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WO2012144076A1 - Dispositif de surveillance de la périphérie d'un véhicule et procédé d'affichage d'informations de surveillance de la périphérie d'un véhicule - Google Patents

Dispositif de surveillance de la périphérie d'un véhicule et procédé d'affichage d'informations de surveillance de la périphérie d'un véhicule Download PDF

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Publication number
WO2012144076A1
WO2012144076A1 PCT/JP2011/059966 JP2011059966W WO2012144076A1 WO 2012144076 A1 WO2012144076 A1 WO 2012144076A1 JP 2011059966 W JP2011059966 W JP 2011059966W WO 2012144076 A1 WO2012144076 A1 WO 2012144076A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
screen
display
image
periphery monitoring
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2011/059966
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English (en)
Japanese (ja)
Inventor
有華 祖父江
竜路 岡村
愛 吉岡
悠 日栄
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
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 Toyota Motor Corp filed Critical Toyota Motor Corp
Priority to PCT/JP2011/059966 priority Critical patent/WO2012144076A1/fr
Publication of WO2012144076A1 publication Critical patent/WO2012144076A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space

Definitions

  • the present invention relates to a vehicle periphery monitoring device and a vehicle periphery monitoring information display method.
  • a driving support device disclosed in Japanese Patent Application Laid-Open No. 2002-109697 is known.
  • this device when the shift position of the vehicle is a forward gear, an image in front of the vehicle is displayed together with an image of the entire periphery of the vehicle.
  • the shift position of the vehicle is a reverse gear, the entire periphery of the vehicle is displayed.
  • the image behind the vehicle is displayed on the screen together with the image.
  • the vehicle periphery monitoring device of the present invention includes a display device that displays information obtained by vehicle periphery monitoring on the screen, and the display device collides with a vehicle icon representing the vehicle and a surrounding obstacle among the parts of the vehicle. And an image in the vicinity of the possibility of collision, and the display position of the vehicle icon on the screen is determined based on the position of the possibility of collision It is characterized by.
  • the display device that displays the information obtained by the vehicle periphery monitoring collides with a vehicle icon representing the vehicle and a surrounding obstacle among the parts of the vehicle.
  • An image of the vicinity of the likely collision part is displayed on the screen together, and the display position of the vehicle icon on the screen is determined based on the position of the collision possibility part.
  • the vehicle icon and an image of the vicinity of the collision potential portion are displayed together on the screen of the display device.
  • the display position of the vehicle icon is determined based on the position of the collision possibility part. For this reason, the positional relationship between the vehicle icon and an image in the vicinity of the collision possibility part also changes according to the position of the collision possibility part. Therefore, the position of the collision possibility part is associated with the position of the vehicle icon on the screen, and a screen display that allows the driver to intuitively recognize the situation can be performed.
  • the direction of the display position of the image in the vicinity of the collision possibility portion with respect to the display position of the vehicle icon may be assigned so as to correspond to the direction of the collision possibility portion with respect to the actual vehicle.
  • an image of the vicinity of the collision possibility part viewed from the vehicle icon is displayed on the screen in correspondence with the positional relationship between the actual vehicle and the collision possibility part. Therefore, it is possible for the driver to perform a screen display that makes it easy to intuitively recognize the position of the collision possibility part.
  • the display position of the vehicle icon on the screen may be determined based on the expected course of the vehicle.
  • the expected course of the vehicle is information that is closely related to the position of the potential collision site. Therefore, according to the said structure, the position of a collision possibility site
  • the display position of the vehicle icon may be shifted in a direction away from the display position of the image in the vicinity of the collision possibility portion as viewed from the center of the screen.
  • the vehicle periphery monitoring device and the vehicle periphery monitoring information display method of the present invention it is possible to perform screen display that allows the driver to easily recognize the situation.
  • FIG. 1 is a diagram illustrating a first embodiment of a vehicle periphery monitoring device according to the present invention and a vehicle including the same.
  • FIG. 2 is a diagram illustrating an example of a collision possibility region image.
  • FIG. 3 is a diagram illustrating a screen display when the front bumper of the vehicle is about to collide with an obstacle ahead.
  • FIG. 4 is a diagram showing a screen display when the rear bumper of the vehicle is about to collide with an obstacle behind the vehicle.
  • FIG. 5 is a diagram illustrating a screen display when the left bumper of the vehicle is about to collide with an obstacle on the left side.
  • FIG. 6 is a diagram showing a screen display when the right bumper of the vehicle is about to collide with an obstacle on the right side.
  • FIG. 1 is a diagram illustrating a first embodiment of a vehicle periphery monitoring device according to the present invention and a vehicle including the same.
  • FIG. 2 is a diagram illustrating an example of a collision possibility region image.
  • FIG. 7 is a diagram showing a screen display when the front right corner bumper of the vehicle is about to collide with an obstacle on the right front.
  • FIG. 8 is a diagram showing a screen display when the rear left corner bumper of the vehicle is about to collide with an obstacle on the left rear.
  • FIG. 9 is a diagram showing a screen display in the second embodiment of the vehicle periphery monitoring device of the present invention.
  • a vehicle periphery monitoring device 1 shown in FIG. 1 is a device that is mounted on a vehicle (automobile) 100 and that supports driving of a driver.
  • the vehicle periphery monitoring device 1 includes a plurality of cameras 11, a plurality of periphery recognition sensors 13, a display monitor 15, and an information processing unit 17.
  • Each of the plurality of cameras 11 is installed outside the vehicle body of the vehicle 100 with the outer side facing downward, and captures an image of the vehicle periphery of the vehicle 100. If the images obtained by the plurality of cameras 11 are combined, an image of 360 degrees around the vehicle 100 can be acquired. For example, the cameras 11 are installed at four locations on the front, rear, right side, and left side of the vehicle.
  • the plurality of surrounding recognition sensors 13 are installed outside the vehicle body of the vehicle 100 and detect obstacles around the vehicle 100. By using the plurality of surrounding recognition sensors 13, an obstacle around 360 degrees around the vehicle 100 can be detected.
  • the periphery recognition sensor 13 is a clearance sonar that recognizes the presence of an obstacle around the host vehicle using ultrasonic waves and detects the distance to the obstacle.
  • the periphery recognition sensor 13 is installed, for example, on the front right side, front left side, rear right side, and rear left side of the vehicle 100.
  • a sensor that detects an obstacle by image processing based on an image acquired by the camera 11 may be employed.
  • a case where a clearance sonar is used as the periphery recognition sensor 13 will be described as an example.
  • the display monitor (display device) 15 is installed in the driver's seat of the vehicle 100.
  • the display monitor 15 displays information obtained by monitoring the periphery of the vehicle 100 on a screen and provides it to the driver. Specifically, when there is a possibility that one part of the vehicle 100 collides with a surrounding obstacle, an image near the part is displayed on the display monitor 15.
  • a display monitor 15 for example, a multi-function monitor that also serves as a monitor of a car navigation system is used.
  • a portion of the vehicle 100 that may collide with an obstacle is referred to as a “collision potential portion”.
  • the information processing unit 17 is an electronic control unit that controls the entire vehicle periphery monitoring device 1, and is mainly configured by a computer including a CPU, a ROM, and a RAM, for example.
  • the information processing unit 17 generates a display screen to be displayed on the display monitor 15 and transmits an image signal to the display monitor 15.
  • the information processing unit 17 includes an information storage unit 21, an image processing unit 23, an expected trajectory calculation unit 25, and a history trajectory calculation unit 27. These components such as the information storage unit 21, the image processing unit 23, the expected trajectory calculation unit 25, and the history trajectory calculation unit 27 are configured such that hardware such as the CPU, RAM, and ROM of the information processing unit 17 cooperates according to a predetermined program. It is a component realized by software by operating and operating.
  • the information storage unit 21 stores vehicle information related to the characteristics of the vehicle 100.
  • vehicle information includes information such as the body size, body shape, minimum turning radius of the vehicle 100, for example.
  • the image processing unit 23 performs image processing such as partial image clipping, enlargement / reduction, viewpoint conversion, and image synthesis based on the image signal from each camera 11.
  • the image processing unit 23 can generate, for example, an image of the periphery of the vehicle viewed from directly above the vehicle 100 by processing a plurality of images obtained from each camera 11. Further, the image processing unit 23 can generate, for example, an image showing a part of the periphery of the vehicle 100 in an enlarged manner.
  • the image processing unit 23 can generate an enlarged image of an obstacle existing around the vehicle 100. At this time, an image showing the positional relationship between the collision possibility part and the obstacle is obtained by cutting out the image including the collision possibility part facing the surrounding obstacle. Further, the image processing unit 23 can generate an image in which a plurality of images are superimposed. The image processing unit 23 transmits the generated image to the display monitor 15 as an electrical signal. The display monitor 15 displays an image on the screen based on the electrical signal.
  • the expected trajectory calculation unit 25 predicts a trajectory that the outer contour of the bumper of the vehicle 100 will pass in the future. Specifically, the expected trajectory of the bumper outline is calculated based on the current vehicle speed and the current steering angle of the vehicle 100 and the vehicle information of the vehicle 100.
  • the current vehicle speed of the vehicle 100 is input from the vehicle speed sensor 31a of the vehicle 100 to the predicted locus calculation unit 25 as an electrical signal.
  • the current steering angle of the vehicle 100 is input from the steering angle sensor 31b of the vehicle 100 to the predicted trajectory calculation unit 25 as an electrical signal.
  • vehicle information such as the body size, body shape, and minimum turning radius of the vehicle 100 is read from the information storage unit 21.
  • the history trajectory calculation unit 27 calculates a trajectory (history trajectory) that the outer contour of the bumper of the vehicle 100 has passed in the past.
  • the history trajectory of the Pamper outline is calculated based on the current vehicle speed and current steering angle of the vehicle 100, and vehicle information of the vehicle 100.
  • the part of the bumper approaching the obstacle is recognized as the “possibility of collision”.
  • the image processing unit 23 processes the captured image of the camera 11 and generates an image in the vicinity of the collision possibility part.
  • an image in the vicinity of the collision possibility part is referred to as a “collision part image”.
  • the collision possibility part image is cut out so that a part of the bumper which is a collision possibility part and an obstacle are reflected.
  • FIG. 2 shows an example of the collision possibility part image 31.
  • the collision possibility region image 31 includes the obstacle S and the left front end portion of the bumper B.
  • the vehicle periphery monitoring apparatus 1 provides image information that makes it easy to recognize the situation of a collision-possible part by using screen layouts as shown in FIGS.
  • first case When the front bumper of the vehicle 100 is about to collide with an obstacle ahead (hereinafter, “first case”), a screen as illustrated in FIG. 3 is displayed on the display monitor 15.
  • second case When the rear bumper of the vehicle 100 is about to collide with an obstacle behind (hereinafter, “second case”), a screen illustrated in FIG. 4 is displayed on the display monitor 15.
  • third case When the left bumper of the vehicle 100 is about to collide with an obstacle on the left (hereinafter, “third case”), a screen illustrated in FIG. 5 is displayed on the display monitor 15.
  • fourth case When the right bumper of the vehicle 100 is about to collide with an obstacle on the right (hereinafter, “fourth case”), a screen illustrated in FIG. 6 is displayed on the display monitor 15.
  • a screen illustrated in FIG. 7 is displayed on the display monitor 15.
  • a screen illustrated in FIG. 8 is displayed on the display monitor 15.
  • a vehicle icon C is displayed on the display monitor 15 together with the collision possibility part image 31 on the screen.
  • the obstacle S and a bumper near the obstacle S are reflected.
  • the image obtained by each camera 11 is rotated so as to correspond to the front, rear, left and right of the actual vehicle 100 and displayed as a collision possibility part image 31.
  • the vehicle icon C is a view of the vehicle 100 viewed from directly above. Then, the triangle icon T is lit and displayed on the vehicle icon C at a position corresponding to the collision possibility part. For example, when the center part of the front bumper of the vehicle 100 is a collision possibility part (first case), a triangle icon T is lit and displayed at the center part of the front bumper on the vehicle icon C as illustrated in FIG. The Similarly, when the rear left corner bumper of the vehicle 100 is a collision possibility part (sixth case), a triangle icon T is displayed on the rear left corner bumper portion on the vehicle icon C as illustrated in FIG. Lights up. In addition, as illustrated in FIGS. 4 to 7, the triangle icon T is lit in the same manner in the second to fifth cases.
  • the direction of the display position of the collision possibility part image 31 viewed from the display position of the vehicle icon C on the screen is assigned so as to correspond to the direction of the collision possibility part with respect to the center of the actual vehicle 100.
  • a collision-possible part is located forward as viewed from the center of the vehicle 100.
  • the collision possibility part image 31 is assigned to a position in front of the vehicle icon C (upward of the screen).
  • a collision possibility portion is located obliquely left rearward when viewed from the center of the vehicle 100.
  • the collision possibility part image 31 is assigned to a position diagonally left rear (diagonal lower left of the screen) as viewed from the vehicle icon C.
  • the screens are assigned according to the same rule in the third to fifth cases.
  • the display position of the vehicle icon C on the screen is shifted in a direction away from the display position of the collision possibility part image 31 when viewed from the center of the screen.
  • the display position of the vehicle icon C is shifted downward as viewed from the center of the screen so as to move away from the collision possibility part image 31 at the top of the screen.
  • the display position of the vehicle icon C is shifted obliquely upward to the right when viewed from the center of the screen so as to move away from the collision possibility part image 31 obliquely to the lower left of the screen.
  • the display area of the collision possibility part image 31 is expanded using the space
  • FIG. As shown in FIGS. 4 to 7, in the third to fifth cases, the vehicle icon C is displayed at a position shifted according to the same rule.
  • the driver can recognize the situation of the collision possibility part and the obstacle from the collision possibility part image 31. Then, the vehicle icon C on the screen is displayed at a position shifted from the center of the screen, and the display position is determined in association with the position of the collision possibility part in the actual vehicle 100. Furthermore, the positional relationship between the vehicle icon C shown on the screen and the collision potential region image 31 substantially matches the positional relationship between the actual vehicle 100 and the collision potential region. Therefore, the driver can intuitively recognize the position of the vehicle 100 where the collision possibility part image 31 is projected.
  • the display position of the vehicle icon C on the screen is shifted in a direction away from the display position of the collision possibility part image 31 when viewed from the center of the screen.
  • the display area of the collision possibility part image 31 can be enlarged using the area that is vacated by shifting the display position of the vehicle icon C. As a result, the driver can know in detail the possibility of collision and the state of obstacles in a wide display area.
  • the display monitor 15 can further display a screen as illustrated in FIG.
  • the screen display of FIG. 9 is displayed by switching from the screen display of FIGS. 3 to 8, for example.
  • FIG. 9 is an example of a screen display in the case of the fifth case described above.
  • an image around the vehicle hereinafter referred to as an “overhead image” 51 as seen from directly above the vehicle 100, an expected course display 53, and the collision described above.
  • the possible part image 31 is superimposed and displayed.
  • a triangle icon T is lit and displayed on the vehicle icon C at a position corresponding to the collision possibility part.
  • the bird's-eye view image 51 is configured by combining viewpoint images of images captured by a plurality of cameras 11 and adding a vehicle icon C thereto.
  • the collision possibility part image 31 is displayed so as to be hidden so as to hide a part of the overhead image 51.
  • the predicted course display 53 represents the expected course of the vehicle 100 in the future on the overhead image 51 with an arrow.
  • the predicted course of the vehicle 100 is calculated by the predicted trajectory calculation unit 25.
  • the direction of the display position of the collision possibility part image 31 with respect to the display position of the vehicle icon C is assigned so as to correspond to the direction of the collision possibility part with respect to the center of the actual vehicle 100. That is, in the case of the fifth case, the collision possibility portion is located obliquely right forward as viewed from the center of the vehicle 100.
  • a collision possibility part image 31 is assigned to a position obliquely upper right as viewed from the vehicle icon C.
  • the display position of the vehicle icon C on the screen is set to a position moved substantially opposite to the expected course direction when viewed from the center of the screen. That is, as indicated by the expected course display 53, the expected course of the vehicle 100 is directed to the front right side. Correspondingly, the display position of the vehicle icon C on the screen is shifted to the lower left in the direction opposite to the expected course as seen from the center of the screen.
  • the peripheral image on the expected trajectory in the overhead image 51 is displayed without being hidden by the collision possibility part image 31. Therefore, it is possible to display an image on an expected trajectory with a higher necessity for confirmation of an obstacle without being lost.
  • places where the vehicle 100 has already passed or deviated from the expected trajectory are outside the display area, but such places may be problematic because the necessity for checking obstacles is relatively low. Few.
  • information that is highly necessary for the driver can be displayed on the screen in a form that allows the driver to intuitively recognize the situation.
  • SYMBOLS 1 Vehicle periphery monitoring apparatus, 15 ... Display monitor (display apparatus), 31 ... Collision possible part image, 53 ... Expected course display, 100 ... Vehicle, C ... Vehicle icon, S ... Surrounding obstacle.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

L'invention concerne un dispositif de surveillance de la périphérie d'un véhicule et un procédé d'affichage d'informations de surveillance de la périphérie d'un véhicule qui effectue un affichage sur écran permettant à un conducteur de reconnaître des conditions. Le dispositif de surveillance de la périphérie d'un véhicule de la présente invention comprend un dispositif d'affichage servant à effectuer un affichage sur écran d'informations acquises par la surveillance de la périphérie d'un véhicule, le dispositif d'affichage affichant simultanément sur un écran : une icône de véhicule représentant le véhicule et une image des alentours d'une section de collision potentielle pour laquelle il existe un risque de collision avec un obstacle périphérique parmi des sections du véhicule. La position d'affichage de l'icône de véhicule à l'écran est caractérisée en ce qu'elle est déterminée par la position de la section de collision potentielle.
PCT/JP2011/059966 2011-04-22 2011-04-22 Dispositif de surveillance de la périphérie d'un véhicule et procédé d'affichage d'informations de surveillance de la périphérie d'un véhicule Ceased WO2012144076A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2011/059966 WO2012144076A1 (fr) 2011-04-22 2011-04-22 Dispositif de surveillance de la périphérie d'un véhicule et procédé d'affichage d'informations de surveillance de la périphérie d'un véhicule

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2011/059966 WO2012144076A1 (fr) 2011-04-22 2011-04-22 Dispositif de surveillance de la périphérie d'un véhicule et procédé d'affichage d'informations de surveillance de la périphérie d'un véhicule

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WO2012144076A1 true WO2012144076A1 (fr) 2012-10-26

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015070350A (ja) * 2013-09-27 2015-04-13 日産自動車株式会社 監視画像提示システム
JP2018050180A (ja) * 2016-09-21 2018-03-29 株式会社Ｊｖｃケンウッド 俯瞰映像生成装置、俯瞰映像生成システム、俯瞰映像生成方法およびプログラム
JP2018050277A (ja) * 2016-09-20 2018-03-29 株式会社Ｊｖｃケンウッド 俯瞰映像生成装置、俯瞰映像生成システム、俯瞰映像生成方法およびプログラム
WO2018055873A1 (fr) * 2016-09-20 2018-03-29 株式会社Ｊｖｃケンウッド Dispositif de génération d'image vidéo de vue aérienne, système de génération d'image vidéo de vue aérienne, procédé de génération d'image vidéo de vue aérienne, et programme
JP2018160783A (ja) * 2017-03-22 2018-10-11 日本電気株式会社 俯瞰画像生成装置、俯瞰画像表示システム、俯瞰画像生成方法及びプログラム
CN109074742A (zh) * 2016-04-20 2018-12-21 三菱电机株式会社 周边认知装置、周边认知方法和周边认知程序

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000238594A (ja) * 1998-12-25 2000-09-05 Aisin Aw Co Ltd 運転支援装置
JP2010183170A (ja) * 2009-02-03 2010-08-19 Denso Corp 車両用表示装置
JP2011025874A (ja) * 2009-07-28 2011-02-10 Hitachi Automotive Systems Ltd 車載用画像表示装置
JP2011065520A (ja) * 2009-09-18 2011-03-31 Mitsubishi Motors Corp 運転支援装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000238594A (ja) * 1998-12-25 2000-09-05 Aisin Aw Co Ltd 運転支援装置
JP2010183170A (ja) * 2009-02-03 2010-08-19 Denso Corp 車両用表示装置
JP2011025874A (ja) * 2009-07-28 2011-02-10 Hitachi Automotive Systems Ltd 車載用画像表示装置
JP2011065520A (ja) * 2009-09-18 2011-03-31 Mitsubishi Motors Corp 運転支援装置

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015070350A (ja) * 2013-09-27 2015-04-13 日産自動車株式会社 監視画像提示システム
CN109074742A (zh) * 2016-04-20 2018-12-21 三菱电机株式会社 周边认知装置、周边认知方法和周边认知程序
JP2018050277A (ja) * 2016-09-20 2018-03-29 株式会社Ｊｖｃケンウッド 俯瞰映像生成装置、俯瞰映像生成システム、俯瞰映像生成方法およびプログラム
WO2018055873A1 (fr) * 2016-09-20 2018-03-29 株式会社Ｊｖｃケンウッド Dispositif de génération d'image vidéo de vue aérienne, système de génération d'image vidéo de vue aérienne, procédé de génération d'image vidéo de vue aérienne, et programme
JP2018050180A (ja) * 2016-09-21 2018-03-29 株式会社Ｊｖｃケンウッド 俯瞰映像生成装置、俯瞰映像生成システム、俯瞰映像生成方法およびプログラム
JP2018160783A (ja) * 2017-03-22 2018-10-11 日本電気株式会社 俯瞰画像生成装置、俯瞰画像表示システム、俯瞰画像生成方法及びプログラム

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