires information related to the traveling speed of the vehicle 1 from a speed sensor or the like.
FIG. 22 is a diagram illustrating an example of the specified relative speed and the specified inter-vehicle distance with respect to the vehicle travel speed. As illustrated in FIG. 22, the warning target vehicle determination unit 219 determines the specified relative speed when the traveling speed V of the vehicle 1 is 20 km / h or more and less than 40 km / h (20 km / h ≦ V <40 km / h). Is 15 km / h, 40 km / h or more and less than 80 km / h (40 km / h ≦ V <80 km / h), the specified relative speed is 210 km / h, 80 km / h or more (80 km / h ≦ V). In this case, the specified relative speed may be set to 5 km / h, and the specified relative speed may be decreased as the traveling speed of the vehicle 1 increases.

As shown in FIG. 22, the warning target vehicle determination unit 219 is defined when the traveling speed V of the vehicle 1 is 20 km / h or more and less than 40 km / h (20 km / h ≦ V <40 km / h). When the inter-vehicle distance is 210 m, 40 km / h or more and less than 80 km / h (40 km / h ≦ V <80 km / h), the specified inter-vehicle distance is 30 m, 80 km / h or more (80 km / h ≦ V) The specified inter-vehicle distance may be increased as the traveling speed of the vehicle 1 is increased, for example, the specified inter-vehicle distance is 50 m.

The faster the traveling speed of the vehicle 1, the less the judgment is made because the driver is in a tense state and easily fatigues. For this reason, as the traveling speed of the vehicle 1 increases, it is necessary for the driver to make an appropriate determination with a margin for the approaching rear vehicle. If the specified relative speed is reduced, the driver can grasp the approaching rear vehicle at an earlier time, and thus can make an appropriate determination with a margin for the approaching rear vehicle. Similarly, if the specified inter-vehicle distance is increased, the driver can grasp the approaching rear vehicle at an earlier time, so that he / she can make an appropriate judgment with more margin for the approaching rear vehicle. become. Therefore, the warning target vehicle determination unit 219 can take an appropriate determination with more margin for the approaching rear vehicle by changing the specified relative speed and / or the specified inter-vehicle distance based on the vehicle traveling speed. It becomes like this.

Further, the number of contour images 61 (the number of display contours) of the other vehicle 60 to be superimposed on the video data (cutout video data) may be changed according to the vehicle traveling speed acquired by the situation acquisition unit 318. As shown in FIG. 22, when the traveling speed V of the vehicle 1 is 20 km / h or more and less than 40 km / h (20 km / h ≦ V <40 km / h), the number of display contours is set to 2, 40 km / h or more. When the speed is less than 80 km / h (40 km / h ≦ V <80 km / h), the number of display contours is 3, and when the speed is 80 km / h or more (80 km / h ≦ V), the number of display contours is 4. . By doing in this way, the driver | operator of the vehicle 1 can grasp | ascertain operation | movement of a back vehicle more correctly.

[Modification 8]
The situation of the vehicle 1 may be an environment (traveling environment) in which the vehicle 1 is traveling. That is, the situation acquisition unit 318 acquires information related to the travel environment from a navigation system or the like. FIG. 23 is a diagram illustrating an example of the specified relative speed and the specified inter-vehicle distance with respect to the traveling environment. As shown in FIG. 23, the warning target vehicle determination unit 219 has a specified relative speed of 15 km / h when the driving environment is an urban area, a specified relative speed of 210 km / h when the driving environment is a suburb, an expressway, etc. The specified relative speed is 5 km / h in the case of an automobile-only road.

Further, as shown in FIG. 23, the warning target vehicle determination unit 219 determines that the specified inter-vehicle distance is 210 m when the driving environment is an urban area, the specified inter-vehicle distance is 30 m when the driving environment is a suburb, and an automobile such as an expressway. In the case of a dedicated road, the specified inter-vehicle distance is 50 m.

When the driving environment is an automobile-only road, the traveling speed of the vehicle 1 is faster than when the driving environment is a suburb or a city area. Further, when the traveling environment is in the suburbs, the traveling speed of the vehicle 1 is faster than in the case of an urban area. As described above, when the traveling speed of the vehicle 1 is increased, the driver is in a tense state and is easily fatigued, so that the judgment power is reduced. For this reason, as the traveling speed of the vehicle 1 increases, it is necessary for the driver to make an appropriate determination with a margin for the approaching rear vehicle. If the specified relative speed is reduced, the driver can grasp the approaching rear vehicle at an earlier time, and thus can make an appropriate determination with a margin for the approaching rear vehicle. Similarly, if the specified inter-vehicle distance is increased, the driver can grasp the approaching rear vehicle at an earlier time, so that he / she can make an appropriate judgment with more margin for the approaching rear vehicle. become. Therefore, the warning target vehicle determination unit 219 can make an appropriate determination with more margin for the approaching rear vehicle by changing the specified relative speed and / or the specified inter-vehicle distance based on the driving environment. become.

Further, the number of contour images 61 (the number of display contours) of the other vehicle 60 to be superimposed on the video data (cut-out video data) may be changed according to the traveling environment acquired by the situation acquisition unit 318. As shown in FIG. 23, when the driving environment is an urban area, the number of displayed contours is 2, when the driving environment is a suburb, the number of displayed contours is 3, and when the driving environment is an automobile-only road such as an expressway, the display is performed. Set the number of contours to 4. By doing in this way, the driver | operator of the vehicle 1 can grasp | ascertain operation | movement of a back vehicle more correctly.

[Modification 9]
The situation of the vehicle 1 may be a degree of difficulty in viewing (bad visibility) in the surrounding environment of the vehicle 1. That is, the situation acquisition unit 318 acquires the degree of difficulty in viewing in the surrounding environment of the vehicle 1. Specifically, the situation acquisition unit 318 acquires information on the surrounding environment of the vehicle 1 (weather, daytime / nighttime, presence / absence of fog) from a navigation system or the like, and determines the degree of visual difficulty in the surrounding environment of the vehicle 1. . FIG. 24 is a diagram illustrating an example of the specified relative speed and the specified inter-vehicle distance with respect to the degree of visual difficulty in the surrounding environment of the vehicle 1. As shown in FIG. 24, the warning target vehicle determination unit 219 sets the specified relative speed to 15 km / h, which is slightly high (nighttime) when the degree of visual difficulty in the surrounding environment of the vehicle 1 is low (daytime and clear to cloudy). In the case of clear to cloudy, daytime and fog, or daytime and rain), the specified relative speed is 210 km / h, and in case of high (nighttime and foggy, nighttime and rain), the specified relative speed is 5 km. / H. In other words, the specified relative speed may be decreased as the degree of visual difficulty in the surrounding environment of the vehicle 1 is higher.

Further, as shown in FIG. 24, the warning target vehicle determination unit 219 sets the specified inter-vehicle distance to 210 m, which is slightly higher (nighttime) when the degree of visual difficulty in the surrounding environment of the vehicle 1 is low (daytime and clear to cloudy). In the case of clear and cloudy weather, or in the daytime and foggy, or in the daytime and rainy), the specified inter-vehicle distance is 30 m. . That is, the specified inter-vehicle distance may be increased as the degree of visual difficulty in the surrounding environment of the vehicle 1 is higher.

と When the degree of visual difficulty increases, the driver is in a tense state and tends to get tired, so the judgment is dull. For this reason, as the degree of visual difficulty increases, it is necessary for the driver to make an appropriate determination with a margin for the approaching rear vehicle. If the specified relative speed is reduced, the driver can grasp the approaching rear vehicle at an earlier time, and thus can make an appropriate determination with a margin for the approaching rear vehicle. Similarly, if the specified inter-vehicle distance is increased, the driver can grasp the approaching rear vehicle at an earlier time, so that he / she can make an appropriate judgment with more margin for the approaching rear vehicle. become. Therefore, the warning target vehicle determination unit 219 makes an appropriate determination with more margin to the approaching rear vehicle by changing the specified relative speed and / or the specified inter-vehicle distance based on the degree of visual difficulty. You can take it.

Further, even if the number of contour images 61 of the other vehicle 60 to be superimposed on the video data (cutout video data) (the number of display contours) is changed according to the degree of visual difficulty in the surrounding environment acquired by the situation acquisition unit 318. Good. As shown in FIG. 24, when the degree of visual difficulty in the surrounding environment of the vehicle 1 is low (daytime and sunny to cloudy), the number of display contours is set to 2 and is slightly higher (night and sunny to cloudy, daytime and fog). If there is or is daytime and rain, the display contour number is 3, and if it is high (night and fog or night and rain), the display contour number is 4. By doing in this way, the driver | operator of the vehicle 1 can grasp | ascertain operation | movement of a back vehicle more correctly.

Note that the present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the spirit of the present invention. For example, in the first and second embodiments described above, the example in which the video data acquired by the rear camera is displayed on the rear view monitor has been described. However, the present invention is not limited to this, and the video data acquired by the center console or the like is displayed. Also good.

In the embodiment described above, the video data acquired by the rear camera is subjected to the processing for cutting out the range to be displayed on the display unit, but the rear camera is configured to acquire video data that matches the display range of the display unit. Also good. In this case, the cutting process becomes unnecessary.

Processing in each part of the vehicle display control apparatus according to the present invention can be realized by causing a computer or the like to execute a program. More specifically, in the vehicle display control device, the program stored in the program memory is loaded into the main storage device, and the program is executed under the control of the CPU. Here, the program can be stored using various types of non-transitory computer readable media and supplied to a computer. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (for example, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (for example, magneto-optical disks), CD-ROMs (Read Only Memory), CD-R, CD-R / W, semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)). In addition, the program may be supplied to the computer by various types of temporary computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path. Further, the processing in each part of the vehicle display control device is not limited to being realized by software by a program, but may be realized by any combination of hardware, firmware, and software.

The vehicle display control apparatus according to the present invention and at least one of the display unit and the rear camera may be combined to form one vehicle display system.

This application claims priority based on Japanese Patent Application No. 2016-108426 filed on May 31, 2016 and Japanese Application No. 2016-179168 filed on September 14, 2016. The entire disclosure is incorporated herein.

As described above, the vehicle display control apparatus according to the present embodiment can be used as an image display apparatus implemented in a passenger car, for example.

DESCRIPTION OF SYMBOLS 1 Vehicle 10 Display control apparatus for vehicles 11 Video data acquisition part 12 Recognition part 13 Position information acquisition part 14 Image processing part 15 Display control part 17 Recognition dictionary 53 Rear view monitor 56 Rear camera

Claims

A video data acquisition unit that acquires video data from a rear camera that captures the back of the vehicle;
A recognition unit for recognizing other vehicles in the video data;
A position information acquisition unit that acquires information about a change in position in the video data of the other vehicle recognized by the recognition unit;
An image processing unit that superimposes a movement trajectory of another vehicle based on the information on the change of the position on the video data;
A display control device for a vehicle, comprising: a display control unit configured to display video data in which the movement locus is superimposed on a rear view monitor for displaying a video behind the vehicle.
The vehicle display control device according to claim 1, wherein the recognition unit recognizes another vehicle in the video data at predetermined time intervals.
The vehicle display according to claim 2, further comprising a situation acquisition unit that acquires the situation of the vehicle, wherein the image processing unit varies the time interval according to the situation of the vehicle acquired by the situation acquisition unit. Control device.
The vehicle situation according to claim 3, wherein the situation of the vehicle is an environment in which the vehicle is traveling, and the image processing unit varies the period interval according to the environment acquired by the situation acquisition unit. Display control device.
4. The vehicle display control apparatus according to claim 3, wherein the vehicle status is a traveling speed of the vehicle, and the image processing unit shortens the period interval as the traveling speed of the vehicle increases.
The vehicle display control apparatus according to claim 3, wherein the vehicle condition is a legal speed on a road on which the vehicle is traveling, and the image processing unit shortens the interval between periods when the legal speed is high. .
The vehicle according to claim 3, wherein the vehicle status is a relative speed of the other vehicle recognized by the recognition unit with respect to the vehicle, and the image processing unit shortens the period interval as the relative speed increases. Display controller.
The vehicle display control according to claim 3, wherein the condition of the vehicle is a degree of difficulty in viewing in a surrounding environment of the vehicle, and the image processing unit shortens the period interval as the degree of difficulty in viewing is higher. apparatus.
The vehicle display control apparatus according to claim 3, wherein the vehicle status is a continuous running time of the vehicle, and the image processing unit shortens the period interval as the continuous running time is longer.
A warning target vehicle determination unit for determining whether the other vehicle recognized by the recognition unit is a warning target;
The position information acquisition unit acquires information related to a change in position in the video data of another vehicle that is recognized by the recognition unit and determined to be a warning target by the warning target vehicle determination unit,
The display control unit displays video data in which the movement locus is superimposed on a display unit for displaying a video behind the vehicle when the warning target vehicle determination unit determines that there is another vehicle as a warning target. The vehicle display control device according to claim 1, wherein the control is started.
The warning target vehicle determination unit is configured such that another vehicle recognized by the recognition unit approaches the vehicle,
The vehicle display control apparatus according to claim 10, wherein when the relative speed of the other vehicle with respect to the vehicle is equal to or higher than a specified relative speed, the other vehicle is determined to be a warning target.
The warning target vehicle determination unit determines that the other vehicle is a warning target when an inter-vehicle distance between the other vehicle recognized by the recognition unit and the vehicle is less than a specified inter-vehicle distance. Or the vehicle display control device according to 11.
The situation acquisition part which acquires the situation of the vehicle is provided further, The warning object vehicle judgment part changes the specified inter-vehicle distance according to the situation of the vehicle which the situation acquisition part acquired. Vehicle display control device.
The vehicle situation is an environment in which the vehicle is traveling, and the warning target vehicle determination unit varies the prescribed inter-vehicle distance according to the environment acquired by the status acquisition unit. Vehicle display control device.
14. The vehicle display control apparatus according to claim 13, wherein the vehicle condition is a traveling speed of the vehicle, and the warning target vehicle determination unit increases the prescribed inter-vehicle distance as the traveling speed of the vehicle increases.
14. The vehicle according to claim 13, wherein the condition of the vehicle is a degree of difficulty in viewing in a surrounding environment of the vehicle, and the warning target vehicle determination unit increases the prescribed inter-vehicle distance as the degree of difficulty in viewing is higher. Display controller.
The situation acquisition part which acquires the situation of the vehicle further, The warning object vehicle judgment part changes the regulation relative speed according to the situation of the vehicle which the situation acquisition part acquired. Vehicle display control device.
The situation of the vehicle is an environment in which the vehicle is traveling, and the warning target vehicle determination unit varies the specified relative speed according to the environment acquired by the situation acquisition unit. Vehicle display control device.
The vehicle display control device according to claim 17, wherein the vehicle status is a traveling speed of the vehicle, and the warning target vehicle determination unit decreases the prescribed relative speed as the traveling speed of the vehicle increases.
18. The vehicle according to claim 17, wherein the vehicle status is a degree of difficulty in visual observation in a surrounding environment of the vehicle, and the warning target vehicle determination unit decreases the prescribed relative speed as the degree of difficulty in visual recognition increases. Display controller.
The vehicle display control apparatus according to any one of claims 1 to 9, wherein the image processing unit superimposes a contour image of a recognized other vehicle at a time prior to the current time as the movement locus on the video data. .
A vehicle display control device according to any one of claims 1 to 9, 21;
A vehicle display system comprising: at least one of the rear view monitor and the rear camera.
The vehicle display control apparatus according to any one of claims 10 to 20, wherein the image processing unit superimposes a contour image of a recognized other vehicle at a time prior to the current time as the movement locus on the video data. .
A vehicle display control device according to any one of claims 10 to 20, 23,
A vehicle display system comprising: at least one of the rear view monitor, the display unit, and the rear camera.
Obtaining video data from a rear camera that captures the back of the vehicle;
Recognizing other vehicles in the video data;
Obtaining information regarding a change in position in the video data of the recognized other vehicle;
Superimposing a movement trajectory of another vehicle based on the information on the change of the position on the video data;
Displaying the video data on which the movement trajectory is superimposed on a display unit for displaying a video behind the vehicle.
A program for vehicle display control,
A processing procedure for acquiring video data from a rear camera that captures the rear of the vehicle;
A processing procedure for recognizing other vehicles in the video data;
A processing procedure for obtaining information on a change in position in the video data of the recognized other vehicle;
A processing procedure for superimposing a movement trajectory of another vehicle on the video data based on the information on the change in position;
The program which makes a computer perform the process sequence which displays the video data on which the said movement locus was superimposed on the display part for displaying the image | video of the back of the said vehicle.