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WO2013038509A1 - Appareil de contrôle de la périphérie d'un véhicule et système de contrôle de la périphérie d'un véhicule - Google Patents

Appareil de contrôle de la périphérie d'un véhicule et système de contrôle de la périphérie d'un véhicule Download PDF

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Publication number
WO2013038509A1
WO2013038509A1 PCT/JP2011/070883 JP2011070883W WO2013038509A1 WO 2013038509 A1 WO2013038509 A1 WO 2013038509A1 JP 2011070883 W JP2011070883 W JP 2011070883W WO 2013038509 A1 WO2013038509 A1 WO 2013038509A1
Authority
WO
WIPO (PCT)
Prior art keywords
video
peripheral
detected
vehicle
obstacle
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/JP2011/070883
Other languages
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/JP2011/070883 priority Critical patent/WO2013038509A1/fr
Publication of WO2013038509A1 publication Critical patent/WO2013038509A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B60R1/27—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 providing all-round vision, e.g. using omnidirectional cameras
    • 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
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • 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
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • 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
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint

Definitions

  • the present invention relates to a vehicle periphery monitoring device and a vehicle periphery monitoring system.
  • a vehicle periphery monitoring system that displays a vehicle periphery image such as an omnidirectional bird's-eye view image around the vehicle and images of the front, rear, and side of the vehicle on an in-vehicle monitor is known.
  • the driver monitors the surroundings of the vehicle to check for obstacles (stationary objects, moving objects) around the vehicle in situations such as starting at a crossroad with poor visibility, shifting to a toll gate, reverse parking, and parallel parking.
  • the system may be used.
  • Japanese Patent Application Laid-Open No. 7-223487 discloses a system that detects an obstacle around a vehicle and emphasizes the display area of the obstacle according to the degree of danger and displays it on a monitor. However, this system assumes that the driver continues to watch the monitor to confirm the safety around the vehicle.
  • the driver does not keep gazing at the monitor, and usually looks at the monitor while driving the vehicle and confirms safety.
  • peripheral images such as a bird's eye view image and a rear image are displayed in a multi-screen configuration
  • the driver does not see all of the plurality of peripheral images, but only a part of the peripheral images. It is only a confirmation. Therefore, unless the line of sight is moved to a peripheral image capturing the presence of an obstacle, the presence may not be noticed, and safety may not be appropriately confirmed.
  • the present invention seeks to provide a vehicle periphery monitoring device and a vehicle periphery monitoring system with improved monitoring performance.
  • the present invention is applied to a vehicle periphery monitoring system that acquires a video around a vehicle, generates a plurality of different peripheral images from the acquired video, and displays the plurality of peripheral images in a plurality of screen configurations.
  • An obstacle detection unit that detects an obstacle located in the vicinity of a vehicle from a plurality of surrounding images and detects the presence of an obstacle that is not detected in other surrounding images, and another surrounding image
  • a vehicle periphery monitoring device is provided that includes a display control unit that performs display control so that at least a part of a surrounding image in which the presence of an obstacle that has not been detected is detected is emphasized over other surrounding images.
  • a video acquisition unit that acquires a video around the vehicle, a video generation unit that generates a plurality of different peripheral videos from the acquired video, and a plurality of peripheral videos configured in multiple screens
  • a vehicle periphery monitoring system includes the video display unit that displays the above and the vehicle periphery monitoring device described above.
  • the vehicle periphery monitoring device in the vehicle periphery monitoring system, a video around the vehicle is acquired, and a plurality of different peripheral images are generated from the acquired video. Peripheral images are displayed in a multi-screen configuration.
  • the obstacle detection unit detects an obstacle located around the vehicle from a plurality of surrounding images, and detects the presence of an obstacle that has not been detected from other surrounding images.
  • the display control unit performs display control so that at least a part of the peripheral video in which the presence of an obstacle not detected in the other peripheral video is detected is emphasized more than the other peripheral video.
  • the display control unit raises at least one of the brightness and the saturation higher than those of the other peripheral images by setting at least a part of the peripheral video in which the presence of the obstacle not detected in the other peripheral images is detected. You may control to display. According to such a configuration, since at least a part of the peripheral video in which the presence of the obstacle is detected is controlled to be displayed with at least one of brightness and saturation higher than those of other peripheral videos, The driver's line of sight can be reliably guided to surrounding images that capture obstacles.
  • the display control unit may perform display control so that the entire peripheral video in which the presence of an obstacle that has not been detected in other peripheral video is detected is emphasized more than the other peripheral video. According to such a configuration, the entire peripheral video in which the presence of the obstacle is detected is highlighted, so that the driver's line of sight is guided not only to the obstacle image but also to the entire peripheral image including the obstacle. It is possible to appropriately confirm not only the safety to objects but also the safety around obstacles.
  • the vehicle periphery monitoring device may further include a warning output unit that warns the driver of the presence of an obstacle when the presence of an obstacle that has not been detected in other surrounding images is detected.
  • a warning output unit that warns the driver of the presence of an obstacle when the presence of an obstacle that has not been detected in other surrounding images is detected.
  • FIG. 1 is a diagram illustrating a configuration of a vehicle periphery monitoring system according to an embodiment of the present invention. It is a flowchart which shows operation
  • FIG. 1 is a diagram showing a configuration of a vehicle periphery monitoring system 10 according to an embodiment of the present invention.
  • the vehicle periphery monitoring system 10 includes a video acquisition unit 11, a video generation unit 13, a video display unit 15, and a vehicle periphery monitoring device 20.
  • the vehicle periphery monitoring device 20 is configured as an ECU including an obstacle detection unit 21, a display control unit 23, and a warning output unit 25. Note that some of the functions of the vehicle periphery monitoring device 20 may be realized by components other than the vehicle periphery monitoring device 20.
  • the video acquisition unit 11 acquires video around the vehicle.
  • the video acquisition unit 11 is configured as a front camera, a rear camera, a left and right side camera, a front fisheye camera, a rear fisheye camera, a side mirror camera, and the like. Images around the vehicle are acquired as images of the front, rear, side, front wide angle, rear wide angle, and obliquely rear of the vehicle.
  • the video generation unit 13 generates a plurality of different peripheral videos from the acquired video.
  • the plurality of peripheral images are an omnidirectional bird's-eye view image around the vehicle, a vehicle front image, a rear image, a side image, a front wide angle image, a rear wide angle image, an oblique rear image, and the like.
  • the plurality of surrounding images represent different areas around the vehicle.
  • the bird's-eye view video represents the situation of a certain range of area surrounding the vehicle
  • the rear wide-angle video covers a wider area than the bird's-eye view video for the situation of the area behind the vehicle.
  • the video generation unit 13 generates a peripheral video suitable for peripheral monitoring according to the traveling state of the vehicle. For example, a bird's-eye view video and a rear wide-angle video suitable for safety confirmation when reversing are generated in a situation where the vehicle is moving backward in a parking lot. Is generated.
  • the plurality of peripheral images are also generated in other combinations depending on the traveling state of the vehicle.
  • the video generation unit 13 may be configured to generate a desired peripheral video according to a driver's switching operation separately from the vehicle traveling state.
  • the video generation unit 13 generates a peripheral video using at least video data supplied from the video acquisition unit 11.
  • the bird's-eye view video is obtained by processing video data of a front camera, a rear camera, and a side camera, and combining the processed data with image data (such as an image showing the own vehicle) read from a storage unit (not shown). Generated.
  • image data such as an image showing the own vehicle
  • a travel guide line that assists the steering by the driver may be combined according to the sensor value of the vehicle sensor (not shown).
  • the front image, rear image, side image, front wide angle image, rear wide angle image, and oblique rear image of the vehicle are the front camera, rear camera, side camera, front fisheye camera, rear fisheye camera, and side mirror, respectively. It is generated by processing camera video data.
  • the video display unit 15 displays a plurality of peripheral videos in a plurality of screen configurations.
  • the video display unit 15 is configured as an in-vehicle monitor disposed near the driver's seat.
  • a plurality of peripheral images are displayed in a plurality of screen configurations so that they can be distinguished from each other in an arrangement such as a vertical direction, a horizontal direction, and a lattice shape.
  • a case where two peripheral videos are displayed in a two-screen configuration will be described, but three or more peripheral videos may be displayed in a multi-screen configuration.
  • the obstacle detection unit 21 detects an obstacle located around the vehicle from a plurality of surrounding images.
  • a stationary object and a moving object located in an area covered by each peripheral video are detected as obstacles.
  • the obstacle detection unit 21 performs pattern recognition processing on each peripheral image to detect an obstacle located around the vehicle.
  • the obstacle detection unit 21 compares the obstacles detected in each peripheral image with each other, and detects the presence of an obstacle that has not been detected in other peripheral images. For example, when a pedestrian is not detected in the bird's-eye view video and a pedestrian is detected in the rear wide-angle video, the presence of the pedestrian in the rear wide-angle video is detected.
  • the obstacle detection unit 21 determines the risk of collision with the obstacle according to the type of obstacle (stationary object, moving object) detected on the surrounding image, the movement status (movement direction, movement speed), position, and the like. You may decide. In this case, the detection result of the presence of the obstacle may be corrected according to the collision risk of the obstacle. For example, if another vehicle is detected in the rear wide-angle image but the other vehicle is moving at a high speed in a direction away from the host vehicle, and the collision risk falls below a predetermined threshold, the detection result of the presence of the other vehicle is invalid. It may be said.
  • the display control unit 23 performs display control so that at least a part of the peripheral video in which the presence of an obstacle not detected in the other peripheral video is detected is emphasized more than the other peripheral video.
  • the entire peripheral image may be emphasized, or only the area near the obstacle may be emphasized.
  • the enhancement of the peripheral video may be performed, for example, through correction of the video data itself, or may be performed through control of the video display unit 15.
  • the enhancement of the peripheral video may be performed, for example, by displaying at least a part of the corresponding peripheral video with higher brightness and / or saturation than other peripheral videos.
  • the brightness and / or saturation of at least a part of the corresponding peripheral video may be higher than normal, and conversely, the brightness and / or saturation of the peripheral video that is not applicable may be lower than normal.
  • the enhancement of the surrounding video may be performed by blinking at least a part of the corresponding surrounding video over a predetermined period.
  • the warning output unit 25 warns the driver of the presence of an obstacle when the presence of an obstacle that has not been detected in other peripheral images is detected.
  • the warning output unit 25 is configured as a speaker that outputs a warning sound, a vibrator that vibrates an operation grip of the steering wheel, a blinking lamp that is mounted on a rearview mirror, or the like.
  • the warning output unit 25 configured as a speaker may be configured to notify the driver of the type, position, movement state, and the like of the obstacle along with the warning sound.
  • FIG. 2 is a flowchart showing the operation of the vehicle periphery monitoring system 10.
  • 3 and 4 are explanatory diagrams for explaining the operation of the vehicle periphery monitoring system 10.
  • the video acquisition unit 11 acquires a video around the vehicle (step S11). For example, images of the front, rear, left and right sides, front wide angle, rear wide angle, and diagonally rear of the vehicle are acquired. Note that in the video acquisition unit 11, the video to be acquired may be selected in advance in accordance with the driving situation of the vehicle.
  • the video generation unit 13 generates a plurality of different peripheral videos from the acquired video in accordance with the traveling state of the vehicle (step S13). For example, in a situation of retreating in a parking lot, a bird's-eye view image and a rear wide-angle image are generated.
  • the obstacle detection unit 21 detects an obstacle located around the vehicle from a plurality of surrounding images (step S15), and further detects the presence of an obstacle that has not been detected from other surrounding images (step S17). ).
  • the obstacle detection unit 21 determines whether the presence of an obstacle that has not been detected in other peripheral images is detected (step S19). When the presence of an obstacle is detected, the obstacle detection unit 21 notifies the display control unit 23 of the identification information of the corresponding peripheral image and the presence of the obstacle, and notifies the warning output unit 25 of the presence of the obstacle. Notice. Then, the display control unit 23 performs display control so that at least a part of the corresponding peripheral image is highlighted and displayed (step S21), and the warning output unit 25 warns the driver of the presence of an obstacle (step S23). . Then, the video display unit 15 displays a plurality of peripheral images, that is, a plurality of peripheral images in which at least a part of the corresponding peripheral image is emphasized in a plurality of screen configurations (step S25).
  • step S19 if the presence of an obstacle is not detected in step S19, the process proceeds to step 25, and the video display unit 15 displays a plurality of peripheral images, that is, a plurality of unenhanced peripheral images in a plurality of screen configurations. .
  • the processes of steps S11 to S25 are repeated until the process is completed (step S27).
  • FIG. 3A it is assumed that a pedestrian P is present behind the vehicle in a situation where the host vehicle V moves backward in the parking lot.
  • the presence of the pedestrian P is not detected in the bird's-eye view video I1 on the in-vehicle monitor M, but is newly detected in the rear wide-angle video I2.
  • the display control unit 23 is notified of the identification information of the rear wide-angle image I2 and the presence of the pedestrian P, and the warning output unit 25 is notified of the presence of the pedestrian P. Then, the display control unit 23 performs display control so that the entire rear wide-angle video I2 is emphasized more than the bird's-eye view video I1.
  • the rear wide-angle video I2 that is highlighted as a whole in FIG. 3B, the entire image is indicated by a thick line
  • the bird's-eye view video I1 that is not highlighted in FIG. 3B.
  • the image is displayed in a two-screen configuration, and the driver is warned from the warning output unit 25 that the pedestrian P is present.
  • the driver highlights the entire rear wide-angle video I2 in which the presence of the pedestrian P that has not been detected in the bird's-eye view video I1 is detected, so that the driver looks at both the bird's-eye view video I1 and the rear wide-angle video I2. Even if it does not move, the safety of the pedestrian P can be confirmed by moving the line of sight only to the rear wide-angle image I2 highlighted as a whole.
  • FIG. 4A a case is assumed where a pedestrian P is present on the side of the vehicle in a situation where the host vehicle V moves forward in a parking lot.
  • FIG. 4B the presence of the pedestrian P is not detected in the front wide-angle video I3 on the in-vehicle monitor M, but is newly detected in the bird's-eye view video I1.
  • the display control unit 23 is notified of the identification information of the bird's eye view video I1 and the presence of the pedestrian P, and the warning output unit 25 is notified of the presence of the pedestrian P.
  • the display control unit 23 performs display control so that a part of the bird's-eye view video I1 and the area where the pedestrian P is detected are emphasized more than the front wide-angle video I3.
  • the video display unit 15 partially highlights the bird's-eye view video I1 (in FIG. 4B, the image of the pedestrian P is indicated by a bold line) and the front wide angle that is not highlighted.
  • Video I3 in FIG. 4B, the entire image is lightly colored
  • the warning output unit 25 warns the driver of the presence of pedestrian P.
  • the driver partially highlights the bird's-eye view image I1 in which the presence of the pedestrian P that has not been detected in the front wide-angle image I3 is detected, so that the driver looks at both the bird's-eye view image I1 and the front wide-angle image I3. Even if it does not move, safety can be confirmed about the pedestrian P by moving a visual line only to the bird's-eye view image I1 partially highlighted.
  • the obstacle detection unit 21 detects an obstacle located around the vehicle from a plurality of surrounding images, and other surrounding images. Detects the presence of obstacles that have not been detected in.
  • the display control unit 23 performs display control so that at least a part of the peripheral video in which the presence of an obstacle not detected in the other peripheral video is detected is emphasized more than the other peripheral video. As a result, at least a part of the peripheral video in which the presence of an obstacle that has not been detected in the other peripheral video is detected is highlighted, so that the driver does not have to move the line of sight to all of the plurality of peripheral videos. However, it is possible to confirm the safety against the obstacle by moving the line of sight only to the peripheral video highlighted at least partially. Therefore, the monitoring performance by the vehicle periphery monitoring system can be improved.
  • the present invention relates to a program for executing the detection of the presence of an obstacle, highlighting processing, and the like based on the above-described vehicle periphery monitoring algorithm, or a computer-readable recording medium storing the program It can also be applied to.

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

Abstract

La présente invention concerne un appareil de contrôle de la périphérie d'un véhicule (20) appliqué à un système de contrôle de la périphérie d'un véhicule (10) qui prend une image de la périphérie d'un véhicule, génère une pluralité d'images de périphérie mutuellement différentes de l'image prise, et affiche la pluralité d'images de périphérie dans une configuration à écrans multiples, et est pourvu : d'une unité de détection d'obstacle (21) qui détecte un obstacle à la périphérie du véhicule dans une pluralité d'images de périphérie et qui détecte la présence d'un obstacle dans une image de périphérie qui n'est pas détectée dans d'autres images de périphérie ; et une unité de commande d'affichage (23) qui met en œuvre la commande d'affichage pour mettre en valeur au moins une partie de l'image de périphérie dans laquelle la présence de l'obstacle qui n'est pas détecté dans les autres images de périphéries est détectée, par rapport aux autres images de périphérie.
PCT/JP2011/070883 2011-09-13 2011-09-13 Appareil de contrôle de la périphérie d'un véhicule et système de contrôle de la périphérie d'un véhicule Ceased WO2013038509A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2011/070883 WO2013038509A1 (fr) 2011-09-13 2011-09-13 Appareil de contrôle de la périphérie d'un véhicule et système de contrôle de la périphérie d'un véhicule

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2011/070883 WO2013038509A1 (fr) 2011-09-13 2011-09-13 Appareil de contrôle de la périphérie d'un véhicule et système de contrôle de la périphérie d'un véhicule

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WO2013038509A1 true WO2013038509A1 (fr) 2013-03-21

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PCT/JP2011/070883 Ceased WO2013038509A1 (fr) 2011-09-13 2011-09-13 Appareil de contrôle de la périphérie d'un véhicule et système de contrôle de la périphérie d'un véhicule

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07223487A (ja) * 1994-02-14 1995-08-22 Mitsubishi Motors Corp 車両用周囲状況表示装置
JP2001063500A (ja) * 1999-08-26 2001-03-13 Matsushita Electric Works Ltd 車両周辺障害物監視装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07223487A (ja) * 1994-02-14 1995-08-22 Mitsubishi Motors Corp 車両用周囲状況表示装置
JP2001063500A (ja) * 1999-08-26 2001-03-13 Matsushita Electric Works Ltd 車両周辺障害物監視装置

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