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WO2019030963A1 - Dispositif de commande d'affichage de véhicule, dispositif de détermination de position d'arrêt de véhicule, système de commande d'affichage de véhicule, procédé de commande d'affichage de véhicule, et programme - Google Patents

Dispositif de commande d'affichage de véhicule, dispositif de détermination de position d'arrêt de véhicule, système de commande d'affichage de véhicule, procédé de commande d'affichage de véhicule, et programme Download PDF

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Publication number
WO2019030963A1
WO2019030963A1 PCT/JP2018/011907 JP2018011907W WO2019030963A1 WO 2019030963 A1 WO2019030963 A1 WO 2019030963A1 JP 2018011907 W JP2018011907 W JP 2018011907W WO 2019030963 A1 WO2019030963 A1 WO 2019030963A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
display
unit
display control
information
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/JP2018/011907
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English (en)
Japanese (ja)
Inventor
貴之 荒瀬
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.)
JVCKenwood Corp
Original Assignee
JVCKenwood Corp
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Filing date
Publication date
Application filed by JVCKenwood Corp filed Critical JVCKenwood Corp
Publication of WO2019030963A1 publication Critical patent/WO2019030963A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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

Definitions

  • the present invention relates to a display control device for a vehicle, a stop position determination device for a vehicle, a display control system for a vehicle, a display control method for a vehicle, and a program.
  • Vehicles may stop for traffic lights while driving or may stop due to traffic jams. For example, when there is an entrance of a parking lot or an entrance of an alley around a vehicle, smooth stopping of other vehicles entering and exiting the entrance when the vehicle stops at a position where the entrance is blocked It may interfere. Therefore, when there is a risk of making smooth passage of another vehicle difficult, it is desirable to display the periphery of the vehicle in a checkable manner in order to assist the driver in determining the appropriate stop position.
  • the present invention has been made in view of the above, and it is an object of the present invention to display an appropriate stop position in a checkable manner when the vehicle may make smooth passage of another vehicle difficult.
  • a display control apparatus for a vehicle includes: a video data acquisition unit for acquiring peripheral image data photographed by a photographing unit for photographing the periphery of the vehicle; A peripheral information acquisition unit for acquiring peripheral information indicating the situation around the vehicle, a vehicle information acquisition unit for acquiring vehicle information of the vehicle, and the peripheral information acquired by the peripheral information acquisition unit, or the video data acquisition unit And a display control unit for causing the display unit to display the display video generated by the video generation unit, the display control unit further comprising: When it is determined that the vehicle may make it difficult to smoothly pass another vehicle based on the surrounding information acquired by the acquiring unit and the vehicle information acquired by the vehicle information acquiring unit, the video Generating unit has generated, the do not inhibit the passage of the other vehicle displaying a display image including information indicating the stop position of the vehicle on the display unit, characterized in that.
  • the vehicle stop position determination device includes: a peripheral information acquisition unit acquiring peripheral information indicating a peripheral environment of the vehicle; a vehicle information acquisition unit acquiring vehicle information of the vehicle; The surrounding condition determining unit determines the other vehicle by the vehicle based on the surrounding information acquired by the surrounding information acquiring unit and the vehicle information acquired by the vehicle information acquiring unit. When it is determined that smooth traffic may be difficult, information indicating the stop position of the vehicle that does not disturb the traffic of the other vehicle is output.
  • a display control system for a vehicle includes the display control device for a vehicle described above, and a photographing unit that photographs the periphery of the vehicle and supplies the peripheral image data to the video data acquisition unit. .
  • the display control step includes a generation step and a display control step of causing the display unit to display a display image generated in the video generation step, the display control step including the peripheral information acquired in the peripheral information acquisition step and the vehicle information acquisition step Based on the acquired vehicle information, smooth communication of other vehicles is performed by the vehicle. If it is determined that there is a possibility of difficulty, said generated by the image generating step, a display image including information indicating the stop position of the vehicle that does not inhibit the passage of the other vehicle is displayed on the display unit.
  • the program according to the present invention comprises a video data acquisition step of acquiring peripheral video data photographed by a photographing unit photographing a peripheral of the vehicle, a peripheral information acquisition step of acquiring peripheral information indicating a situation around the vehicle, and A vehicle information acquisition step of acquiring vehicle information of a vehicle, and a video generation step of generating a display video based on the peripheral information acquired by the peripheral information acquisition step or a peripheral video acquired by the video data acquisition step; And a display control step of causing the display unit to display the display video generated in the video generation step, wherein the display control step includes peripheral information acquired in the peripheral information acquisition step and vehicle information acquired in the vehicle information acquisition step.
  • a display video including the information indicating the stop position of the vehicle generated in the video generation step which does not disturb the passage of the other vehicle is displayed on the display unit when it is determined that there is a possibility It is executed by a computer that operates as a display control device.
  • the driver can display an appropriate stop position in a checkable manner when there is a risk of making smooth passage of another vehicle difficult.
  • FIG. 1 is a block diagram showing a configuration example of a display control system for a vehicle according to the first embodiment.
  • FIG. 2 is a diagram showing a vehicle and its surroundings.
  • FIG. 3 is a diagram showing a vehicle and its surroundings.
  • FIG. 4 is a view showing an example of a bird's-eye view image generated by the vehicle display control system according to the first embodiment.
  • FIG. 5 is a flowchart showing the flow of processing in the display control device for a vehicle of the display control system for a vehicle according to the first embodiment.
  • FIG. 6 is a diagram showing an example of a front image generated by the display control system for a vehicle.
  • a display control device 40 for a vehicle a stop position determination device for a vehicle (not shown), a display control system 1 for a vehicle, a display control method for a vehicle and a program according to the present invention will be described in detail. Do. Note that the present invention is not limited by the following embodiments.
  • FIG. 1 is a block diagram showing a configuration example of a display control system for a vehicle according to the first embodiment.
  • FIG. 2 is a diagram showing a vehicle and its surroundings.
  • FIG. 3 is a diagram showing a vehicle and its surroundings.
  • the vehicle display control system 1 determines that the vehicle V1 may make smooth entry and exit of the other vehicle V3 difficult
  • the information indicating the appropriate stop position of the vehicle V1 which does not inhibit the passage of the other vehicle V3 is An overhead view image 100 (see FIG. 4) as a display image to be included is generated.
  • FIGS. 2 and 3 show an example of the case where it is determined that the vehicle V1 may make smooth entry and exit of the other vehicle V3 difficult.
  • the entrance P may be, for example, on the right side as long as it is in the vicinity of the vehicle V1.
  • Whether to display the overhead view image 100 may be determined based on the size and the presence or absence of the central separator.
  • the entrance P is a place where another vehicle V3 may move in and out across the front and back of the vehicle V1.
  • the entrance P is a place where, for example, another vehicle V3 which is a right-turn vehicle traveling in the opposite lane may cross the front of the vehicle V1.
  • the entrance P is, for example, an entrance of a parking lot or an entrance of an alley.
  • the vehicle V1 may make it difficult to smoothly enter and leave the entrance P of the other vehicle V3 when the vehicle V1 stops at the position where the entrance P is closed.
  • even if the vehicle V1 does not stop completely, when performing significant deceleration or slowing in the vicinity of the entrance P it may prevent other vehicles V3 from entering and exiting the entrance P, which may make smooth entry and exit difficult. .
  • the vehicle display control device 40 and the vehicle display control system 1 are mounted on a vehicle V1.
  • the vehicle display control device 40 and the vehicle display control system 1 may be portable devices that can be used in the vehicle V1, in addition to those mounted on the vehicle V1.
  • the display control system 1 for vehicles is demonstrated using FIG.
  • the display control system 1 for vehicles has one or more imaging
  • the vehicle display control system 1 includes a front camera (shooting unit) 11, a rear camera (shooting unit) 12, a left side camera (shooting unit) 13, and a right side camera (shooting unit) 14 , And a display control device 40 for a vehicle.
  • the front camera 11 is an overhead video camera.
  • the front camera 11 is disposed in front of the vehicle V1 and captures an area around the front of the vehicle V1. As shown in FIG. 2, the front camera 11 captures an image of a first imaging range A1 of, for example, about 180 °.
  • the first shooting range A1 includes a wider range in front of the vehicle V1 than the display range A of the overhead image 100.
  • the front camera 11 outputs the captured video to the video data acquisition unit 42 of the vehicle display control device 40.
  • the rear camera 12 is an overhead video camera.
  • the rear camera 12 is disposed at the rear of the vehicle V1 and captures an image of the area around the rear of the vehicle V1.
  • the rear camera 12 shoots a second shooting range A2 of about 180 °, for example.
  • the second shooting range A2 includes a wider range behind the vehicle V1 than the display range A of the overhead image 100.
  • the rear camera 12 outputs the captured video to the video data acquisition unit 42 of the vehicle display control device 40.
  • the left side camera 13 is an overhead video camera.
  • the left side camera 13 is disposed on the left side of the vehicle V1 and captures an image of the area around the left side of the vehicle V1.
  • the left side camera 13 shoots a third shooting range A3 of about 180 °, for example.
  • the third shooting range A3 includes a wider range on the left side of the vehicle V1 than the display range A of the overhead image 100.
  • the left side camera 13 outputs the captured video to the video data acquisition unit 42 of the vehicle display control device 40.
  • the right side camera 14 is a bird's eye view camera.
  • the right side camera 14 is disposed on the right side of the vehicle V1 and captures an area around the right side of the vehicle V1.
  • the right side camera 14 captures, for example, a fourth imaging range A4 of about 180 °.
  • the fourth shooting range A4 includes a wider range on the right side of the vehicle V1 than the display range A of the overhead image 100.
  • the right side camera 14 outputs the captured video to the video data acquisition unit 42 of the display control device 40 for a vehicle.
  • the forward camera 11, the rear camera 12, the left side camera 13 and the right side camera 14 capture images of all directions of the vehicle V ⁇ b> 1.
  • the display panel 31 is a display including, for example, a liquid crystal display (LCD) or an organic electro-luminescence (EL) display.
  • the display panel 31 displays the overhead view video 100 based on the video signal output from the vehicle display control device 40 of the vehicle display control system 1.
  • the display panel 31 may be dedicated to the vehicle display control system 1 or may be used jointly with other systems including, for example, a navigation system.
  • the display panel 31 is disposed at a position easily visible by the driver.
  • the vehicle display control device 40 includes a control unit 41 and a storage unit 50.
  • the control unit 41 is, for example, an arithmetic processing unit configured by a CPU (Central Processing Unit) or the like.
  • the control unit 41 loads the program stored in the storage unit 50 into the memory and executes an instruction included in the program.
  • the control unit 41 includes a video data acquisition unit 42, a surrounding information acquisition unit 43, a vehicle information acquisition unit 44, a video generation unit 45, and a display control unit 49.
  • the control unit 41 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the control unit 41 and the like.
  • the video data acquisition unit 42 acquires peripheral video data obtained by photographing the periphery of the vehicle V1. More specifically, the video data acquisition unit 42 acquires video data output from the front camera 11, the rear camera 12, the left side camera 13, and the right side camera 14. The video data acquisition unit 42 outputs the acquired video data to the peripheral information acquisition unit 43 and the video generation unit 45. Video data acquired from each camera is, for example, a moving image composed of images at 30 frames per second.
  • the surrounding information acquisition unit 43 acquires surrounding information indicating the situation around the vehicle V1.
  • the peripheral information acquisition unit 43 executes image processing on the peripheral video acquired by the video data acquisition unit 42 to detect the entrance P existing on the front side of the vehicle V1, and the detection result is It will be peripheral information.
  • the peripheral information acquisition unit 43 uses a position where a guardrail or a cut of a curb exists in the left front of the vehicle V1 as the entrance P To detect.
  • the peripheral information acquisition unit 43 is a location where a sign indicating the entrance of the parking lot exists in the left front of the vehicle V1 Detect as P.
  • the peripheral information acquisition unit 43 outputs the detection result of the entrance P to the video generation unit 45 as peripheral information.
  • the peripheral information acquisition unit 43 may detect an object to be photographed having a linearity equal to or greater than a predetermined length from the peripheral image as a guardrail or a curb by edge detection processing, and detect a cut of the object.
  • the peripheral information acquisition unit 43 may detect a cut in the guardrail or the curb from the peripheral image by a recognition dictionary that stores the cut in the guardrail or the curb.
  • the peripheral information acquisition unit 43 may detect the entrance / exit P from map information of a navigation system (not shown) and current position information of the vehicle V1.
  • the peripheral information acquisition unit 43 is at least one of the vehicle speed of the leading vehicle V2 traveling in front of the vehicle V1, the inter-vehicle distance L1 between the vehicle V1 and the leading vehicle V2, and the relative speed between the vehicle V1 and the leading vehicle V2. May be included in the preceding vehicle information acquisition unit 431.
  • the leading vehicle information acquisition unit 431 acquires the state of the leading vehicle V2 from the front camera 11, various sensors for sensing, and vehicle information indicating the status of the vehicle V1 obtained from CAN (Controller Area Network).
  • the vehicle information acquisition unit 44 acquires vehicle information indicating the status of the vehicle V1 from CAN or various sensors that sense the status of the vehicle V1.
  • the vehicle information acquisition unit 44 acquires, for example, vehicle speed information.
  • the vehicle information acquisition unit 44 outputs the acquired vehicle information to the video generation unit 45.
  • the video generation unit 45 generates the overhead view video 100 based on the peripheral information acquired by the peripheral information acquisition unit 43 or the peripheral video acquired by the video data acquisition unit 42.
  • the video generation unit 45 predicts stop and deceleration of the vehicle V1 based on the peripheral information indicating the peripheral condition acquired by the peripheral information acquisition unit 43 and the vehicle information acquired by the vehicle information acquisition unit 44, and the other vehicle V3 If it is determined that the smooth passage of the vehicle V may be difficult, the overhead video 100 including information indicating the appropriate stop position of the vehicle V1 is generated.
  • the image generation unit 45 has the entrance P in front of the vehicle V1 and there is a possibility that the vehicle V1 may block at least a part of the entrance P and stop.
  • the image generation unit 45 determines that the entrance / exit P exists in front of the vehicle V1 and that the vehicle V1 may stop, and the predicted stop position based on the vehicle speed of the vehicle V1 is the entrance / exit When it is determined that at least a part of P is to be closed, the overhead view video 100 including information indicating the appropriate stop position of the vehicle V1 is generated.
  • Blocking at least a part of the entrance / exit part P means that the vehicle V1 stopped at the predicted stop position calculated based on the vehicle speed is located on the side of the entrance / exit part P and the front end of the vehicle V1 and the rear end of the preceding vehicle V2 This means that the inter-vehicle distance L1 to the part is smaller than the width L2 of the entrance P.
  • the inter-vehicle distance L1 is large enough to prevent the other vehicle V3 from passing.
  • the vehicle V1 it is determined as follows whether stop or deceleration of the vehicle V1 is predicted, in other words, whether the vehicle V1 may stop. Based on at least one of the vehicle information acquired by the vehicle information acquisition unit 44, the leading vehicle information acquired by the leading vehicle information acquisition unit 431, and the peripheral information indicating the peripheral status acquired by the peripheral information acquisition unit 43. It is determined whether the vehicle V1 may stop. For example, it is determined that the vehicle V1 may stop if the vehicle speed or acceleration of the vehicle V1 is equal to or less than a threshold or if information such as a forward signal is a red signal is acquired.
  • the vehicle V1 may stop if the relative speed with the vehicle speed is less than the threshold.
  • the threshold value of the vehicle speed of the vehicle V1 or the preceding vehicle V2 is 20 km / h.
  • the threshold value of the inter-vehicle distance L1 is 10 m.
  • the image generation unit 45 outputs the generated overhead view image 100 to the display control unit 49.
  • the image generation unit 45 includes a viewpoint conversion processing unit (not shown), a clipping processing unit, and a combining processing unit.
  • the viewpoint conversion processing unit performs viewpoint conversion processing on the surrounding video data acquired by the video data acquisition unit 42 so as to look down on the vehicle V1 from above. More specifically, the viewpoint conversion processing unit generates a video subjected to viewpoint conversion processing based on peripheral video data captured by the front camera 11, the rear camera 12, the left side camera 13 and the right side camera 14.
  • the method of viewpoint conversion processing may be any known method and is not limited.
  • the viewpoint conversion processing unit outputs the peripheral video data subjected to the viewpoint conversion processing to the clipping processing unit.
  • the clipping processing unit performs clipping processing on a video within a predetermined range from the peripheral video data subjected to the viewpoint conversion processing. Which range is to be cut out is registered and stored in advance.
  • the clipping processing unit outputs the video data of the video subjected to the clipping processing to the combining processing unit.
  • the combining processing unit performs combining processing to combine the video data subjected to the clipping processing.
  • the combining processing unit displays the vehicle icon 110 on the combined image, and generates the overhead view image 100 in which the information indicating the appropriate stop position of the vehicle V1 is superimposed.
  • the information indicating the appropriate stop position of the vehicle V1 indicates the position where the stop position of the vehicle V1 does not obstruct the passage of the other vehicle V3.
  • the information indicating the appropriate stop position of the vehicle V1 indicates a position at which the other vehicle V3 can smoothly enter and leave the entrance P.
  • the information indicating the appropriate stop position of the vehicle V1 is, for example, a stop line icon resembling a stop line drawn on the road surface, or a stop that simulates a stop or a sign indicating the appropriate stop position of the vehicle V1. It is a sign icon or a stop prohibition area icon simulating a sign indicating a stop prohibition part or a non-entry part drawn on the road surface.
  • the stop line icon and the stop sign icon are superimposed at a position immediately before reaching the entrance P.
  • the stop line icon and the stop sign icon are superimposed at a position based on the end of the entrance / exit P on the vehicle V1 side in the display video.
  • the stop prohibition area is an area on the side of the entrance P.
  • the composition processing unit superimposes at least one of the stop line icon, the stop sign icon, and the stop prohibition area icon.
  • the combining processing unit when the information indicating the appropriate stop position of the vehicle V1 is not included as an object to be photographed, the combining processing unit superimposes the stop prohibition area icon 120.
  • the combining processing unit may or may not superimpose the icon on the stop line or the like.
  • the icon to be superimposed depending on the object to be photographed may be changed such as superimposing the stop sign icon.
  • the overhead view image 100 will be described with reference to FIG. FIG. 4 is a view showing an example of a bird's-eye view image generated by the vehicle display control system according to the first embodiment.
  • the overhead image 100 displays a predetermined display range A from the vehicle V1.
  • the overhead image 100 is located at a central portion surrounded by the front image 101, the rear image 102, the left side image 103, the right side image 104, the front image 101, the rear image 102, the left direction image 103, and the right side image 104.
  • Vehicle icon 110 and a stop prohibition area icon 120 indicates the position and the direction of the vehicle V1.
  • the vehicle icon 110 is disposed at the center with the front-rear direction parallel to the front-rear direction of the overhead view video 100.
  • the stop prohibition area icon 120 encloses an area on the side of the entrance P. It is preferable that the overhead image 100 can recognize the relative positional relationship between the front end of the vehicle V1, the rear end of the preceding vehicle V2, and the entrance P.
  • FIG. 4 diagonal broken lines indicating boundaries between the front image 101, the rear image 102, the left side image 103, and the right side image 104 are illustrated for the sake of illustration, but are actually displayed on the display panel 31.
  • the broken line may not be displayed in the overhead image 100. The same applies to the other figures.
  • the display control unit 49 may make smooth passage of the other vehicle V3 difficult based on the peripheral information indicating the peripheral status acquired by the peripheral information acquisition unit 43 and the vehicle information acquired by the vehicle information acquisition unit 44. If it is determined that there is, the overhead video 100 generated by the video generation unit 45 is displayed on the display panel 31.
  • the display control unit 49 has the entrance P where the other vehicle V3 can enter and exit on the side of the vehicle V1 based on the surrounding information and the vehicle information, and the stop and deceleration of the vehicle V1 If it is predicted that it is determined that smooth entry and exit from the entrance P of the other vehicle V3 may be difficult, the overhead view image 100 generated by the image generation unit 45 is displayed on the display panel 31.
  • the storage unit 50 stores data required for various processes in the vehicle display control device 40 and various process results.
  • the storage unit 50 is, for example, a semiconductor memory device such as a random access memory (RAM), a read only memory (ROM), a flash memory, or a storage device such as a hard disk or an optical disk.
  • FIG. 5 is a flowchart showing the flow of processing in the display control device for a vehicle of the display control system for a vehicle according to the first embodiment.
  • the control unit 41 determines whether or not there is the entrance / exit P on the side (step S11). More specifically, if the control unit 41 determines that the entrance P is detected based on the peripheral information acquired from the peripheral information acquisition unit 43 (Yes in step S11), the control unit 41 proceeds to step S12. When it is determined that the entrance / exit P is not detected based on the peripheral information acquired from the peripheral information acquisition unit 43 (No in step S11), the control unit 41 executes the process of step S11 again.
  • Control unit 41 determines whether or not vehicle V1 may stop near entrance P (step S12). More specifically, it is determined that the control unit 41 determines that the vehicle V1 may stop and determines that the predicted stop position of the vehicle V1 may block at least a part of the entrance P and stop. (Yes in step S12), the process proceeds to step S13. If it is not determined that there is a possibility that the vehicle V1 may stop, or if it is determined that there is no possibility that the predicted stop position of the vehicle V1 may block and stop at least a part of the entrance / exit part P The process of step S11 is performed again.
  • the control unit 41 generates the overhead view image 100 in which the stop prohibition area icon 120 is superimposed (step S13). More specifically, the control unit 41 causes the image generation unit 45 to perform viewpoint conversion so that the vehicle V1 is viewed from above from the surrounding image acquired by the image data acquisition unit 42, and the overhead image 100 in which the stop prohibition area icon 120 is superimposed. Generate The control unit 41 proceeds to step S14.
  • the stop prohibition area icon 120 to be superimposed may be the stop line icon 210 and the stop sign icon 220, and a plurality of pieces of information indicating the stop positions may be simultaneously superimposed.
  • the control unit 41 displays the overhead view image 100 on which the stop prohibition area icon 120 is superimposed (step S14). More specifically, the control unit 41 causes the display control unit 49 to display the overhead view image 100 on which the stop prohibition area icon 120 is superimposed on the display panel 31. The control unit 41 proceeds to step S15.
  • the control unit 41 determines whether or not there is an end trigger (step S15).
  • the termination trigger is, for example, when there is no possibility that the vehicle V1 will stop or when the vehicle V1 passes by the side of the entrance P. If there is an end trigger, the control unit 41 determines to end the display of the overhead view video 100 (Yes in step S15), and ends the process. When there is no end trigger, the control unit 41 determines that the display of the overhead view video 100 is not ended (No in step S15), and executes the process of step S13 again.
  • the vehicle display control system 1 has the entrance P at the side of the vehicle V1 and that the vehicle V1 may block at least a part of the entrance P and stop.
  • a video signal for displaying on the display panel 31 the overhead video image 100 on which the stop prohibition area icon 120 is superimposed is output.
  • the display panel 31 displays, for example, a bird's eye view image 100 in which the stop prohibition area icon 120 is superimposed on the navigation screen, based on the image signal output from the vehicle display control system 1.
  • the vehicle V1 when it is determined that the entrance / exit portion P exists on the side of the vehicle V1 and there is a possibility that the vehicle V1 may block at least a part of the entrance / exit portion P and stop.
  • the overhead image 100 on which the stop prohibition area icon 120 is superimposed can be displayed on the display panel 31.
  • the driver when the entrance / exit P is present on the side of the vehicle V1, the driver can easily recognize an appropriate position for stopping the vehicle V1.
  • the overhead view image 100 is not displayed
  • the driver may have difficulty in determining the appropriate position for stopping the vehicle V1.
  • the vehicle V1 may stop at the stop position where the entrance / exit portion P is closed.
  • the other vehicle V3 attempting to cross the front of the vehicle V1 from the oncoming lane and enter the entrance P can not advance until the vehicle V1 moves forward, and the following vehicle of the other vehicle V3 stays and the oncoming lane Smooth traffic may be impeded.
  • the driver since the overhead view image 100 as shown in FIG. 4 is displayed, the driver can easily block the entrance P and stop when the vehicle V1 further travels. It can be confirmed. The driver can determine that it is better to stop at the current position that does not fall in the stop prohibition area. Thereby, according to the present embodiment, it is possible to smoothly pass the other vehicle V3. Furthermore, according to the present embodiment, the following vehicle of the other vehicle V3 can be suppressed from staying.
  • Each component of the illustrated display control system 1 is functionally conceptual, and may not necessarily be physically configured as illustrated. That is, the specific form of each device is not limited to the illustrated one, and all or a part thereof is functionally or physically dispersed or integrated in an arbitrary unit according to the processing load and use condition of each device, etc. May be
  • the configuration of the vehicle display control system 1 is realized by, for example, a program loaded into a memory as software.
  • the above embodiment has been described as a functional block realized by cooperation of these hardware or software. That is, these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof.
  • the image generation unit 45 has been described as generating the overhead image 100 as a display image, the present invention is not limited to this.
  • the front image 200 may be generated as a display image.
  • FIG. 6 shows an example of a front image 200 generated instead of the overhead image 100 in the first embodiment.
  • FIG. 6 is a diagram showing an example of a front image generated by the display control system for a vehicle.
  • the display control unit 49 there is a possibility that the entrance P exists in front of the vehicle V1 based on the surrounding information and the vehicle information, and the vehicle V1 may block at least a part of the entrance P and stop.
  • the display panel 31 may display the front image 200 including information indicating the appropriate stop position of the vehicle V1.
  • the forward image 200 includes a stop line icon 210 and a stop sign icon 220 displayed in the vicinity of the stop line icon 210.
  • the display image generated instead of the overhead image 100 may be recognized as a virtual image by the head-up display device.
  • the display control unit 49 causes the display unit, which is a projection unit, to display a stop line icon as a display image including, for example, information indicating the stop position of the vehicle.
  • AR Augmented Reality: The augmented reality
  • AR is used to determine the display position of the stop information so as to display a stop line or a stop sign at a position determined to stop the vehicle V1 on the real space that is the driver's field of vision.
  • the display form is easy for the driver to visually recognize.
  • the display video at this time is only the stop information indicating the position to be stopped, and the video taken by the imaging unit is not included, and AR display is performed by determining the display position of the stop icon on the real space.
  • the AR technique superimposes a virtual display on a physical space, and a known technique may be used to determine the display position, so the detailed description will be omitted here.
  • the peripheral information acquisition unit 43 may perform image processing on the peripheral video acquired by the video data acquisition unit 42 as peripheral information of the vehicle V1 to detect that the traffic light ahead of the vehicle V1 is red.
  • the surrounding information acquisition unit 43 may detect that the brake lamp of the leading vehicle V2 is on by image processing as surrounding information of the vehicle V1.
  • the surrounding information acquisition unit 43 may detect, as surrounding information of the vehicle V1, that the inter-vehicle distance L1 between the vehicle V1 and the leading vehicle V2 detected by a sensor (not shown) has become equal to or less than a threshold. Then, the video generation unit 45 may determine that there is a possibility that the vehicle V1 may stop based on the information.
  • the image generation unit 45 may generate the overhead image 100 while the display control system 1 for a vehicle is activated. In this case, if it is determined that the stop and deceleration of the vehicle V1 are predicted by the display control unit 49 and there is a possibility that smooth passage of the other vehicle V3 may be difficult, control is performed to display the overhead image 100. Good.
  • the embodiment described above can also be realized as a vehicle stop position determination device.
  • the vehicle stop position determination device includes a surrounding information acquisition unit 43, a vehicle information acquisition unit 44, and a surrounding condition determination unit (not shown).
  • the surrounding situation determination unit does not inhibit the passage of the other vehicle V3.
  • a control signal indicating that control to stop at a position determined to be to be performed is output.
  • a control signal indicating that the vehicle V1 is to be stopped at the position determined to be stopped is output to the automatic driving control unit of the vehicle V1.
  • the surrounding situation determination unit determines if the inter-vehicle distance L1 between the vehicle V1 and the preceding vehicle V2 is equal to or less than the threshold value;
  • the automatic driving control unit of the vehicle V1 stops the vehicle V1.
  • a control signal indicating that control to stop at a position determined to be to be performed is output. According to such a vehicle stop position determination device, the vehicle V1 can be automatically stopped at an appropriate stop position when there is a risk of making smooth passage of the other vehicle V3 difficult.

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

Abstract

La présente invention concerne : une unité d'acquisition de données d'image (42) qui acquiert des données d'image de zone environnante capturées par des caméras ; une unité d'acquisition d'informations de zone environnante (43) qui acquiert des informations de zone environnante indiquant l'état de la zone entourant un véhicule ; une unité d'acquisition d'informations de véhicule (44) qui acquiert des informations de véhicule comprenant la vitesse de véhicule du véhicule ; une unité de génération d'image (45) qui génère une image d'affichage sur la base des informations de zone environnante ou d'une image de zone environnante ; et une unité de commande d'affichage (49) qui affiche l'image d'affichage générée par l'unité de génération d'image (45) sur un panneau d'affichage (31). S'il est déterminé sur la base des informations de zone environnante acquises par l'unité d'acquisition d'informations de zone environnante (43) et des informations de véhicule acquises par l'unité d'acquisition d'informations de véhicule (44) qu'il existe une possibilité que le véhicule entrave le passage régulier d'un autre véhicule, l'unité de commande d'affichage (49) amène l'image d'affichage, comprenant des informations indiquant la position d'arrêt du véhicule, à être affichée sur le panneau d'affichage (31).
PCT/JP2018/011907 2017-08-10 2018-03-23 Dispositif de commande d'affichage de véhicule, dispositif de détermination de position d'arrêt de véhicule, système de commande d'affichage de véhicule, procédé de commande d'affichage de véhicule, et programme Ceased WO2019030963A1 (fr)

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WO2021024454A1 (fr) * 2019-08-08 2021-02-11 三菱電機株式会社 Dispositif d'aide à la conduite et procédé d'aide à la conduite

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CN109733285A (zh) * 2019-02-27 2019-05-10 百度在线网络技术（北京）有限公司 车辆行驶状态显示方法、设备和系统
CN109733285B (zh) * 2019-02-27 2021-05-07 百度在线网络技术（北京）有限公司 车辆行驶状态显示方法、设备和系统
WO2021024454A1 (fr) * 2019-08-08 2021-02-11 三菱電機株式会社 Dispositif d'aide à la conduite et procédé d'aide à la conduite
JPWO2021024454A1 (ja) * 2019-08-08 2021-12-23 三菱電機株式会社 運転支援装置
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