WO2023002813A1 - 車両の制御装置 - Google Patents
車両の制御装置 Download PDFInfo
- Publication number
- WO2023002813A1 WO2023002813A1 PCT/JP2022/025761 JP2022025761W WO2023002813A1 WO 2023002813 A1 WO2023002813 A1 WO 2023002813A1 JP 2022025761 W JP2022025761 W JP 2022025761W WO 2023002813 A1 WO2023002813 A1 WO 2023002813A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- image
- vehicle
- notification pattern
- pattern
- control device
- Prior art date
Links
- 238000012545 processing Methods 0.000 claims abstract description 41
- 238000003384 imaging method Methods 0.000 claims abstract description 33
- 238000004891 communication Methods 0.000 abstract description 5
- 239000013256 coordination polymer Substances 0.000 description 70
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 206010047571 Visual impairment Diseases 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/48—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for parking purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
Definitions
- the present invention comprises a projection device for projecting a notification pattern for reporting the behavior of the own vehicle onto an area including a vehicle, for example, a road surface near the automobile, and an imaging device for obtaining a desired image of the area.
- the present invention relates to a vehicle control device.
- a vehicle is proposed.
- Japanese Patent Laid-Open No. 2004-100002 is a technique for projecting a notification pattern including a required design onto a road surface in front of or behind a vehicle using a projection device such as a projector mounted on the vehicle. By visually recognizing this notification pattern by a third party, the third party can recognize the behavior of the vehicle and can avoid contact with the vehicle.
- Japanese Unexamined Patent Application Publication No. 2002-200002 proposes an image processing technique for processing captured images to obtain a desired image.
- the notification pattern projected on the road surface may be captured in the captured image.
- the projected notification pattern and various lines drawn (painted) on the road surface, such as parking lines, are displayed simultaneously on the monitor. It may be misidentified as a parking line.
- the notification pattern when a car is parked while moving backwards, if the notification pattern is projected onto the captured image, there is a risk that the notification pattern may be misidentified as a parking line drawn on the road surface. It may not be possible to move to the position and park.
- An object of the present invention is to control a vehicle that is equipped with a projection device for projecting a notification pattern onto a road surface and that enables obtaining a desired image in which the notification pattern is not projected when imaging a nearby area.
- the present invention obtains an image obtained by removing the notification pattern from the captured image in a vehicle equipped with a projection device for projecting a required notification pattern on an area near the own vehicle and an imaging device for capturing an image of the area near the own vehicle.
- the control device includes image processing means for storing the projected notification pattern in storage means and for removing the notification pattern stored in the storage means from the captured image.
- the image processing means stores an image obtained by picking up the pre-projected notification pattern as an initial setting in the storage means as the notification pattern.
- the image processing means obtains a difference between the first image captured without projection of the notification pattern and the second image captured with projection of the notification pattern, and stores the difference image as the notification pattern.
- the image processing means projects a notification pattern at a predetermined position, and produces a first image that captures the area near the vehicle at that position and a second image that captures the area near the vehicle that has moved from the predetermined position. are compared, and the matching image of the first image and the second image is stored in the storage means as the notification pattern.
- the projection device includes a projector that projects a notification pattern in the vicinity of the own vehicle
- the imaging device includes a camera that captures an image of the vicinity of the vehicle, and the camera draws the notification pattern and the vicinity region.
- the image processing means obtains an image from which the notification pattern is removed.
- the projection device projects the notification pattern on the rear area of the own vehicle
- the imaging device picks up an image of the parking lot existing in the rear area of the own vehicle
- the reference line indicates the parking position in the parking lot. parking line.
- the present invention further comprises a monitor that displays the image acquired by the image processing means, and that the monitor displays a guideline for guiding the movement of the vehicle to the driver.
- the present invention in a vehicle equipped with a projection device for projecting a notification pattern, it is possible to obtain a desired image excluding the notification pattern even if an imaging device captures an area including the notification pattern.
- FIG. 1 is a schematic perspective view of an automobile equipped with a control device of the present invention, viewed from the rear;
- FIG. FIG. 2 is a block configuration diagram including a control device;
- FIG. 10 is a diagram showing a form of projection of the notification pattern;
- 4 is a flow chart of control mode 1.
- FIG. FIG. 2 is a timing diagram of control mode 1; Monitor display image of control mode 1.
- FIG. 10 is a flow chart of control mode 2; A captured image or a monitor display image of control mode 2.
- FIG. 10 is a flow chart of control mode 3;
- FIG. 1 is a schematic perspective view of an automobile CAR equipped with the control device of the present invention, viewed from the rear.
- Rear combination lamps RCL are arranged on the left and right sides of the rear portion of the vehicle body of the automobile CAR.
- One of these rear combination lamps RCL, here a part of the left combination lamp, is integrally provided with a rear projector RP.
- the rear projector RP which will be described in detail later, is configured as a part of a projection device that, when operated, projects a notification pattern CP in the form of a desired pattern or line on the road surface behind the automobile CAR.
- a rear camera (rear camera) RC is arranged in a part of the trunk lid at the rear of the vehicle body of the automobile CAR, and images the rear area of the automobile CAR, especially the area A including the rear road surface.
- This rear camera RC may be arranged above the license plate, or may be arranged above the rear window in the interior of the vehicle CAR.
- a monitor MO is arranged on the dashboard in the vehicle interior of the automobile CAR at a position facing the driver's seat, and is configured so that the driver can visually recognize the image displayed on the monitor screen. ing.
- This monitor MO is connected to a vehicle ECU (electronic control unit) 100 that constitutes the control device of the present invention.
- a sensor (not shown) is connected.
- Fig. 2 is a block configuration diagram, and the parts corresponding to the parts shown in Fig. 1 are given the same reference numerals.
- the control device is composed of the vehicle ECU 100 and includes an imaging device 10 and a projection device 20 .
- a lamp ECU an ECU that controls the lamp in which the camera, the projection device, and the lamp unit are integrated
- a rear zone ECU an ECU that is integrated with the rear zone provided on the vehicle body
- It may be configured by an ECU that controls peripheral electronic devices such as lamps, sensors, and wipers.
- the vehicle ECU 100 receives an imaging signal from the rear camera RC and also receives driving information indicating the driving state of the vehicle.
- steering information indicating the traveling direction (backward direction) from the steering wheel device HA and backward information from the shift lever SL operated by the driver when the vehicle moves backward are input.
- the backward information from the shift lever SL is also input to the projection device 20 .
- the projection device 20 includes a projector control section 21 .
- the projector control unit 21 controls the rear projector RP on the basis of the input backward information, and projects the notification pattern CP on the rear road surface when the automobile CAR moves backward.
- the rear projector RP incorporates a light source 31, a pattern mask 32, and a projection lens 33 in a housing 30, as schematically shown in FIG. 3(a).
- the light source 31 has three LEDs (light emitting diodes) 311 to 313 mounted on a light source substrate 310 to emit white light from the upper side to the lower side. Here, they are referred to as first LED 311 to third LED 313 in order from the top.
- the pattern mask 32 has three rectangular light-transmitting windows 321 to 323 with different side lengths corresponding to the LEDs 311 to 313, respectively. Here, they are referred to as a first light-transmitting window 321 to a third light-transmitting window 323 in order from the top.
- These translucent windows 321 to 323 may be provided with, for example, opalescent plates that diffuse and transmit light.
- the pattern mask 32 is arranged behind the focal point of the projection lens 33 and at a required tilt angle with respect to the optical axis Lx. If the tilt angle is not given, the projection length becomes longer as the projection position becomes farther. Therefore, the length of one side of the first to third light transmission windows 321 to 323 may be equal.
- the rear projector RP projects the real image of the first light-transmitting window 321 to the third light-transmitting window 323 of the pattern mask 32 to the first patterns CP1 to CP1.
- a third pattern CP3 is projected on the rear road surface of the automobile in a focused state.
- the notification pattern CP is projected using the first pattern CP1 to the third pattern CP3.
- the notification pattern CP is projected in the position closest to the rear of the automobile by the first translucent window 321 as shown in FIG. 4(a).
- CP1 is projected.
- the second LED 312 emits light
- the second pattern CP by the second translucent window 322 is projected behind the first pattern CP1 as shown in FIG. 4(b).
- the third LED 313 emits light
- the third pattern CP3 formed by the third translucent window 323 is projected behind the second pattern CP2, as shown in FIG. 4(c).
- the projection device 20 includes a timing section 22, and the projector control section 21 receives a timing signal from the timing section 22 to determine the light emission timing of the light source 31 of the rear projector RP, that is, the light emission timing of the rear projector RP.
- the light emission timings of the first LED 311 to the third LED 313 can be controlled simultaneously or individually. Therefore, when the first LED 311 to the third LED 313 emit light at the same time, the notification pattern CP (CP1 to CP3) in FIG. 4(c) is integrally projected. Further, the first to third LEDs 311 to 313 emit light in this order, so that the first to third patterns CP1 to CP3 are projected in order, so-called sequential pattern projection.
- the projector control section 21 is capable of intermittently controlling the light emission of the first LED 311 to the third LED 313 at a required cycle through control based on the timing section 22 . That is, projection control of each notification pattern CP in FIGS. 4A to 4C is performed intermittently at a required cycle.
- This period is a period in which the non-projection state of the notification pattern CP cannot be recognized due to the afterimage effect of the human eye, and the period in which the notification pattern CP appears to be continuously projected when viewed by a human. is.
- a third party that is, a pedestrian or an occupant of another vehicle outside the vehicle CAR, can project the notification pattern CP onto the road surface.
- the third party can recognize that the vehicle CAR moves in the direction of the notification pattern CP, and that the vehicle is reversing here, and communication between the vehicle and the third party can be established. , traffic safety is ensured.
- the imaging device 10 includes a monitor control section 11, an image processing section 12, and a storage section 13, as shown in FIG.
- the image processing unit 12 performs image processing for obtaining an image to be displayed on the monitor MO from the imaging signal captured by the rear camera RC. Further, it is possible to extract the entire acquired image or part of the image and store them in the storage unit 13 . In particular, it is possible to extract the image of the notification pattern CP projected by the rear projector RP from among the captured images. Since various image processing techniques have already been proposed for these image processing and image extraction techniques, detailed description thereof will be omitted here.
- the monitor control unit 11 controls the image displayed on the monitor MO. For example, when the automobile CAR is parked while moving backwards as shown in FIG. It is possible to display the obtained image, that is, the image of the area including the rear road surface of the automobile CAR as shown in FIG. 5(b) on the monitor MO.
- This image includes an image of the parking line PL as a reference line drawn (painted) on the road surface to guide a suitable parking position, and an image of the notification pattern CP projected by the rear projector RP. included.
- the monitor control unit 11 calculates the backward direction of the vehicle CAR from the steering information of the steering device HA, and displays a guide pattern indicating the direction in which the vehicle moves backward, such as a guideline GL, on the monitor MO for driving assistance. is also possible.
- the driver can view the image on the monitor MO and move the displayed guideline GL to the parking line PL.
- the vehicle can be easily reversed to the desired parking position.
- the monitor control unit 11 may be connected to an automatic driving device (not shown in FIG. 2) so that the position information of the parking line PL displayed on the monitor MO may be transmitted to the automatic driving device.
- the automatic driving device can control the steering of the automobile based on the positional information of this parking line PL, and can also execute automatic driving control to guide the automobile to a desirable parking position.
- the notification pattern CP imaged by the rear camera RC is also displayed on the monitor MO at the same time. That is, a linear parking line PL and a linear notification pattern CP similar thereto are simultaneously displayed.
- the driver confuses the reporting pattern CP with the parking line PL, erroneously recognizes that the reporting pattern CP is the parking line PL, and attempts to match the guideline GL with the reporting pattern CP. You may have to operate the steering wheel.
- the monitor control unit 11 solves the driving support problem caused by misidentification of the notification pattern CP and the parking line PL.
- control forms for solving this problem for example, the following control forms 1 to 3 are conceivable.
- FIG. 6 is a flow chart of control mode 1
- FIG. 7 is its timing chart.
- the projector controller 21 of the projection device 20 controls the rear projector RP to project the notification pattern CP (S11).
- the notification pattern CP For example, the first pattern CP1 to the third pattern CP3 are projected simultaneously.
- This cycle is a cycle in which the non-projection state of the notification pattern CP cannot be recognized due to the afterimage effect of the human eye, as described above.
- a third party can visually recognize the notification pattern CP as if it were continuously projected, and safety is ensured.
- the imaging device 10 performs imaging with the rear camera RC (S12).
- the image processing unit 12 performs image processing on the obtained imaging signal (S13).
- image processing is executed in synchronization with the projection timing of the notification pattern CP based on the timing signal from the timing section 22 . That is, as shown in FIG. 7(c), the image processing unit 12 performs a process of removing an image (frame) captured at the timing of projecting the notification pattern CP. As a result, an image captured at the timing when the notification pattern CP is not projected is obtained.
- the image processed by the image processing unit 12 is the image at the timing when the notification pattern CP is not projected by the rear projector RP.
- the monitor control unit displays the image obtained by this process on the monitor (S14). Therefore, the image displayed on the monitor MO is an image in which the notification pattern CP is not printed.
- FIG. 8(a) is an image captured when the notification pattern CP is projected
- FIG. 8(b) is an image captured when the notification pattern CP is not projected. Therefore, when the monitor control unit 11 displays the guideline GL in addition to the image of FIG. The image and guideline GL are displayed together. Therefore, the driver who visually recognizes the monitor MO does not erroneously recognize that the notification pattern CP is the parking line PL. It can be driven into a parking position.
- the imaging device 10 may control the imaging timing of the rear camera RC.
- the imaging is performed at the timing shown in FIG. 7(c), which is different from the timing for projecting the notification pattern CP shown in FIG. 7(a). Therefore, the notification pattern CP is not projected at the time of imaging, and the notification pattern is not imprinted on the captured image.
- the processing in the image processing section 12 can be simplified or omitted.
- control mode 1 an example in which the first pattern CP1 to the third pattern CP3 of the notification pattern CP are projected simultaneously has been described. It is possible to control the case in the same way. In other words, image processing may be performed to remove the image captured at the timing when at least one of the first pattern CP1, the second pattern CP, and the third pattern CP3 is projected. Alternatively, imaging may be performed at a timing when at least one of the first pattern CP1, the second pattern CP, and the third pattern CP3 is not projected. Even in this case, the sequential projected notification pattern CP is not displayed on the monitor MO, and misrecognition by the driver is prevented, enabling suitable driving assistance. However, in this control mode 1, it is not necessarily easy to control the imaging timing and the image acquisition timing in the imaging device 10 . Therefore, in the present invention, the following control modes 2 and 3 are adopted.
- FIG. 9 is a flow chart of control mode 2
- FIG. 10 is a captured image or a monitor image.
- the projector control unit 21 controls the rear projector RP in a place where at least the parking line is not drawn on the road surface, and projects the notification pattern CP on the road surface (S21).
- the imaging device 10 performs imaging with the rear camera RC (S22).
- the projected notification pattern CP is recorded in the captured image, as shown in FIG. 10(a).
- the image processing unit 12 detects the captured image of the notification pattern CP (S23), and stores the image of the notification pattern CP in the storage unit 13 (S24).
- This initial setting is performed by the automobile manufacturer or dealer. Alternatively, it may be done before the user starts driving the car.
- the image is captured by the rear camera RC (S25).
- the rear projector RP is also projecting the notification pattern (S26).
- the image captured here is, for example, FIG. 10(b), in which the notification pattern CP and the parking line PL are captured.
- the image processing unit 12 reads the image of the notification pattern stored in the storage unit 13 by default (S27). Then, image processing is performed to remove the read notification pattern image CP from the image captured this time (S28), and an image from which the notification pattern image CP has been removed is obtained. Then, the processed image is displayed on the monitor MO under the control of the monitor control unit 21 (S28). Therefore, the displayed image is an image from which the notification pattern CP is removed as shown in FIG. 10(c).
- the monitor control unit 11 displays this image on the monitor MO, and at the same time, displays the guideline GL for driving support on the monitor MO similarly to the control mode 1 (S29 ). As described above, the guideline GL changes its display position on the monitor MO in accordance with the change in the moving direction of the automobile.
- control mode 2 the same can be done when the notification pattern CP is projected sequentially.
- a moving image is captured when the first pattern CP1 to the third pattern CP3 are sequentially projected, and this moving image is stored in the storage unit 13 as an image of the notification pattern CP.
- the image processing unit 12 executes image processing for removing the image of the notification pattern CP stored in the storage unit 13 from the moving image captured by the rear camera RC. As a result, an image from which the sequential projected notification pattern CP is removed is displayed on the monitor MO.
- the timing signal of the timing unit 22 is referenced to recognize the projection timing of the notification pattern CP, and the removal of the notification pattern CP is performed at the timing synchronized with this projection timing.
- steps S21 to S23 of the initial setting for example, first, a first image captured without projection of the notification pattern and a second image captured with projection of the notification pattern are obtained. and the second image to obtain the notification pattern image. Also, at the time of this initial setting, the size of the projected notification pattern, for example, the length may be stored. Further, at this time, the shape of the notification pattern that is deformed according to the inclination state or unevenness of the road surface on which the notification pattern is projected may be stored, so that the accuracy can be improved.
- FIG. 11 is a flow chart of control form 3, which can be said to be a modification of control form 2.
- the initialization performed in control mode 2 is not performed.
- the rear projector RP projects the notification pattern CP (S31).
- an image is captured by the rear camera RC (S32).
- the captured front image includes an image of the road surface of the parking lot, ie, the parking line PL, as well as the projected notification pattern CP. That is, the image is as shown in FIG. 8(a).
- the image processing unit 12 stores this previous image in the storage unit 13 (S33). After a very short period of time as the vehicle moves backward, another image is taken, and the second image (second image) obtained here is further stored in the storage unit 13 (S34). Then, the image processing unit 12 compares the stored before and after images with each other, and extracts an image that matches between the two images (S35). As described in control mode 2, the position and shape of the image of the parking line PL captured by the rear camera RC changes as the vehicle moves backward, but the projected image of the notification pattern CP changes as the vehicle moves backward. is not changed. Therefore, when the front image and the rear image are compared, the matching image is the notification pattern CP.
- the image processing unit 12 performs image processing to remove this extracted image, that is, the image of the notification pattern CP from the post-image, and acquires this removed image (S36).
- This image is similar to the image shown in FIG. 8(b), and includes the parking line PL but does not include the notification pattern CP.
- the monitor control unit 11 displays the obtained image on the monitor MO (S37), and also displays the guideline GL for driving support on the monitor MO (S38), as shown in FIG. 8(c).
- This control is repeated at required time intervals as the car moves backward.
- the image stored last becomes the subsequent image, and the image stored immediately before becomes the previous image.
- the monitor MO displays an image behind the vehicle that sequentially changes as the vehicle moves backward, and also displays a guideline GL that changes as the vehicle moves backward. is never displayed. Therefore, the driver who visually recognizes the monitor MO can operate the steering wheel to appropriately align the guideline GL with the parking line PL without erroneously recognizing the parking line PL, and drive the automobile to a suitable parking position.
- control mode 3 when the notification pattern CP is projected sequentially, the shape of the notification pattern CP in the previous image and the subsequent image may change over time. Therefore, in this case, as in the case of control mode 2, the timing signal of the timing unit 22 is referred to, and the change in shape of the notification pattern CP over time is predicted, and then the previous image and the subsequent image are compared. should be adopted.
- control form 3 does not require initial settings prepared for removing the notification pattern CP.
- the mounting attitude of the rear projector RP with respect to the vehicle body of the automobile is changed for some reason, and the projection position of the notification pattern CP with respect to the automobile is changed from the initial position, that is, when the image of the notification pattern CP projected onto the image is changed. Even when the initial state is changed, it can be handled appropriately.
- control modes 1 to 3 an image picked up by the rear camera is displayed on the monitor, and the driving support is performed when the driver steers backward while looking at the monitor.
- the present invention can also be applied to driving assistance in which automatic driving control is performed based on an image processed by the image processing unit.
- the parking line information correctly recognized in control modes 1 to 3 it becomes impossible for the automatic driving device to recognize the notification pattern as a parking line and guide the vehicle to a suitable parking position. Problems can be solved.
- the driving assistance when the vehicle is driven backwards into the parking lot is explained. It is also possible to apply the present invention to the case of executing driving assistance based on the reference line.
- driving assistance based on the reference line.
- the lines may be confused with lanes that indicate lane divisions on the road. be.
- the notification pattern is displayed when the vehicle starts from a stopped state or when the vehicle changes its traveling direction to the left or right, it may be confused with various lines drawn on the road surface in the neighboring area. be.
- the projected notification pattern is not limited to the pattern shape described in the embodiment as long as it has a shape that may cause confusion with the parking line.
- the present invention can be applied in cases where there is a risk of confusion between the drawn pattern and the projected notification pattern when performing driving assistance using a reference line drawn on the road surface.
- imaging device 11 monitor control unit 12 image processing unit (image processing means) 13 storage unit (storage means) 20 projection device 21 projector control unit 22 timing unit 100 vehicle ECU (control device) RC rear camera (imaging device) RP rear projector (projection device) MO Monitor HA Handle device SL Shift lever
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
Description
図6は制御形態1のフロー図であり、図7はそのタイミング図である。投影装置20のプロジェクター制御部21においてリアプロジェクターRPを制御し、報知パターンCPを投影する(S11)。例えば、第1パターンCP1~第3パターンCP3を同時に投影する。この投影に際しては、タイミング部22からのタイミング信号に基づいて、図7(a)のように、所要の周期で断続的に投影する。この周期は、前記したように人間の眼の残像効果により報知パターンCPが非投影の状態を認識することができない周期である。これにより、第三者は報知パターンCPが連続して投影されているように視認でき、安全性が確保される。
図9は制御形態2のフロー図であり、図10は撮像した画像もしくはモニター画像である。先ず、初期設定を実行する。この初期設定は、路面に少なくとも駐車ラインが描画されていない場所でプロジェクター制御部21によりリアプロジェクターRPを制御し、路面に報知パターンCPを投影する(S21)。次いで、撮像装置10はリアカメラRCでの撮像を行なう(S22)。この撮像された画像には、図10(a)のように、投影されている報知パターンCPが写し込まれている。そして、画像処理部12は撮像された報知パターンCPの画像を検出し(S23)、この報知パターンCPの画像を記憶部13に記憶する(S24)。この初期設定は、自動車のメーカやデーラにおいて行なわれる。あるいは、ユーザが自動車の運転を開始する前に行なうようしてもよい。
図11は制御形態3のフロー図であり、制御形態2の変形例と言えるものである。制御形態3では、制御形態2で行なった初期設定は行なわない。自動車を運転し、実際に駐車場に後退駐車する際に、リアプロジェクターRPでの報知パターンCPの投影を実行する(S31)。また、同時にリアカメラRCでの撮像を行なう(S32)。この撮像された前画像(第1画像)には駐車場の路面の画像、すなわち駐車ラインPLとともに、投影されている報知パターンCPが写し込まれている。すなわち、図8(a)に示したような画像である。
11 モニター制御部
12 画像処理部(画像処理手段)
13 記憶部(記憶手段)
20 投影装置
21 プロジェクター制御部
22 タイミング部
100 車両ECU(制御装置)
RC リアカメラ(撮像装置)
RP リアプロジェクター(投影装置)
MO モニター
HA ハンドル装置
SL シフトレバー
Claims (8)
- 自車両の近傍領域に所要の報知パターンを投影する投影装置と、自車両の近傍領域を撮像する撮像装置を備える車両において、撮像した画像から前記報知パターンを除去した画像を取得する制御装置であって、投影された報知パターンを記憶手段に記憶するとともに、撮像した画像から前記記憶手段に記憶されている報知パターンを除去する画像処理手段を備えることを特徴とする車両の制御装置。
- 前記画像処理手段は、初期設定として予め投影された報知パターンを撮像した画像を報知パターンとして記憶手段に記憶する請求項1に記載の車両の制御装置。
- 前記画像処理手段は、報知パターンを投影しない状態で撮像した第1画像と、報知パターンが投影された状態で撮像した第2画像との差をとり、この差分の画像を報知パターンとして記憶手段に記憶する請求項1に記載の車両の制御装置。
- 前記画像処理手段は、所定位置で報知パターンを投影し、当該位置での自車両の近傍領域を撮像した第1画像と、所定位置から移動した自車両の近傍領域を撮像した第2画像とを比較し、これら第1画像と第2画像の一致する画像を報知パターンとして記憶手段に記憶する請求項1に記載の車両の制御装置。
- 前記投影装置は自車両の近傍領域に報知パターンを投影するプロジェクターを備え、前記撮像装置は自車両の近傍領域を撮像するカメラを備え、当該カメラは前記報知パターンと前記近傍領域に描画されている基準ラインを撮像し、前記画像処理手段は当該報知パターンを除去した画像を取得する請求項2ないし4のいずれかに記載の車両の制御装置。
- 前記投影装置は自車両の後方領域に報知パターンを投影し、前記撮像装置は自車両の後方領域に存在する駐車場を撮像し、前記基準ラインは当該駐車場での駐車位置を示すための駐車ラインである請求項5に記載の車両の制御装置。
- 前記報知パターンは直線状のパターンであり、前記駐車ラインは直線ラインである請求項6に記載の車両の制御装置。
- 前記画像処理手段で取得した画像を表示するモニターを備え、当該モニターには運転者に対して自車両の移動を誘導するためのガイドラインを表示する請求項5ないし7のいずれかに記載の車両の制御装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202280040340.XA CN117460656A (zh) | 2021-07-19 | 2022-06-28 | 车辆的控制装置 |
EP22845749.5A EP4375157A1 (en) | 2021-07-19 | 2022-06-28 | Control device for vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021118650A JP2023014606A (ja) | 2021-07-19 | 2021-07-19 | 車両の制御装置 |
JP2021-118650 | 2021-07-19 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2023002813A1 true WO2023002813A1 (ja) | 2023-01-26 |
Family
ID=84979933
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2022/025761 WO2023002813A1 (ja) | 2021-07-19 | 2022-06-28 | 車両の制御装置 |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP4375157A1 (ja) |
JP (1) | JP2023014606A (ja) |
CN (1) | CN117460656A (ja) |
WO (1) | WO2023002813A1 (ja) |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20130120572A1 (en) * | 2011-11-14 | 2013-05-16 | Hyundai Mobis Co., Ltd. | Parking assistance system using projector and method thereof |
JP2013186668A (ja) * | 2012-03-07 | 2013-09-19 | Clarion Co Ltd | 車両周囲監視装置 |
WO2016163294A1 (ja) * | 2015-04-10 | 2016-10-13 | 日立マクセル株式会社 | 映像投射装置 |
US20180029641A1 (en) * | 2016-08-01 | 2018-02-01 | Magna Electronics Inc. | Parking assist system using light projections |
JP2019196065A (ja) * | 2018-05-09 | 2019-11-14 | クラリオン株式会社 | 自動駐車制御装置、及び自動駐車制御システム |
JP2019219816A (ja) | 2018-06-18 | 2019-12-26 | 株式会社小糸製作所 | 画像処理装置および車両用灯具 |
WO2020036108A1 (ja) * | 2018-08-15 | 2020-02-20 | 株式会社小糸製作所 | 車両用表示システム及び車両 |
JP2020055519A (ja) | 2018-09-28 | 2020-04-09 | 株式会社小糸製作所 | 車両の発進通知表示装置。 |
JP2021118650A (ja) | 2020-01-28 | 2021-08-10 | 古河電気工業株式会社 | 一体化ハーネスの配索方法、一体化ハーネスの梱包方法、及び収納袋 |
JP7031799B1 (ja) * | 2021-03-08 | 2022-03-08 | 三菱電機株式会社 | 画像処理装置、画像処理方法、及び、画像処理プログラム |
-
2021
- 2021-07-19 JP JP2021118650A patent/JP2023014606A/ja active Pending
-
2022
- 2022-06-28 CN CN202280040340.XA patent/CN117460656A/zh active Pending
- 2022-06-28 WO PCT/JP2022/025761 patent/WO2023002813A1/ja active Application Filing
- 2022-06-28 EP EP22845749.5A patent/EP4375157A1/en active Pending
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20130120572A1 (en) * | 2011-11-14 | 2013-05-16 | Hyundai Mobis Co., Ltd. | Parking assistance system using projector and method thereof |
JP2013186668A (ja) * | 2012-03-07 | 2013-09-19 | Clarion Co Ltd | 車両周囲監視装置 |
WO2016163294A1 (ja) * | 2015-04-10 | 2016-10-13 | 日立マクセル株式会社 | 映像投射装置 |
US20180029641A1 (en) * | 2016-08-01 | 2018-02-01 | Magna Electronics Inc. | Parking assist system using light projections |
JP2019196065A (ja) * | 2018-05-09 | 2019-11-14 | クラリオン株式会社 | 自動駐車制御装置、及び自動駐車制御システム |
JP2019219816A (ja) | 2018-06-18 | 2019-12-26 | 株式会社小糸製作所 | 画像処理装置および車両用灯具 |
WO2020036108A1 (ja) * | 2018-08-15 | 2020-02-20 | 株式会社小糸製作所 | 車両用表示システム及び車両 |
JP2020055519A (ja) | 2018-09-28 | 2020-04-09 | 株式会社小糸製作所 | 車両の発進通知表示装置。 |
JP2021118650A (ja) | 2020-01-28 | 2021-08-10 | 古河電気工業株式会社 | 一体化ハーネスの配索方法、一体化ハーネスの梱包方法、及び収納袋 |
JP7031799B1 (ja) * | 2021-03-08 | 2022-03-08 | 三菱電機株式会社 | 画像処理装置、画像処理方法、及び、画像処理プログラム |
Also Published As
Publication number | Publication date |
---|---|
JP2023014606A (ja) | 2023-01-31 |
EP4375157A1 (en) | 2024-05-29 |
CN117460656A (zh) | 2024-01-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP1862354B1 (en) | Driving assist method and driving assist apparatus | |
KR101760995B1 (ko) | 차량의 운전 지원 장치 | |
JP5680573B2 (ja) | 車両の走行環境認識装置 | |
JP6169364B2 (ja) | 車両の運転支援装置 | |
JP2014531358A (ja) | 自律的、乃至、部分自律的運転マヌーバを実施するための車載アシスタント・システム用の方法、並びに、装置 | |
JP4092956B2 (ja) | 車載運転支援装置 | |
CN110869940B (zh) | 控制位于行车道上的机动车的像素大灯的方法 | |
CN110087948B (zh) | 包括用于生成图像标识的照明模块的机动车 | |
JP2008222153A (ja) | 合流支援装置 | |
CN108702488B (zh) | 投影型显示装置、投影显示方法、计算机可读取存储介质 | |
JP5082923B2 (ja) | 車両障害物検出装置 | |
JP2017502584A (ja) | ヘッドライトフラッシャーの検知後に自動車の後方視野用カメラシステムを操作する方法、後方視野用カメラシステムおよび自動車 | |
JP6416976B2 (ja) | 車両の運転支援装置 | |
JP6285203B2 (ja) | 車両の空中像表示装置 | |
JP4688196B2 (ja) | 自動車用暗視システム | |
WO2023002813A1 (ja) | 車両の制御装置 | |
JP4062145B2 (ja) | 撮像装置 | |
EP2709356B1 (en) | Method for operating a front camera of a motor vehicle considering the light of the headlight, corresponding device and motor vehicle | |
JP4999653B2 (ja) | 車両用ランプ制御システム | |
JP5119675B2 (ja) | 車両周辺監視装置 | |
JP2006218954A (ja) | 車両の駐車支援システム | |
WO2019194218A1 (ja) | 進行方向表示装置 | |
JP2009120149A (ja) | 車両用ランプ制御システム | |
WO2021095497A1 (ja) | カメラシステム | |
JP7177618B2 (ja) | 信頼性判定装置および信頼性判定方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 22845749 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 202280040340.X Country of ref document: CN |
|
WWE | Wipo information: entry into national phase |
Ref document number: 18570683 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2022845749 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2022845749 Country of ref document: EP Effective date: 20240219 |