WO2018055842A1 - Dispositif de commande d'affichage, procédé de commande d'affichage et programme - Google Patents

Dispositif de commande d'affichage, procédé de commande d'affichage et programme Download PDF

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Publication number
WO2018055842A1
WO2018055842A1 PCT/JP2017/021218 JP2017021218W WO2018055842A1 WO 2018055842 A1 WO2018055842 A1 WO 2018055842A1 JP 2017021218 W JP2017021218 W JP 2017021218W WO 2018055842 A1 WO2018055842 A1 WO 2018055842A1
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WIPO (PCT)
Prior art keywords
display
vehicle
video data
auxiliary
line
Prior art date
Application number
PCT/JP2017/021218
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English (en)
Japanese (ja)
Inventor
松本　英之
大場　貢
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 JP2017085243A external-priority patent/JP6747369B2/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 CN201780024190.2A priority Critical patent/CN109070824B/zh
Priority to EP17852623.2A priority patent/EP3517370B1/fr
Publication of WO2018055842A1 publication Critical patent/WO2018055842A1/fr
Priority to US16/184,887 priority patent/US20190075255A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
    • B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons

Definitions

  • the present invention relates to a display control device, a display control method, and a program.
  • Patent Documents 1 and 2 In recent years, a technique for displaying a rear image taken by a rear camera mounted on the rear of a vehicle on a display unit such as a monitor when the vehicle retreats has been widespread (Patent Documents 1 and 2).
  • an expected locus line traveling locus line is displayed on the display unit.
  • the display form is changed on the near side and the far side of the expected trajectory line. Specifically, the front side of the predicted trajectory line is displayed as a thick solid line, and the back side is displayed as a broken line, a thin color line, and a translucent line.
  • a travel locus line is displayed on the display unit. In Patent Document 2, when a travel locus line overlaps an obstacle, a portion overlapping the obstacle is deleted.
  • an object of the present embodiment is to provide a display control device, a display control method, and a program that allow a driver to recognize whether or not the traveling speed during parking is appropriate.
  • the display control apparatus includes a video data acquisition unit that acquires video data from a camera that captures the traveling direction of the vehicle, and a predetermined amount from the vehicle in the traveling direction of the vehicle based on the traveling operation of the vehicle. Generated by a superimposition data generation unit that generates superimposition data indicating a position separated by a distance, a display video generation unit that generates display video data in which the superimposition data is superimposed on the video data, and the display video generation unit.
  • a display control unit that displays a video based on the display video data on a display unit, and the display control unit causes the display unit to display at least one of (a) and (b).
  • the display video generation unit generates the display video data, and the display of (a) is performed in a predetermined time interval in which the display form of the plurality of superimposed data is sequentially from the far side of the vehicle. It is to display to vary the display of the (b) is to display the superimposed data as the predetermined distance is reduced with the passage of time, those.
  • the display control method includes a step of acquiring video data from a camera that captures the traveling direction of the vehicle, and a predetermined distance from the vehicle in the traveling direction of the vehicle based on the traveling operation of the vehicle. Generating superimposition data indicating a distant position; generating display video data in which the superimposition data is superimposed on the video data; and displaying a video based on the display video data on a display unit.
  • the display image data is generated so that at least one of (a) and (b) is displayed on the display unit, and the display form of (a) is a display form of a plurality of superimposed data.
  • the display of (b) is such that the predetermined distance decreases as time elapses. It is to display the superimposed data to so that is intended.
  • the program according to the present embodiment is based on the step of obtaining video data from a camera that captures the traveling direction of the vehicle and the traveling operation of the vehicle, and is separated from the vehicle by a predetermined distance in the traveling direction of the vehicle.
  • a step of generating superimposition data indicating a position, a step of generating display video data in which the superimposition data is superimposed on the video data, and a step of displaying a video based on the display video data on a display unit are executed on a computer
  • the display video data is generated so that at least one of (a) and (b) is displayed on the display unit, and the display of (a) has a display form of a plurality of the superimposed data. Display in a predetermined time interval in order from the far side of the vehicle, and the display in (b) is performed according to the passage of time. Is that the distance of displaying the superimposed data to be smaller, but.
  • 1 is a diagram illustrating a vehicle according to a first embodiment
  • 1 is a diagram illustrating the inside of a vehicle according to a first embodiment
  • 1 is a diagram illustrating a configuration of a display control apparatus according to a first embodiment and a display control system including the display control apparatus.
  • It is a figure which illustrates the image
  • 4 is a flowchart showing a display control method executed by the display control apparatus according to the first embodiment; It is a figure which illustrates the image
  • FIG. 10 is a flowchart showing a display control method executed by the display control apparatus according to the second embodiment; 10 is a flowchart showing a display control method executed by the display control apparatus according to the second embodiment; It is a figure which illustrates the image
  • FIG. 10 is a diagram illustrating an image shown by display image data in the third embodiment.
  • FIG. 10 is a diagram illustrating an image shown by display image data in the third embodiment.
  • FIG. 10 is a diagram illustrating an image shown by display image data in the third embodiment.
  • FIG. 20 is a diagram illustrating a video shown by display video data in a fourth embodiment.
  • FIG. 20 is a diagram illustrating a video shown by display video data in a fourth embodiment.
  • FIG. 20 is a diagram illustrating a video shown by display video data in a fourth embodiment.
  • FIG. 20 is a diagram illustrating a video shown by display video data in a fourth embodiment.
  • FIG. 20 is a diagram illustrating a video shown by display video data in a fourth embodiment. It is a figure which shows the image
  • FIG. 1 is a diagram illustrating a vehicle 1 according to the first embodiment.
  • the vehicle 1 includes a rear camera 2 and a display control device 100.
  • the rear camera 2 is installed at the rear of the vehicle 1 and photographs the rear of the vehicle 1 including the road surface 90.
  • the rear camera 2 is used when the vehicle 1 moves backward and parks.
  • an image of a front camera (not shown) is used instead of the rear camera 2.
  • the vehicle 1 should just have at least one of the front camera and the rear camera 2 as a camera which image
  • the vehicle 1 also has a door 3 that can be opened and closed.
  • the display control device 100 can be provided at any position of the vehicle 1.
  • the display control apparatus 100 can be connected to CAN (Control
  • FIG. 2 is a diagram illustrating the inside of the vehicle 1 according to the first embodiment.
  • FIG. 2 is a view of the cab inside the vehicle 1 as viewed from the driver's seat in the front direction of the vehicle 1.
  • the vehicle 1 includes a steering wheel 10, a dashboard 12, a windshield 14, a center console 16, a cluster panel 18 that displays a traveling speed of the vehicle, an engine speed, and the like.
  • the center console 16 may be provided with a center display unit 20 for displaying a navigation screen and the like.
  • the vehicle 1 may be provided with a head-up display display unit 22 that displays an image on a head-up display above the cluster panel 18. When the head-up display is a combiner type, the head-up display display unit 22 is a combiner.
  • the head-up display display unit 22 is an area where the virtual image is presented on the windshield 14.
  • the vehicle 1 may have a rear view monitor 24.
  • the rear view monitor 24 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 14.
  • FIG. 3 is a diagram illustrating a configuration of the display control apparatus 100 according to the first embodiment and a display control system 140 including the display control apparatus 100.
  • the display control system 140 includes the rear camera 2, the display unit 50, and the display control device 100.
  • the display control device 100 is connected to the rear camera 2 and the display unit 50 so as to communicate with each other.
  • the display control apparatus 100 includes a backward movement detection unit 101, a video data acquisition unit 106, an extraction unit 107, an expected route line generation unit 109, a display video generation unit 110, and a display control unit 120.
  • the reverse movement detection unit 101 includes a reverse detection unit 102 and a steering angle information acquisition unit 104. Note that at least one component or all the components of the display control system 140 may be incorporated in the vehicle 1 or may be removed from the vehicle 1 and portable.
  • the display unit 50 displays an image captured by the rear camera 2.
  • the display unit 50 can be realized by the rear view monitor 24, the cluster panel 18, the center display unit 20, or the head-up display display unit 22, for example.
  • the display unit 50 may be realized by a mobile terminal device such as a smartphone or a tablet terminal that can communicate with the display control device 100.
  • the display control device 100 may be a computer device built in the center console 16 or the like, for example, or the above-described portable terminal device.
  • the display control device 100 includes a processor such as a CPU (Central Processing Unit), a storage device such as a memory, a user interface, and various peripheral circuits. That is, the display control apparatus 100 has a function as a computer. In addition, the display control device 100 is configured such that the processor executes a program stored in the storage device, thereby causing the backward movement detection unit 101, the backward detection unit 102, the steering angle information acquisition unit 104, the video data acquisition unit 106, and the extraction unit 107. The components such as the predicted route generation unit 109, the display video generation unit 110, and the display control unit 120 are realized. Further, each component of the display control apparatus 100 is not limited to being realized by software by a program, and may be realized by any combination of hardware, firmware, and software.
  • a processor such as a CPU (Central Processing Unit)
  • a storage device such as a memory, a user interface, and various peripheral circuits. That is, the display control apparatus 100 has a function as a computer.
  • the display control device 100
  • Each component of the display control device 100 may be realized by using an integrated circuit that can be programmed by the user, such as an FPGA (field-programmable gate array) or a microcomputer.
  • this integrated circuit may be used to realize a program composed of the above-described components. The same applies to other embodiments described later.
  • the reverse movement detection unit 101 detects the reverse movement of the vehicle 1. For this reason, the backward movement detection unit 101 includes a backward movement detection unit 102 and a steering angle information acquisition unit 104.
  • the reverse detection unit 102 detects whether or not the vehicle 1 is moving backward. For example, the reverse detection unit 102 acquires information indicating that the reverse gear is selected from CAN or the like, and detects that the vehicle 1 is moving backward.
  • Steering angle information acquisition unit 104 acquires a signal from CAN or the like and acquires steering angle information indicating the steering angle at the wheel of vehicle 1.
  • the steering angle information includes information indicating the steering direction such as right or left in addition to information indicating the steering angle. Note that the steering angle information may indicate the steering angle of the steering wheel 10.
  • the steering angle information acquisition unit 104 outputs the acquired steering angle information to the predicted route generation unit 109. In particular, the steering angle information acquisition unit 104 acquires steering angle information when the vehicle 1 is stopped or when the vehicle is moving backward.
  • the expected course line generation unit 109 generates an expected course line based on the steering angle detected by the steering angle information acquisition unit 104.
  • the predicted course line can be restated as a guide line, a predicted backward trajectory, an expected trajectory line, or the like.
  • the predicted route is generated according to the predicted traveling direction.
  • the expected traveling direction is a direction in which the vehicle 1 travels at the detected steering angle. Specifically, when the vehicle 1 moves backward while turning, the predicted traveling direction is along an arc having a turning radius corresponding to the steering angle on the road surface 90. Alternatively, when parking straight ahead, the expected traveling direction is a straight line on the road surface 90.
  • the predicted route generation unit 109 generates an auxiliary line for the predicted route.
  • the expected course line and the auxiliary line will be described later.
  • the predicted route generation unit 109 generates an auxiliary line in addition to the predicted route line, but may generate only the auxiliary line without generating the predicted route line.
  • the video data acquisition unit 106 acquires video data from a camera installed in the traveling direction of the vehicle 1. When the vehicle 1 moves backward, video data from the rear camera 2 is acquired. The video data acquisition unit 106 outputs the acquired video data to the display video generation unit 110 and the extraction unit 107.
  • the video data is data indicating a video of the rear of the vehicle 1 taken by the rear camera 2.
  • movement can include the image which shows the parking area and the parking area line which shows the boundary of a parking area.
  • the parking area is a parking space where the vehicle 1 can be parked.
  • the parking section may be partitioned by a parking section line such as a white line drawn on the road surface 90.
  • the partition boundary corresponds to the parking partition line drawn on the road surface 90.
  • the parking section may not be partitioned by the parking partition line, and may be partitioned by an obstacle such as a wall. In this case, the partition boundary corresponds to an obstacle.
  • the parking section does not need to be physically partitioned, and may simply be a space sufficient for parking the vehicle 1. In this case, the partition boundary corresponds to another vehicle or the like parked next.
  • the partition boundary corresponds to another vehicle that is parked out of the parking partition line.
  • the “obstacle” may include not only an object fixed in the vicinity of a parking section such as a wall but also other vehicles and the like.
  • the extraction unit 107 extracts a lane marking on the back side and a lane marking on the side of the parking lot based on the video data.
  • the lane markings of the parking lot usually include a back lane marking indicating the far side (rear side, that is, the far side) lane boundary, and a lateral lane marking indicating the side (left side and right side) lane boundaries. It is out.
  • the lane markings can be extracted by various existing methods.
  • the extraction unit 107 may extract a partition boundary by recognizing a parking lane line, an obstacle, or another vehicle by edge detection. When the partition boundary is a white line, the extraction unit 107 may extract the partition boundary by recognizing the white line.
  • the display control device 100 stores in advance dictionary data indicating parking lot lines, vehicles, and the like
  • the extraction unit 107 compares the dictionary data with objects in the video data to compare the parking lot lines, vehicles, and the like. By recognizing, the partition boundary may be extracted.
  • the extraction unit 107 may recognize a parking area. Parking area recognition can be performed by various existing methods. For example, a rectangular region formed by the partition boundary may be recognized as a parking partition.
  • FIG. 4 shows an example of parking lot lines and expected course lines.
  • FIG. 4 is a diagram schematically showing a display image displayed on the display unit 50.
  • the display image is obtained by projecting the road surface 90 onto an imaging surface orthogonal to the optical axis of the rear camera 2 (see also FIG. 1). Therefore, in the display image, the upward direction is the backward direction as the traveling direction of the vehicle 1. That is, the upper side of the display image is the back side of the parking section 40, and the lower side of the display image is the front side of the parking section 40.
  • the left-right direction is opposite to the left-right direction in FIG. 4 because it is based on the direction of the vehicle 1. 4 is the front side of the vehicle 1, the left side of FIG. 4 is the right side of the vehicle 1, and the right side of FIG. Further, FIG. 4 shows a case where the vehicle is parked by rectilinear receding. That is, the vehicle 1 recedes straight and enters the parking section 40.
  • the parking section 40 includes left and right horizontal dividing lines 41L and 41R and a back dividing line 42.
  • the horizontal dividing line 41L corresponds to the left boundary line
  • the horizontal dividing line 41R corresponds to the right boundary line.
  • the rear side dividing line 42 corresponds to the rear side dividing line 41L.
  • the back side dividing line 42 connects the left side dividing line 41L and the right side dividing line 41R on the back side (upper side in the display image).
  • Each lane marking indicates a boundary line between the parking lane 40 and a region outside the parking lane.
  • the parking section 40 is defined by a plurality of lane markings.
  • the left and right horizontal dividing lines 41L and 41R and the back dividing line 42 are usually formed in a U-shape.
  • the left side lane marking 41L and the right side lane marking 41R are usually parallel, but since the road surface 90 is projected onto the imaging surface, the display image has different angles. It has become. In other words, in the display image, the left lateral dividing line 41L and the right lateral dividing line 41R are not parallel.
  • the parking lot line may include a front lot line located on the front side of the vehicle 1.
  • the pair of expected course lines 61L and 61R correspond to the vehicle width of the vehicle 1. That is, in the display video data, the width of the pair of expected course lines 61L and 61R corresponds to the width of the vehicle 1. On the road surface 90, the pair of expected course lines 61L and 61R are parallel to the expected traveling direction. In FIG. 4, since the vehicle 1 is rectilinearly moving forward, the expected course lines 61L and 61R are straight lines.
  • Expected course lines 61L and 61R are drawn according to the backward movement of the vehicle 1 corresponding to the width of the vehicle 1.
  • the expected course lines 61L and 61R indicate the prediction of the trajectory of the backward movement of the vehicle 1.
  • the expected course lines 61L and 61R are the road surfaces 90 at the left end and the right end of the vehicle 1 when the vehicle 1 performs the reverse operation at the steering angle indicated by the steering angle information acquired by the steering angle information acquisition unit 104. Shows the expected trajectory.
  • auxiliary lines 62a to 62e are added to the expected route lines 61L and 61R.
  • Each of the auxiliary lines 62a to 62e indicates the distance from the end portion in the traveling direction of the vehicle 1, and is disposed between the pair of predicted course lines 61L and 61R as an example of arrangement.
  • the end portion in the traveling direction of the vehicle 1 is a rear end portion such as a rear bumper of the vehicle 1 when the vehicle 1 is in a backward operation, and the auxiliary lines 62a to 62e are respectively connected to the rear end portion of the vehicle 1.
  • Each indicates a preset distance. Since the rear camera 2 is fixed to the vehicle 1, the pixel position corresponding to the rear end portion of the vehicle 1 is constant in the display screen.
  • auxiliary lines 62 when the plurality of auxiliary lines 62a to 62 are not particularly identified, the auxiliary lines 62 will be described. In FIG. 4, five auxiliary lines 62a to 62e are shown, but the number of auxiliary lines 62 is not particularly limited, and may be three, for example.
  • the predicted route generation unit 109 may generate two or more auxiliary lines 62.
  • the auxiliary lines 62a to 62e are displayed so as to connect the pair of expected course lines 61L and the expected course line 61R.
  • the auxiliary line 62 is provided over the entire interval between the pair of expected course lines 61L and 61R, but may be provided only in part. That is, the auxiliary lines 62a to 62e are not limited to the line connecting the pair of expected course lines 61L and 61R, and may be provided partially in the lateral direction, and extend to the outside of the pair of expected course lines 61L and 61R. It may be.
  • the auxiliary line 62 is a solid line connecting a pair of expected course lines 61L and 61R.
  • the auxiliary line 62 is orthogonal to the expected course lines 61L and 61R at a position where the auxiliary line 62 intersects the pair of expected course lines 61L and 61R.
  • the auxiliary lines 62 are arranged along the horizontal direction of the display screen.
  • the auxiliary lines 62a to 62e are substantially parallel.
  • the plurality of auxiliary lines 62a to 62e are arranged in the expected traveling direction.
  • the auxiliary line 62 a is arranged at the rearmost position, that is, the position farthest from the vehicle 1, and the auxiliary line 62 e is arranged at the forefront, that is, the position closest to the vehicle 1.
  • the auxiliary line 62a, the auxiliary line 62b, the auxiliary line 62c, the auxiliary line 62d, and the auxiliary line 62e are arranged in this order.
  • the plurality of auxiliary lines 62 are superimposed on the display image so as to be arranged at equal intervals on the road surface 90. Since the road surface 90 is projected on the imaging surface, even if the plurality of auxiliary lines 62 are arranged at equal intervals on the road surface 90, the display screen does not have equal intervals.
  • the predicted route lines 61L and 61R and the auxiliary line 62 move in conjunction with the reverse direction of the vehicle 1. For example, when the steering angle is changed, the display positions of the expected course lines 61L and 61R and the auxiliary line 62 are changed. Further, as the vehicle 1 moves backward, the rear camera 2 and the parking section 40 approach each other. Therefore, as the vehicle 1 moves backward, the display positions of the Yokogawa lane markings 41L and 41R and the back lane marking 42 move downward.
  • the display video generation unit 110 When the vehicle 1 moves backward, the display video generation unit 110 generates display video data in which the pair of predicted route lines 61L and 61R and the auxiliary line 62 are superimposed on the video data acquired by the video data acquisition unit 106. .
  • the display control unit 120 causes the display unit 50 to display an image based on the display image data.
  • the display video generation unit 110 generates display video data so as to change the display form in order from the back side (far side) auxiliary line 62. Specifically, the display form is changed in the order of the auxiliary line 62a, the auxiliary line 62b, the auxiliary line 62c, the auxiliary line 62d, and the auxiliary line 62e.
  • the display video generation unit 110 generates display video data so as to change the display form from the back auxiliary line 62 at predetermined time intervals.
  • FIG. 5 is a flowchart showing the display control method.
  • the video data acquisition unit 106 acquires the video data of the rear video captured by the rear camera 2 (S12). Specifically, when the reverse detection unit 102 detects that the shift of the vehicle 1 has become the reverse gear, the rear camera 2 captures a rear image. Then, the rear camera 2 outputs the video data to the display control device 100. If the reverse movement detection unit 101 does not detect the reverse movement of the vehicle 1 (NO in S11), the determination in S11 is repeated until the reverse movement detection unit 101 detects the reverse movement.
  • the predicted route generation unit 109 generates the predicted route lines 61L and 61R and the auxiliary line 62 (S13). Specifically, after the steering angle information acquisition unit 104 acquires the steering angle information, the predicted route line generation unit 109 calculates the predicted route lines 61L and 61R and the auxiliary line 62 based on the steering angle information, and the extraction unit 107 extracts the rear lane marking 42 and the left and right horizontal lane markings 41L and 41R based on the video data (S14). Note that the order of S13 and S14 may be reversed, and S13 and S14 may be performed in parallel.
  • the display video generation unit 110 generates display video data (S15). As a result, display video data in which a pair of predicted route lines 61L and 61R and an auxiliary line 62 are superimposed on the video data is generated (see FIG. 4).
  • the display control unit 120 displays an image based on the display image data on the display unit 50 (S16). As a result, as shown in FIG. 4, an image in which the predicted route lines 61 ⁇ / b> L and 61 ⁇ / b> R and the auxiliary line 62 are superimposed is displayed on the display unit 50.
  • the display video generation unit 110 determines whether or not the farthest (most far side) auxiliary line 62a of the plurality of auxiliary lines 62 overlaps with the far side partition line 42 (S17). In S17, it is determined whether or not the trigger timing for changing the display form of the auxiliary line 62 has come. When the auxiliary line 62a does not overlap with the back side lane line 42 (NO in S17), the processing from S12 is repeated until it overlaps with the back side lane line 42. That is, when the auxiliary line 62a is in front of the back side lane line 42, the determination in S17 is repeated until it overlaps the back side lane line 42.
  • the imaging range of the rear camera 2 changes according to the backward movement of the vehicle 1, the position of the parking section 40 on the display screen changes. Therefore, the expected course lines 61L and 61R and the auxiliary line 62 can always be appropriately displayed by sequentially performing the steps S12 to S16.
  • the display video generation unit 110 changes the display form at predetermined time intervals from the back side auxiliary line 62 ( S18). That is, the display form is changed in the order of the auxiliary line 62a, the auxiliary line 62b, the auxiliary line 62c, the auxiliary line 62d, and the auxiliary line 62e.
  • FIG. 6 shows a display image at the timing at which the auxiliary line 62a overlaps the back side dividing line 42. At this next timing (frame), the display form of the auxiliary line 62a is changed.
  • FIG. 6 shows a display image at the timing at which the auxiliary line 62a overlaps the back side dividing line 42.
  • the display form of the auxiliary line 62a is changed.
  • auxiliary line 62a and the back side division line 42 are parallel, and the auxiliary line 62a and the back side division line 42 have overlapped completely.
  • the auxiliary line 62a and the back side dividing line 42 are non-parallel, and the auxiliary line 62a and the back side dividing line 42 partially overlap.
  • FIG. 7 shows a display image after the display form of the two auxiliary lines 62a and 62b is changed.
  • the two auxiliary lines 62a and 62b on the back side are deleted.
  • the auxiliary line 62a and the auxiliary line 62b are not displayed.
  • the auxiliary lines 62c, 62d, and 62e are before the display form is changed.
  • FIG. 7 shows an example in which the auxiliary line 62 is erased as a change in the display form, as another example, the line type, line width, and color may be changed.
  • the solid auxiliary line 62 may be a broken line
  • the thick auxiliary line 62 may be a thin line
  • the dark auxiliary line 62 may be light or translucent.
  • FIG. 7 although the part beyond the back side division line 42 is displayed among the predicted course lines 61L and 61R, you may erase
  • a typical reverse speed during parking (hereinafter referred to as a threshold speed) is 4 to 5 km / h.
  • the timing at which the display form changes is determined so that the timing at which the display form changes coincides with the timing at which the back side dividing line 42 and the auxiliary line overlap.
  • Threshold speed is set in advance as a generally safe speed as a reverse speed in a parking lot or the like. Moreover, since the reverse speed recognized as safe differs depending on the user of the vehicle, the threshold value may be changed by learning for each vehicle or for each driver. As a specific example, the reference threshold speed is set to 4 km / h (1.1 m / sec per second), and the reverse speed when the parking lot line is recognized is averaged over the threshold speed. If the speed is 0.6 km / h (0.17 m / sec per second), the threshold speed is set to 3.4 km / h (0.94 m / sec per second).
  • the threshold speed is set to 4.6 km / h. / H (speed of 1.28 m / sec per second) is set.
  • the driver is specified by the ID of the intelligent key, the setting may be changed for each driver.
  • the threshold speed may be set to a different value depending on the parking lot.
  • a server that acquires information stored as facility information of navigation (not shown) based on the size of a parking section or a road surface condition for each parking lot, or provides parking lot information by a communication device (not shown), You may acquire from the information provision apparatus etc. which were installed in the parking lot.
  • auxiliary lines 62 when the distance between the auxiliary lines 62 is 2.2 m on the road surface, and the typical backward gain is 1.1 m / sec, The timing for changing the display form of the auxiliary line 62 is every 2 seconds.
  • the auxiliary line 62a is deleted.
  • the auxiliary line 62b is erased after 2 seconds from the erasure of the auxiliary line 62a.
  • the auxiliary lines 62c to 62e are also deleted in order at intervals of 2 seconds.
  • a time interval for changing the display form of the auxiliary line 62 can be set according to the interval of the auxiliary line 62 on the road surface and the threshold speed.
  • the above values are merely examples, and can be changed as appropriate.
  • the display form may be changed not only at a fixed time interval but also at different time intervals.
  • the display video generation unit 110 determines whether or not the change of the display form has been completed (S19). That is, it is determined whether or not the display forms of all the auxiliary lines 62a to 62e have changed.
  • the process returns to S18, and the display form of the auxiliary line 62 is changed in order. Thereby, a display form can be changed in order from the auxiliary line 62a on the back side to the auxiliary line 62e.
  • the backward movement detection unit 101 determines whether the backward movement is finished (S20). If the reverse operation has not ended (NO in S20), the process returns to S12 and is repeated. Since the imaging range of the rear camera 2 changes according to the backward movement of the vehicle 1, the position of the parking section 40 on the display screen changes. Therefore, the expected course lines 61L and 61R and the auxiliary line 62 can always be appropriately displayed by sequentially performing the steps S12 to S16. When the backward movement is finished (YES in S20), the process is finished.
  • the driver can recognize whether or not the traveling speed at the time of parking is appropriate.
  • the display form of the auxiliary line 62 is changed before the auxiliary line 62 before the display form change is behind the rear side division line 42. Therefore, it can be recognized that the driver is moving backward at an appropriate speed.
  • the auxiliary line 62 before the display form change is displayed above the back side dividing line 42. For example, as shown in FIG. 8, the auxiliary line 62 b exceeds the back side dividing line 42.
  • the driver can recognize that the reverse speed is faster than the threshold speed when the auxiliary line 62 before the display form change is farther from the back side dividing line 42 (above the display screen). .
  • the driver can recognize that the reverse speed is equal to or less than the threshold speed. .
  • the driver can be made aware that the reverse speed is high, and the reverse speed can be reduced. In other words, it is an opportunity to drive at an appropriate reverse speed. In this way, by changing the display form of the auxiliary line 62, it is possible to assist the driver to travel at an appropriate speed.
  • the trigger timing is the timing when the farthest auxiliary line 62a is at a position corresponding to the back side dividing line 42.
  • the display forms of the auxiliary lines 62a to 62e are changed at predetermined time intervals from the trigger timing. In this way, the display form from the auxiliary line 62a to the auxiliary line 62e can be changed in order by simple processing.
  • the driver recognizes that the reverse speed is fast. Therefore, the driver can intuitively recognize that the reverse speed is high.
  • the trigger timing may be a timing at which the auxiliary line 62a reaches a pixel shifted up or down by a predetermined pixel from the back side partition line 42.
  • the trigger timing may be set by a position other than the back side dividing line 42.
  • the trigger timing may be set based on the parking stop of the parking section 40. In this case, the extraction unit 107 extracts a car stop from the video data.
  • the timing at which the auxiliary line 62a overlaps a pixel shifted by a predetermined number of pixels from the vehicle stop pixel is set as a trigger timing.
  • the predicted route generation unit 109 is a superimposition data generation unit that generates superimposition data to be superimposed on the video data acquired by the rear camera 2.
  • the superimposition data is an auxiliary line 62 indicating a position away from the vehicle 1 by a predetermined distance in the traveling direction of the vehicle 1.
  • the auxiliary line 62 is displayed at a position away from the vehicle 1 by a predetermined distance.
  • the predicted route generation unit 109 generates the auxiliary line 62 and the predicted route lines 61L and 61R as the superimposition data.
  • only the auxiliary line 62 may be generated.
  • the display video generation unit 110 generates display video data so that the display control unit 120 causes the display unit 50 to display (a).
  • (a) is to display a plurality of superimposed data in such a manner that the display form of the superimposed data changes at predetermined time intervals in order from the far side of the vehicle.
  • a plurality of auxiliary lines 62a to 62e which are superimposition data, are displayed so as to be erased in order from the far side of the vehicle at predetermined time intervals.
  • 9 and 10 are flowcharts of the display control method according to the second embodiment.
  • S21 and S22 are added to the flowchart of FIG. Since S11 to S18 are the same as those in the first embodiment, the description thereof will be omitted. Further, since S19 and S20 are the same as those in the first embodiment, the description thereof is omitted.
  • the display image generation unit 110 determines whether or not the auxiliary line 62 before the display form change is farther than the back side dividing line 42 (S21). ).
  • the auxiliary line 62 before the display form change is farther than the back side lane line 42 (YES in S21)
  • the auxiliary line 62 before the display form change that is farther than the back side lane line 42 is highlighted. (S22). For example, as shown in FIG. 11, the auxiliary line 62b before the display form change that is farther from the far side dividing line 42 is displayed with a bold line.
  • auxiliary line 62b before the display form change which became far from the back side division line 42 into emphasis colors, such as red.
  • emphasis colors such as red.
  • the determination as to whether or not the change of the display form in S19 has ended is that the auxiliary line 62e disposed closest to the vehicle 1 is excluded from the determination when the change of the display form is the erasure of the auxiliary line 62. Also good. If the auxiliary line 62e arranged closest to the vehicle 1 is deleted, the vehicle 1 may be too close to the back side lane line 42 or the vehicle 1 may exceed the back side lane line 42. Because.
  • the predicted route generation unit 109 is a superimposition data generation unit that generates superimposition data to be superimposed on the video data acquired by the rear camera 2.
  • the predicted route generation unit 109 generates the auxiliary line 62 and the predicted route lines 61L and 61R as the superimposition data, but may generate only the auxiliary line 62.
  • the display video generation unit 110 generates display video data so that the display control unit 120 causes the display unit 50 to display the above (a). Furthermore, in the present embodiment, the superimposed data that exceeds the back side dividing line 42 is highlighted.
  • the interval between the auxiliary lines 62 is arranged so as to be, for example, 1 m, 2 m, 3 m, or the like from the end of the vehicle with respect to the road surface of the video data by being superimposed on the video data. If the number of auxiliary lines is further increased, the visibility of the video data is hindered.
  • the auxiliary line 62a is erased by overlapping with the back side dividing line 42, and the auxiliary line 62b is erased after a predetermined time, but there is no object indicating the threshold speed during that time. For this reason, in the present embodiment, the following display is performed.
  • the basic configuration and operation of the control unit 100 are the same as those in the first embodiment, and thus detailed description thereof is omitted.
  • FIG. 12 shows the display image when the vehicle is moving straight back and forth approximately in the center in the width direction of the parking area.
  • FIG. 12 shows a display image at a timing when the vehicle 1 moves straight backwards and the auxiliary line 62a overlaps the back side dividing line 42. That is, FIG. 12 shows a display example in the case where the state further retracts from the state shown in FIG.
  • an area where the auxiliary line 62 exists (hereinafter referred to as the auxiliary area 65) is displayed on the display unit 50.
  • the predicted route generation unit 109 generates the auxiliary area 65 as superimposition data.
  • the auxiliary area 65 is a semi-transparent area and transmits the video data.
  • the auxiliary area 65 is colored gray.
  • the color of the auxiliary region 65 is not particularly limited. Since it is preferably different from the color of the road surface, the auxiliary region 65 may be semi-transparently painted in green or yellow.
  • the auxiliary area 65 indicates a position away from the rear end of the vehicle 1 by a predetermined distance.
  • the auxiliary area 65 is an area having a boundary at a position away from the vehicle 1 by a predetermined distance.
  • the auxiliary area 65 has an auxiliary line 62a and a rear partition line 42 overlapped with each other, so that an end 65a on the inner side of the auxiliary area 65 (hereinafter referred to as a rear end 65a) is a rear compartment. It coincides with the line 42. Further, a front side end portion 65b (hereinafter referred to as a front side end portion 65b) of the auxiliary region 65 coincides with a front side end of the predicted route lines 61L and 61R. In addition, the left and right ends of the auxiliary area coincide with the expected course lines 61L and 61R. In the case of rectilinear advancement, the auxiliary region 65 has a substantially trapezoidal shape.
  • the display video generation unit 110 generates display video data in which the auxiliary area 65, the auxiliary line 62, and the expected route lines 61L and 61R are superimposed on the video data acquired by the video data acquisition unit 106. Therefore, the driver can view the video based on the video data through the semi-transparent auxiliary area 65.
  • FIG. 13 shows a display image when the vehicle is further retracted from the state shown in FIG.
  • FIG. 13 shows a display image at the timing when the auxiliary line 62a and the auxiliary line 62b are not displayed, as in FIG.
  • FIG. 13 shows a case where the vehicle 1 moves backward at the threshold speed.
  • the display video generation unit 110 generates display video data so that the area of the auxiliary region 65 gradually decreases with the passage of time.
  • the display position of the back side end portion 65a moves as time passes. That is, the display position of the back end 65a moves to the lower side of the display screen (the front side in the traveling direction) with time. Further, the display position of the front side end portion 65b is substantially constant. Therefore, the area of the auxiliary region 65 shown in FIG. 13 is smaller than the area of the auxiliary region 65 shown in FIG.
  • the moving speed of the display position of the back end 65a is set according to the threshold speed. Specifically, when the reverse speed of the vehicle 1 matches the threshold speed, the display position of the back end 65a matches the back dividing line 42 as shown in FIG.
  • FIG. 14 shows a display example in which the reverse speed of the vehicle 1 is faster than the threshold speed.
  • the back end 65a is displayed above the back dividing line 42 as shown in FIG.
  • the back side end portion 65 a exceeds the back side dividing line 42.
  • the back end 65a is displayed above the auxiliary line 62b.
  • the driver can recognize that the reverse speed is faster than the threshold speed when the rear side end portion 65a is located farther from the rear side partition line 42 (above the display screen).
  • the driver can recognize that the reverse speed is faster than the threshold speed.
  • the driver can recognize that the reverse speed is less than the threshold speed.
  • the driver can recognize that the reverse speed is the threshold speed. By doing so, the driver can be made aware that the reverse speed is high, and the reverse speed can be reduced. In other words, it is an opportunity to drive at an appropriate reverse speed. In this way, by changing the display position of the back end 65a of the auxiliary area 65 with time, it is possible to assist the driver to travel at an appropriate speed.
  • the area of the auxiliary region 65 becomes smaller as time passes.
  • the display position of the back side end portion 65 a of the auxiliary area 65 continuously changes between the auxiliary lines in conjunction with the erasing timing of the auxiliary line 62. In this way, it can be recognized that the driver is moving backward at an appropriate speed.
  • the auxiliary line 62 before the display form change is displayed above the back side dividing line 42.
  • the auxiliary region 65 exceeds the back side dividing line 42. Therefore, it can be easily recognized that the driver is moving backward at a speed faster than the threshold speed.
  • the predicted route generation unit 109 is a superimposition data generation unit that generates superimposition data indicating a position away from the vehicle 1 by a predetermined distance in the traveling direction of the vehicle.
  • the superimposition data includes an auxiliary line 62, an auxiliary area 65, and predicted route lines 61L and 61R.
  • the display video generation unit 110 generates display video data so that the display control unit 120 causes the display unit 150 to display (b).
  • (b) is to display the superimposed data so that the predetermined distance becomes smaller as time passes.
  • the superimposition data is preferably a two-dimensional auxiliary region 65, but may be a straight line extending left and right arranged at a predetermined distance from the rear end of the vehicle 1. .
  • the display is performed so that the straight line as the superimposed data gradually approaches the vehicle 1. That is, on the display screen, the straight line as the superimposed data moves based on the speed corresponding to the threshold speed.
  • the display video generation unit 110 generates display video data in which the auxiliary area 65 is superimposed on the video data.
  • the present embodiment is different from the third embodiment in that the predicted route lines 61L and 61R are not displayed. That is, the predicted route generation unit 109 is a superimposed data generation unit that generates the auxiliary line 62 and the auxiliary region 65 without generating the predicted route lines 61L and 61R as the superimposed data.
  • the basic operation and configuration of the control unit 100 are the same as those in the above-described embodiment, and thus description thereof is omitted.
  • FIGS. 15 to 18 are diagrams showing examples of positions on the display screen in the present embodiment.
  • FIG. 15 shows a display screen in a state corresponding to FIG.
  • FIG. 16 shows a display screen in a state corresponding to FIG.
  • FIG. 16 shows a display screen in a state corresponding to FIG.
  • FIG. 18 shows a display screen in a state corresponding to FIG.
  • a display example in the case where the vehicle 1 goes straight backward will be described.
  • the auxiliary area 62 is not displayed because the auxiliary line 62a does not reach the far side dividing line 42.
  • the expected course lines 61L and 61R are not displayed. Therefore, at the timing shown in FIG. 15, the display video generation unit 110 generates display video data in which only the auxiliary line 62 is superimposed on the video data.
  • the predicted route generation unit 109 generates the auxiliary area 65 in addition to the auxiliary line 62 as the superimposed data. That is, the predicted course line generation unit 109 generates the auxiliary area 65 using the timing at which the auxiliary line 62 and the rear side dividing line 42 overlap as a trigger.
  • a back side end portion 65 a of the auxiliary region 65 coincides with the back side dividing line 42.
  • the width of the auxiliary region 65 in the left-right direction corresponds to the vehicle width of the vehicle 1.
  • FIG. 17 shows a display screen when the vehicle 1 moves backward at the threshold speed.
  • the back side end portion 65 a of the auxiliary region 65 coincides with the back side partition line 42.
  • FIG. 17 shows a display screen when the vehicle 1 moves backward at the threshold speed.
  • the back side end portion 65 a of the auxiliary region 65 goes to the back side with respect to the back side dividing line 42. Therefore, the auxiliary area 65 is displayed so as to straddle the rear side dividing line 42.
  • the predicted route generation unit 109 generates not only the auxiliary area 65 but also the auxiliary line 62 as the superimposed data. However, only the auxiliary area 65 may be displayed as the superimposed data. .
  • the display video generation unit 110 generates display video data so that the display control unit 120 causes the display unit 150 to display at least one of (a) and (b).
  • (a) is a display in which the display form of a plurality of the superimposed data is changed so as to sequentially change at a predetermined time interval from the far side of the vehicle.
  • (B) is according to the passage of time.
  • the superimposition data (auxiliary area 65) is displayed so that the predetermined distance becomes small.
  • the auxiliary lines 62 are generated on the road surface 90 so that the intervals between the auxiliary lines 62 are constant.
  • the intervals between the plurality of auxiliary lines 62 may not be constant.
  • the distance between the auxiliary lines 62 may be increased toward the far side (back side).
  • the driving assistance can be performed so that the reverse speed becomes slower as the vehicle 1 approaches the back side dividing line 42.
  • the threshold speed becomes slower as the vehicle 1 gets closer to the far side marking line 42. Therefore, the threshold speed can be changed dynamically. Therefore, it can assist to park while gradually reducing the reverse speed.
  • the display form of the auxiliary lines 62 may be changed at time intervals corresponding to the intervals of the auxiliary lines 62 on the road surface 90.
  • the timing for changing the display form may be set for each auxiliary line 62 in accordance with the interval between the auxiliary lines 62 on the road surface 90. For example, when the threshold speed is 1 m / sec and the distance between the auxiliary lines 62 is 3 m, 2 m, and 1 m from a distance, the time interval for changing the display mode is 3 seconds, 2 seconds, and 1 second. .
  • the time interval for changing the display form can be arbitrarily set according to the threshold speed and the arrangement interval of the auxiliary lines 62 on the road surface 90. That is, the time from the trigger timing to changing the display form can be adjusted as appropriate. In other words, a time pattern for changing the display form can be set according to the threshold speed and the arrangement interval of the auxiliary lines 62 on the road surface 90.
  • the threshold speed can be changed by adjusting the time interval for changing the display form.
  • the threshold speed can be dynamically decreased by shortening the time interval for changing the display mode as the auxiliary line 62 becomes farther. Therefore, it can assist to park while gradually reducing the reverse speed.
  • the driver can appropriately recognize the reverse speed when the vehicle 1 moves backward while decreasing the speed as the vehicle 1 approaches the backside dividing line 42.
  • the rear camera 2 is a wide-angle camera, even when the vehicle 1 is approaching the rear lane line 42 at a constant backward speed, the backward speed increases as the vehicle 1 approaches the rear lane line. Sometimes it looks faster. Even in such a state, the reverse speed can be recognized so that the driver can move backward with peace of mind.
  • the vehicle 1 stops once during parking, it is preferable to reset the trigger timing and the timing for changing the display form of the auxiliary line 62 once. That is, once the vehicle 1 stops, even if the reverse speed exceeds the threshold speed, the auxiliary line 62 is deleted sufficiently before the auxiliary line 62 reaches the back side dividing line 42. Therefore, it is preferable to reset the trigger timing and the timing for changing the display form.
  • Non-transitory computer readable media include various types of tangible storage media (tangible storage medium).
  • Examples of non-transitory computer-readable media include magnetic recording media (eg flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg magneto-optical discs), CD-ROMs (Read Only Memory), CD-Rs, CD-R / W, semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable ROM), flash ROM, RAM (random access memory)) are included.
  • the program may also 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.
  • This application is applicable to a display control device that generates display video data based on video data acquired by a camera.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un dispositif de commande d'affichage (100) selon un mode de réalisation comprenant : une unité d'acquisition de données d'image (106) qui acquiert des données d'image à partir d'une caméra (2) ; une unité de génération de ligne de cours prédite (109) qui génère des données superposées ; une unité de génération d'image d'affichage (110) qui génère des données d'image d'affichage avec les données superposées qui sont superposées sur les données d'image ; et une unité de commande d'affichage (120) qui affiche, sur une unité d'affichage (50), une image sur la base des données d'image d'affichage. L'unité de commande d'affichage (120) amène l'unité d'affichage (50) à générer un affichage (a) et/ou un affichage (b). L'affichage (a) est destiné à produire un affichage de telle sorte que les modes d'affichage d'une pluralité de lignes auxiliaires (62) sont changés à des intervalles de temps prédéfinis dans l'ordre à partir de la distance la plus éloignée du véhicule. L'affichage (b) est destiné à afficher une région auxiliaire (65) de telle sorte que la distance prédéfinie diminue au fil du temps.
PCT/JP2017/021218 2016-09-26 2017-06-07 Dispositif de commande d'affichage, procédé de commande d'affichage et programme WO2018055842A1 (fr)

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CN201780024190.2A CN109070824B (zh) 2016-09-26 2017-06-07 显示控制装置、显示控制方法以及存储介质
EP17852623.2A EP3517370B1 (fr) 2016-09-26 2017-06-07 Dispositif de commande d'affichage, procédé de commande d'affichage et programme
US16/184,887 US20190075255A1 (en) 2016-09-26 2018-11-08 Display control apparatus, display control method, and program

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JP2016186588 2016-09-26
JP2017085243A JP6747369B2 (ja) 2016-09-26 2017-04-24 表示制御装置、表示制御方法及びプログラム
JP2017-085243 2017-04-24

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JP2006272990A (ja) * 2005-03-28 2006-10-12 Clarion Co Ltd 車両後退運転補助装置
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JP2001180403A (ja) * 1999-12-24 2001-07-03 Toyota Autom Loom Works Ltd 操舵支援装置
JP2004276807A (ja) * 2003-03-17 2004-10-07 Denso Corp 車両の後退駐車支援装置
JP2006272990A (ja) * 2005-03-28 2006-10-12 Clarion Co Ltd 車両後退運転補助装置
JP2007226300A (ja) * 2006-02-21 2007-09-06 Aisin Aw Co Ltd 運転支援方法及び運転支援装置
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