WO2022202780A1 - Dispositif de commande d'affichage - Google Patents

Dispositif de commande d'affichage Download PDF

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Publication number
WO2022202780A1
WO2022202780A1 PCT/JP2022/013055 JP2022013055W WO2022202780A1 WO 2022202780 A1 WO2022202780 A1 WO 2022202780A1 JP 2022013055 W JP2022013055 W JP 2022013055W WO 2022202780 A1 WO2022202780 A1 WO 2022202780A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
display
display control
bird
unit
Prior art date
Application number
PCT/JP2022/013055
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English (en)
Japanese (ja)
Inventor
隆太 津田
英人 平原
Original Assignee
いすゞ自動車株式会社
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
Application filed by いすゞ自動車株式会社 filed Critical いすゞ自動車株式会社
Publication of WO2022202780A1 publication Critical patent/WO2022202780A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Definitions

  • the present invention relates to a display control device that displays captured images around a vehicle.
  • the design of the corner portion is generally devised so that the vehicle body (for example, the overhang of the vehicle) does not swing outward from the side surface of the vehicle immediately before turning when turning.
  • the above measures are not taken because the load capacity is prioritized.
  • an object of the present invention is to allow the driver to easily grasp the possibility of contact between the overhang of the vehicle and an obstacle when the vehicle is turning. .
  • image generation for generating a bird's-eye view image including the vehicle from captured images captured around the vehicle by a plurality of imaging devices provided at a position higher than the line of sight of the driver of the vehicle.
  • a trajectory estimating unit for estimating a running trajectory of the vehicle when the vehicle turns; and a bird's-eye view image generated by the image generating unit, the trajectory estimated by the trajectory estimating unit being superimposed and displayed.
  • a display control unit for displaying on a unit.
  • the display control device may superimpose the travel locus on the bird's-eye view image and display it on the display unit. Further, the display control unit may cause the display unit to superimpose the trajectory of the inner wheel difference, outer wheel difference, and rear overhang of the vehicle on the bird's-eye view image generated when the vehicle turns.
  • the display control section may change the display area of the bird's-eye view image on the display section according to the direction in which the vehicle turns.
  • the display control unit may cause the display unit to display the bird's-eye view image broadly showing the turning destination of the vehicle.
  • the display control unit superimposes a predetermined line along the traveling direction of the vehicle on the bird's-eye view image, and emphasizes a portion of the travel locus generated when the vehicle turns, which conflicts with the line. It may be displayed.
  • the display control unit places the line on the vehicle at a predetermined distance from a reference line passing through the center of the front wheels and the center of the rear wheels of the vehicle along the direction of travel, just before the vehicle turns. A line along the side may be displayed.
  • the driver can easily grasp the possibility of contact between the overhang of the vehicle and an obstacle when the vehicle is turning.
  • FIG. 1 is a schematic diagram for explaining the configuration of a display system 1 according to one embodiment;
  • FIG. It is a schematic diagram for demonstrating the position of an imaging device.
  • FIG. 3 is a schematic diagram for explaining an example of a bird's-eye view image;
  • 4 is a schematic diagram for explaining a bird's-eye view image I displayed on the display unit 7.
  • FIG. 10 is a schematic diagram for explaining an example of changing the display area of the bird's-eye view image;
  • FIG. 4 is a schematic diagram for explaining an example of highlighting in a bird's-eye view image;
  • FIG. 1 is a schematic diagram for explaining the configuration of a display system 1 according to one embodiment.
  • the display system 1 is mounted on a vehicle and is an around-view monitor system that displays a bird's-eye view image showing the surroundings of the vehicle on an in-vehicle monitor.
  • the vehicle is, for example, a vehicle with a loading platform, and specifically a truck.
  • the display system 1 includes a plurality of imaging devices 3a, 3b, 3c, and 3d, a sensor group 5, a display section 7, and a display control device 10, as shown in FIG.
  • the imaging devices 3a, 3b, 3c, and 3d are cameras, for example, and capture images of the surroundings of the vehicle.
  • the imaging devices 3a, 3b, 3c, and 3d are provided at different positions on the vehicle.
  • the imaging device 3a images the front of the vehicle
  • the imaging device 3b images the left side of the vehicle
  • the imaging device 3c images the right side of the vehicle
  • the imaging device 3d images the rear side of the vehicle.
  • four imaging devices 3a, 3b, 3c, and 3d which are wide-angle cameras, it is possible to image the entire surroundings of the vehicle.
  • the imaging devices 3 a , 3 b , 3 c , and 3 d output captured images to the display control device 10 .
  • the four image pickups 3a, 3b, 3c, and 3d are provided at positions higher than the line of sight of the driver (for example, positions higher than the mirrors of the vehicle). Note that only three of the four imaging devices may be provided at positions higher than the line of sight of the driver.
  • FIG. 2 is a schematic diagram for explaining the position of the imaging device.
  • FIG. 2 shows an imaging device 3a that is a front camera, an imaging device 3b that is a side camera, and an imaging device 3c that is a rear camera.
  • the imaging devices 3a, 3b, and 3c are positioned higher than the line of sight E of the driver of the vehicle V.
  • the imaging device 3d not shown in FIG. 2 is provided at a position symmetrical to the imaging device 3b.
  • the imaging device 3a or the like is positioned higher than the driver's line of sight E, the blind spots shown in FIG. (lower area) can also be properly imaged.
  • the imaging device 3a or the like takes an obliquely downward image from a high position, an object can be stereoscopically recognized and imaged. Furthermore, it becomes possible to image a wide range of surroundings.
  • the sensor group 5 detects the state of the vehicle.
  • the sensor group 5 has, for example, a sensor that detects the amount of rotation of the steering wheel, and can detect the steering angle of the vehicle.
  • the sensor group 5 outputs detection results to the display control device 10 .
  • the display unit 7 is, for example, a display provided inside the vehicle, and displays various information related to the vehicle.
  • the display unit 7 displays a bird's-eye view image based on the captured images captured by the imaging devices 3a, 3b, 3c, and 3d.
  • a bird's-eye view image is an image showing a situation when looking down on the vehicle and its surroundings from above the vehicle.
  • a bird's-eye view image is generally obtained by subjecting a three-dimensional view captured by an imaging device to two-dimensional conversion with reference to a road surface, and then synthesizing captured images of a plurality of imaging devices.
  • FIG. 3 is a schematic diagram for explaining an example of a bird's-eye view image.
  • the bird's-eye view image I includes the vehicle and surrounding objects.
  • the objects here are persons A1, A2 located around the vehicle V and obstacles B1, B2, B3.
  • the imaging devices 3a to 3d are positioned higher than the line of sight of the driver, the persons A1 and A2 and the obstacles B1, B2 and B3 are displayed stereoscopically. Therefore, the driver can easily identify the persons A1 and A2 and the obstacles B1, B2 and B3 in the bird's-eye view image I. If the persons A1, A2 are identified, an alert may be issued.
  • the display control device 10 controls the operation of the display system 1.
  • the display control device 10 displays a bird's-eye view image on the display unit 7 while the vehicle is running. Although the details will be described later, the display control device 10 superimposes the travel locus of the vehicle when the vehicle turns on the bird's-eye view image, and causes the display unit 7 to display the superimposed image. As a result, the driver can easily visually understand whether or not there is a possibility of contact with surrounding obstacles when the vehicle turns, by viewing the bird's-eye view image displayed on the display unit 7 .
  • the display control device 10 has a storage unit 20 and a control unit 30, as shown in FIG.
  • the storage unit 20 includes, for example, ROM (Read Only Memory) and RAM (Random Access Memory).
  • the storage unit 20 stores programs and various data for the control unit 30 to execute.
  • the control unit 30 is, for example, a CPU (Central Processing Unit).
  • the control unit 30 functions as an image acquisition unit 33 , an image generation unit 34 , a trajectory estimation unit 35 and a display control unit 36 by executing programs stored in the storage unit 20 .
  • the image acquisition unit 33 acquires an image of the surroundings of the vehicle. Specifically, the image acquisition unit 33 acquires captured images of the surroundings of the vehicle captured by the imaging devices 3a, 3b, 3c, and 3d. For example, the image acquisition unit 33 acquires captured images captured by the imaging devices 3a, 3b, 3c, and 3d at predetermined intervals while the vehicle is running.
  • the image generation unit 34 generates a bird's-eye view image showing the vehicle in motion and the surroundings.
  • the image generation unit 34 generates a bird's-eye view image from the captured image acquired by the image acquisition unit 33 .
  • the image generation unit 34 combines the captured images captured by the imaging devices 3a, 3b, 3c, and 3d to generate a bird's-eye view image including the vehicle.
  • the imaging devices 3a, 3b, 3c, and 3d are positioned higher than the line of sight of the driver, a bird's-eye view image including obstacles and the like positioned in blind spots can be generated.
  • the trajectory estimation unit 35 estimates the travel trajectory of the vehicle when the vehicle turns. For example, the trajectory estimation unit 35 estimates the trajectory of the rear overhang (hereinafter referred to as the rear overhang) when the vehicle turns. If the vehicle is a truck, the trajectory estimator 35 estimates the trajectory of the rear overhang at the rear end of the loading platform. Note that the trajectory estimation unit 35 may estimate the trajectory of the overhang on the front side of the vehicle. The trajectory estimation unit 35 can estimate the trajectory of the rear overhang using the detection results of the sensor group 5 (for example, the steering angle of the vehicle, etc.). The trajectory of the rear overhang is calculated by a known calculation method, so detailed description thereof will be omitted. The trajectory estimator 35 also estimates the trajectory of the inner wheel difference and the outer wheel difference corresponding to the steering angle of the vehicle as the running trajectory. For example, the trajectory estimation unit 35 estimates the trajectories of the inner wheel difference and the outer wheel difference when the vehicle turns.
  • the rear overhang the trajectory of the rear overhang
  • the display control unit 36 controls display by the display unit 7.
  • the display control unit 36 causes the display unit 7 to display the bird's-eye image generated by the image generation unit 34 .
  • the display control unit 36 causes the display unit 7 to display the bird's-eye view image when the vehicle turns right or left, when the vehicle travels backward, and when the vehicle travels at a low speed.
  • the display control unit 36 superimposes the travel locus of the vehicle on the bird's-eye view image and causes the display unit 7 to display it. That is, the display control unit 36 superimposes the travel locus estimated by the locus estimation unit 35 on the bird's-eye view image generated by the image generation unit 34 and causes the display unit 7 to display the superimposed image. For example, the display control unit 36 causes the display unit 7 to display the locus of the inner wheel difference, the outer wheel difference, and the rear overhang superimposed on the bird's-eye view image when the vehicle turns.
  • FIG. 4 is a schematic diagram for explaining the bird's-eye view image I displayed on the display unit 7.
  • This bird's-eye view image I is displayed on the display unit 7 when the vehicle V starts to turn right at an intersection.
  • three overhang trajectories L1, L2, and L3 estimated by the trajectory estimation unit 35 are superimposed on the bird's-eye view image I generated by the image generation unit 34 .
  • Overhang trajectories L1 and L2 are trajectories of the rear overhang
  • overhang trajectory L3 is a trajectory of the front overhang.
  • the overhang trajectories L1, L2, and L3 are indicated by dashed lines, but the display mode is not limited to this, and may be, for example, solid lines.
  • the overhang trajectories L1, L2, and L3 intersect with surrounding obstacles, the driver can determine that there is a possibility of contact with the obstacle if the vehicle continues running.
  • the trajectories of the inner ring difference and the outer ring difference of the vehicle can also be superimposed on the bird's-eye view image I and displayed.
  • the overhang locus L3 is the locus of the left front end of the vehicle V, but the overhang locus L3 is the locus of the right front end of the vehicle V when the vehicle turns left.
  • the display control unit 36 may display only the overhang trajectories L1 and L2 on the rear side of the vehicle, and may not display the overhang trajectory L3 on the front side of the vehicle.
  • the display control unit 36 may change the display area of the bird's-eye view image on the display unit 7 .
  • the display control unit 36 changes the display area of the bird's-eye view image when the vehicle turns.
  • the display control unit 36 changes the display area of the bird's-eye view image on the display unit 7 according to the direction in which the vehicle turns.
  • FIG. 5 is a schematic diagram for explaining an example of changing the display area of the bird's-eye view image.
  • the display control unit 36 displays a bird's-eye view image I1 as shown in FIG. 5(a).
  • the bird's-eye view image I1 does not include the trajectory of the overhang.
  • the display control unit 36 displays a bird's-eye view image I2 on which the overhang loci L1, L2, and L3 are superimposed as shown in FIG. 5(b).
  • the display control unit 36 makes the display area of the bird's-eye image I2 wider than the display area of the bird's-eye image I1.
  • the frame 90 of the bird's-eye image I2 is larger than the frame 90 of the bird's-eye image I1.
  • the display control unit 36 displays a bird's-eye view image that widely shows the right turn destination (that is, the right side). This makes it easier for the driver to determine in advance whether there is a possibility of colliding with an obstacle at the destination of the right turn.
  • a display example when the vehicle V turns right has been described, but when the vehicle V turns left, a bird's-eye view image showing a wide left turn destination is displayed.
  • the display control unit 36 may emphasize the display in the bird's-eye view image in order to make it easier for the driver to grasp the possibility that the overhang of the vehicle will come into contact with an obstacle. For example, the display control unit 36 superimposes a predetermined determination line on the bird's-eye view image along the traveling direction of the vehicle, and displays the determination line in the travel trajectory (for example, the trajectory of the rear overhang) generated when the vehicle turns. Highlight the conflicting parts.
  • the display control unit 36 sets the determination line to a position along the side at a predetermined distance from a reference line that passes through the center of the front wheels and the center of the rear wheels of the vehicle along the traveling direction immediately before the vehicle turns. show the line.
  • FIG. 6 is a schematic diagram for explaining an example of highlighting in a bird's-eye view image.
  • the determination line T is displayed so as to be parallel to the left side of the vehicle V at a position a predetermined distance away from the left side of the vehicle V turning right.
  • the display control unit 36 highlights portions of the overhang trajectories L1, L2, and L3 that protrude to the left of the determination line T.
  • FIG. Here, a portion of the overhang trajectory L1 protruding to the left of the determination line T is highlighted with a solid line.
  • the highlighting may be performed using different line colors. As a result, the driver can easily grasp the timing when the vehicle deviates from the determination line T when turning right. When the vehicle turns left, the determination line T is displayed at a predetermined distance from the right side of the vehicle V. FIG.
  • the determination line T is displayed at a predetermined distance from the side of the vehicle, but the present invention is not limited to this.
  • the determination line T may be displayed at the same position as the side of the vehicle.
  • the determination line T may be displayed at the boundary between the lane in which the vehicle is traveling and the sidewalk.
  • the display control device 10 of the above-described embodiment generates a bird's-eye view image including the vehicle from a captured image of the surroundings of the vehicle.
  • the display control device 10 estimates the travel locus of the vehicle when it turns.
  • the display control device 10 superimposes the travel locus of the vehicle on the generated bird's-eye view image I and causes the display unit 7 to display the superimposed image. This makes it easier for the driver to visually understand whether or not there is a possibility that the overhang of the vehicle will come into contact with an obstacle during turning by looking at the bird's-eye view image superimposed with the traveling locus during turning. As a result, the driver can steer the vehicle to avoid contact with the obstacle.
  • imaging device 7 display unit 10 display control device 34 image generation unit 35 trajectory estimation unit 36 display control unit I bird's-eye view image L1, L2, L3 overhang trajectory T judgment line V vehicle

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

Un dispositif de commande d'affichage 10 est pourvu de : une unité de génération d'image 34 pour générer une image à vol d'oiseau comprenant un véhicule à partir d'une image capturée autour du véhicule capturée par imagerie de l'environnement du véhicule au moyen de dispositifs d'imagerie 3a, 3b, 3c, 3d situés sur le véhicule ; une unité d'estimation de trajectoire 35 pour estimer la trajectoire de déplacement du véhicule lors d'un virage ; et une unité de commande d'affichage 36 qui superpose la trajectoire de déplacement estimée par l'unité d'estimation de trajectoire 35 sur l'image à vol d'oiseau générée par l'unité de génération d'image 34, et amène une unité d'affichage 7 à afficher l'image superposée.
PCT/JP2022/013055 2021-03-24 2022-03-22 Dispositif de commande d'affichage WO2022202780A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021049820A JP7452479B2 (ja) 2021-03-24 2021-03-24 表示制御装置
JP2021-049820 2021-03-24

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WO2022202780A1 true WO2022202780A1 (fr) 2022-09-29

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004252837A (ja) * 2003-02-21 2004-09-09 Denso Corp 車両周辺表示装置および車両周辺表示プログラム
JP2007249811A (ja) * 2006-03-17 2007-09-27 Denso Corp 運転支援画像表示装置及びプログラム
JP2007280203A (ja) * 2006-04-10 2007-10-25 Nissan Motor Co Ltd 情報提示装置、自動車、及び情報提示方法
JP2009298179A (ja) * 2008-06-10 2009-12-24 Nissan Motor Co Ltd 駐車支援装置及び駐車支援方法
JP2010079454A (ja) * 2008-09-24 2010-04-08 Sanyo Electric Co Ltd 運転支援装置
JP2014040188A (ja) * 2012-08-23 2014-03-06 Isuzu Motors Ltd 運転支援装置
JP2017091358A (ja) * 2015-11-13 2017-05-25 いすゞ自動車株式会社 車両制御装置および車両制御方法
CN108932868A (zh) * 2017-05-26 2018-12-04 奥迪股份公司 车辆的危险预警系统及方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004252837A (ja) * 2003-02-21 2004-09-09 Denso Corp 車両周辺表示装置および車両周辺表示プログラム
JP2007249811A (ja) * 2006-03-17 2007-09-27 Denso Corp 運転支援画像表示装置及びプログラム
JP2007280203A (ja) * 2006-04-10 2007-10-25 Nissan Motor Co Ltd 情報提示装置、自動車、及び情報提示方法
JP2009298179A (ja) * 2008-06-10 2009-12-24 Nissan Motor Co Ltd 駐車支援装置及び駐車支援方法
JP2010079454A (ja) * 2008-09-24 2010-04-08 Sanyo Electric Co Ltd 運転支援装置
JP2014040188A (ja) * 2012-08-23 2014-03-06 Isuzu Motors Ltd 運転支援装置
JP2017091358A (ja) * 2015-11-13 2017-05-25 いすゞ自動車株式会社 車両制御装置および車両制御方法
CN108932868A (zh) * 2017-05-26 2018-12-04 奥迪股份公司 车辆的危险预警系统及方法

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JP2022148223A (ja) 2022-10-06

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