JP2005050220A - Confirmation support device for vehicle surroundings - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent a rear monitoring picture from being automatically displayed when a driver does not need it in a confirmation support device for vehicle surroundings. <P>SOLUTION: In the case where it is detected continuously for 10 s or longer that the current location of the vehicle is within a parking zone or within a 50-meter radius of a rear monitoring point specified by an occupant on a map by assessments made in steps 120 and 122 on the basis of the current location of the vehicle and map data, if a vehicle speed of 10 km/h or lower is detected in step 124, a rear monitoring flag RMF is set to 2 in step 126. In response to this, display of a display device is automatically switched to a rear monitoring picture of the vehicle acquired by a rear monitoring camera installed on the vehicle. The display of the rear monitoring picture is continued until it is canceled by an occupant or until an ignition switch is turned off. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a vehicle surroundings confirmation support apparatus that is mounted on a vehicle and provides assistance information for confirming a situation around the vehicle to an occupant.

In a vehicle equipped with a rear monitoring camera, it is possible to display a monitoring image of the rear of the vehicle acquired by the rear monitoring camera on a display device in the passenger compartment by a driver's operation and use it as support information when the vehicle is moved backward In such a vehicle, it has been proposed that the display on the display device is automatically switched from the navigation information or the like to the rear monitoring video when the vehicle moves backward at a speed lower than a predetermined speed (for example, Patent Documents). 1).
Japanese Patent Laid-Open No. 9-180088

  However, in reality, when reversing except when the vehicle is stored in the parking space, the driver often does not need the rear monitoring video because there are no obstacles behind. However, although it is desirable for the driver to display navigation information or the like rather than the rear monitoring image, the conventional technology automatically switches to the rear monitoring image.

  The present invention has been made in view of the above points, and an object of the present invention is to reduce the fact that a rear monitoring video is automatically displayed when a driver does not need a rear monitoring video in a vehicle surroundings confirmation support device. .

  In order to solve the above-mentioned problem, a vehicle surroundings confirmation support device according to claim 1 is a vehicle surroundings confirmation support device that is mounted on a vehicle and provides assistance information for confirming the situation of the surroundings of a vehicle to an occupant. A display device that displays support information, a rear monitoring camera that acquires a rear monitoring image that is a rear image of the vehicle, a current position detecting means that detects a current position of the vehicle, and map data around the current position. And a display control means for determining whether or not to display the rear monitoring video as support information on the display device based on the current position and the map data.

  According to such a configuration, based on the current position of the vehicle and map data, it is detected where the vehicle is currently located, and based on this, the location where the driver needs a rear monitoring image If the rear monitoring video is displayed on the display device only in the case where the driver does not need the rear monitoring video, the rear monitoring video can be reduced from being automatically displayed.

  As described in claim 2, the display control means may display the rear monitoring video on the display device when it is determined that the vehicle is in the parking area. In many cases, the driver stores the vehicle in a parking space by reversing the vehicle in the parking lot. In such a case, a rear monitoring image is required as support information for confirming the rear. Therefore, if the rear monitoring video is automatically displayed under the control of the display control means, the driver does not have to operate the driver himself to display the rear monitoring video.

  Further, as described in claim 3, it is possible to set a point selected on the map based on an instruction from the occupant as a rear monitoring point, and the display control means is configured so that the vehicle has a predetermined area around the rear monitoring point. When it is determined that it is within the range, the rear monitoring video may be displayed on the display device. According to such a configuration, if the driver sets his / her home or the like as the rear monitoring point, the rear monitoring video is automatically displayed when the vehicle is stored in the parking space at home. For this reason, the driver can use the rear monitoring video as support information for confirming the rear of the vehicle without operating the driver himself / herself to display the rear monitoring video.

  When determining whether or not to display the rear monitoring video on the display device, the display control means further uses the vehicle speed information as described in claim 4, or the transmission gear as described in claim 5. If the information on whether or not the vehicle is used, the rear monitoring video can be automatically displayed only when the driver needs the rear monitoring video, so that the driver does not need the rear monitoring video. In such a case, the automatic display of the rear monitoring video can be reduced.

  According to the sixth aspect of the present invention, the point selected on the map based on the instruction from the occupant can be set not only as the rear monitoring point but also as the front monitoring point. Is determined to be within the predetermined range around the front monitoring point, if the front monitoring video is displayed on the display device, for example, if the driver sets the home as the rear monitoring point and the front monitoring point, When the vehicle is stored in the parking space at home, both the rear monitoring image and the front monitoring image are automatically displayed. When the parking space at home is facing the road and the prospect is poor, the driver automatically displays both the rear monitoring image and the front monitoring image in the rear of the vehicle. It can be used as support information for confirming the condition of the road ahead and the vehicle can be stored in the parking space by repeatedly moving forward and backward.

(First embodiment)
Hereinafter, a vehicle periphery confirmation support device according to an embodiment of the present invention will be described with reference to the drawings. In the present embodiment, the vehicle periphery confirmation support device is incorporated in the in-vehicle navigation device.

  FIG. 1 shows the overall configuration of the navigation device 1. In addition to map information and route guidance information, the navigation device 1 provides a passenger with a TV image, a front monitoring image from the front monitoring camera 17, a rear monitoring image from the rear monitoring camera 20, and the like.

  The navigation device 1 includes a position detector 2, a map data input device 6, an audio device 15, a TV receiver 14, a display device 10, an audio output device 11, an operation switch group 7, a remote control sensor 12, and an external memory 9. These are connected to the control device 8. The control device 8 is further connected to a parking brake sensor 3, a vehicle speed sensor 4, a front monitoring camera 17, and a rear monitoring camera 20 that are mounted on the vehicle.

  The position detector 2 is for detecting the current position of the vehicle, all of which are known geomagnetic sensors 22, a gyroscope 23, a distance sensor 24, and a GPS that detects the position of the vehicle based on radio waves from an artificial satellite. A GPS receiver 25 for (Global Positioning System) is provided. Since these have errors of different properties, they are configured to be used while being complemented by a plurality of sensors. Depending on the accuracy of each sensor, the position detector 2 may be configured as a part of the above-described ones, and further, a steering rotation sensor, a wheel sensor of each rolling wheel, etc. (not shown) may be used.

  The map data input device 6 is a device for inputting various data including so-called map matching data, map data, and landmark data for improving the accuracy of current position detection. As a storage medium for storing these various data, a writable storage medium such as a memory card or a hard disk is used in addition to a read-only storage medium such as a CD-ROM or a DVD-ROM.

  The TV receiver 14 receives the TV signal and inputs it to the control device 8. The audio device 15 includes an MD player and inputs an audio signal such as a music playback signal to the control device 8.

  The display device 10 is constituted by, for example, a color liquid crystal display disposed in the instrument panel unit, and has a screen of about 110 × 170 mm. On this screen, the control device 8 displays navigation information such as map information and guidance information, TV video, front monitoring video, and rear monitoring video.

  The audio output device 11 is configured by a speaker or the like, and is used to provide guidance information according to a guidance route, audio from the audio device 15, TV audio, and the like.

  The operation switch group 7 includes, for example, a touch switch or a mechanical switch integrated with the display device 10. The occupant uses the operation switch group 7 or the remote control terminal (remote control) 13 to perform various operations such as setting a destination and instructing switching of information displayed on the display device 10. be able to.

  A parking brake operation signal indicating whether or not the parking brake is operating is input to the control device 8 from the vehicle-mounted parking brake sensor 3, and a vehicle speed signal indicating the vehicle speed is input to the control device 8 from the vehicle speed sensor 4.

  As shown in FIG. 2, the front monitoring camera 17 is disposed at the front end of the vehicle, and includes a CCD camera and a reflecting mirror that captures the left and right sides. As a result, an image (front monitoring image) of the front left and right sides of the vehicle is acquired, and a front monitoring image signal is output to the control device 8. When display of the front monitoring video is instructed by the occupant through an operation using the operation switch group 7 or the remote controller 13, the control device 8 displays the front monitoring video on the display device 10 as shown in FIG. At this time, an image of the front right side of the vehicle is displayed on the right side, and an image of the front left side of the vehicle is displayed on the left side.

  Further, in the present embodiment, it is possible for the occupant to select an arbitrary point on the map, and to set this point as a front monitoring point for automatically displaying the front monitoring video, in this way. When the vehicle speed becomes 10 km / h or less within a predetermined range around the set forward monitoring point (for example, within a radius of 50 m), the display on the display device 10 is automatically switched to the forward monitoring image. For example, an occupant can set, for example, an intersection with poor visibility, which is frequently passed, as a forward monitoring point.

  Furthermore, when it is determined that the vehicle approaches a predetermined range of the intersection (for example, within a radius of 50 m) on a road whose width is less than a predetermined value (for example, 5 m) based on the current position of the vehicle and the map data, If the vehicle is approaching, the display on the display device 10 is automatically switched to the forward monitoring video. The forward monitoring video automatically displayed in this way is displayed in the navigation information when the passenger is instructed to cancel the automatic display or when the vehicle goes out of the predetermined range around the front monitoring set point or the intersection with poor visibility. Switch to display.

  As shown in FIG. 4, the rear monitoring camera 20 is disposed, for example, in the vicinity of the license plate at the rear of the vehicle, acquires a video behind the vehicle (rear monitoring video), and outputs a rear monitoring video signal to the control device 8. To do. When the display of the rear monitoring video is instructed by the occupant by the operation using the operation switch group 7 or the remote controller 13, the rear monitoring video is displayed on the display device 10 as shown in FIG.

  Further, in the present embodiment, it is possible for the occupant to select an arbitrary point on the map, and to set this point as a rear monitoring point for automatically displaying the rear monitoring video, in this way. When the vehicle speed is 10 km / h or less in a state where it is continuously detected that the current position of the vehicle is within a predetermined range around the set rear monitoring point (for example, within a radius of 50 m) for 10 s or more, a display device The display at 10 is automatically switched to the rear monitoring video. For example, if the occupant sets his / her home or the like as a rear monitoring point, a rear monitoring video is automatically displayed when the vehicle approaches a predetermined range to the home, and this is used as support information for confirming the rear of the vehicle. The vehicle can be stored in a parking space at home.

  Furthermore, when the vehicle speed becomes 10 km / h or less in a state where it is continuously detected that the vehicle is in the parking area based on the current position of the vehicle and the map data for 10 s or more, the display device 10 The display at is automatically switched to the rear monitoring video. The rear monitoring video automatically displayed in this way is switched to the display of navigation information at that time when the occupant is instructed to cancel the automatic display. Even if the vehicle goes out of the predetermined range around the monitoring set point or out of the parking area, it is continuously displayed, and such display of the rear monitoring video is continued until the ignition switch is turned off. Further, when the ignition switch is turned on and the vehicle is within a predetermined area around the parking area or the rear monitoring point, the rear monitoring video is not automatically displayed.

  As described above, in the present embodiment, automatic switching to the rear monitoring video is performed on the assumption that the driver stores the vehicle by retracting the vehicle in a parking space such as a parking lot or home.

  Further, in the present embodiment, for example, in the case of a point within a predetermined range around both the front monitoring point and the rear monitoring point, the condition for automatically displaying the front monitoring image and the condition for automatically displaying the rear monitoring image are set. When both are satisfied, both the front monitoring video and the rear monitoring video are displayed on the display device 10.

  If the occupant has a parking space at home, for example, if there is an obstacle in the rear, the front faces the road and the prospect is poor, and the home is set as the front monitoring point and the rear monitoring point, the vehicle When the vehicle approaches the predetermined range of the home, both the front monitoring video and the rear monitoring video are automatically displayed on the display device 10, so these videos are used as support information for confirming the surroundings of the vehicle. The vehicle can be stored in the home parking space by repeatedly moving backward and forward.

  FIG. 6A shows an example of a setting screen when the occupant sets a front monitoring point on the display device 10, and FIG. 6B shows an example of a setting screen when setting a rear monitoring point. . The occupant can set such a front monitoring point and a rear monitoring point by displaying such a setting screen on the display device 10 by an operation using the operation switch group 7 or the remote controller 13. On the forward monitoring spot setting screen, as shown in FIG. 6A, a monitoring spot registration cursor 40 is displayed on the map. If such a monitoring point registration cursor 40 is moved on the map to a point where the forward monitoring video is to be displayed, such as an intersection with a poor view, for example, and the registration is instructed, the point can be set as the forward monitoring point. . A forward monitoring point mark 41 is displayed at a position set as a forward monitoring point on the map.

  In the setting screen of the rear monitoring point shown in FIG. 6B, the monitoring point registration cursor 40 is displayed in the same manner, and this is moved on the map, for example, an arbitrary point on the map such as a home is set as the rear monitoring point. Can be set. FIG. 6C shows a map displayed on the display device 10 after setting the front monitoring point and the rear monitoring point at the position of the monitoring point registration cursor 40 shown in FIGS. 6A and 6B. . As shown here, a front monitoring point mark 41 is displayed at the front monitoring point, and a rear monitoring point mark 43 is displayed at the rear monitoring point, along with the own vehicle position mark 42 indicating the current position of the vehicle. .

  The control device 8 is constituted by a well-known microcomputer having a CPU, ROM, RAM, I / O, and a bus line for connecting them. As shown in FIG. 80, TV video input unit 89, audio signal input unit 88, front monitoring video input unit 90, rear monitoring video input unit 91, sensor signal input unit 92, map data acquisition unit 81, current position calculation unit 82, route search / setting A unit 83, a route guide unit 84, an image generation unit 85, a display control unit 86, and an audio output unit 87.

  These functional blocks 80 to 92 are realized by executing a program stored in the ROM by the CPU. The program can also be acquired from the outside via the external memory 9.

  The switch signal input unit 80 acquires an operation signal from the operation switch group 7, and further acquires an operation signal from the remote control 13 via the remote control sensor 12, and based on these, various settings such as a flag used for control are made. change. At this time, the setting of the front monitoring point and the rear monitoring point as described above is also performed based on the operation signal.

  The TV video input unit 89 acquires a TV video signal from the TV receiver 14, and the audio signal input unit 88 acquires an audio signal from the audio device 15 and a TV audio signal from the TV receiver 14. The sensor signal input unit 92 acquires sensor signals from the parking brake sensor 3 and the vehicle speed sensor 4.

  The front monitoring video input unit 90 acquires a front monitoring video signal from the front monitoring camera 17, and the rear monitoring video input unit 90 acquires a rear monitoring video signal from the rear monitoring camera 20.

  The map data acquisition unit 81 acquires map data such as the vicinity of the current position of the vehicle from the map data input device 6 in accordance with an instruction from the display control unit 86 and stores the map data in a map data buffer (not shown).

  The current position calculation unit 82 reads sensor signals from the various sensors 22 to 25 of the position detector 2 and calculates the current position of the vehicle by map matching based on these sensor signals.

  The route search / setting unit 83 acquires necessary map data by the map data acquisition unit 81 when the destination is set by the occupant, and is calculated by the current position calculation unit 82 based on the map data. An optimum route from the current position to the set destination is set using, for example, the Dijkstra method.

  The route guidance unit 84 calculates a point for providing route guidance from the route set by the route search / setting unit 83, road shape data in the map data, intersection position information, etc. Determine whether to perform guidance (for example, turn right).

  The image generation unit 85 generates an image such as a map to be displayed on the display device 10 based on the map data in the map data buffer in accordance with an instruction from the display control unit 86, and stores the generated image in a drawing memory composed of a VRAM or the like. To do.

  The display control unit 86 is configured by the switch signal input unit 80 based on the switch signals from the operation switch group 7 and the remote controller 13, the sensor signal from the sensor signal input unit 92, the current position and map data of the vehicle, Information to be displayed on the display device 10 is determined based on an instruction from the route guide unit 84 and the like, and is displayed on the display device 10. In that case, when displaying a map image or the like, the image generation unit 85 generates the image. Details of the processing by the display control unit 86 will be described later.

  The audio output unit 87 is configured by the switch signal input unit 80 based on the switch signals from the operation switch group 7 and the remote controller 13, the sensor signal from the sensor signal input unit 92, the current position and map data of the vehicle, Based on an instruction from the route guide unit 84 and the like, information to be output from the audio output device 11 is determined and output to the audio output device 11.

  7 to 9 show the procedure of display control processing executed by the control device 8. This display control process is started when the ignition switch of the vehicle is turned on. First, in step 100, the in-area flag AF is initially set to 1. This in-area flag AF is set to 1 when the vehicle is in the parking area, and is set to 0 when the vehicle is outside the parking area.

  Next, in step 105, the forward monitoring flag FMF is initialized to 0. The forward monitoring flag FMF indicates that the vehicle speed is 10 km / h or less when a situation in which a forward monitoring image is automatically displayed is detected, that is, within a range of a radius of 50 m around a forward monitoring point or an intersection with poor visibility. Is set to 1 when the vehicle is detected, and then the automatic display of the forward monitoring video is canceled by the occupant, or the vehicle goes out of the range of the surrounding radius of 50 m around the front monitoring point or the intersection with poor visibility Set to zero.

  In step 110, the rear monitoring flag RMF is initialized to zero. The rear monitoring flag RMF is detected when a situation in which a rear monitoring image is automatically displayed is detected, that is, the vehicle's current position is within a radius of 50 m around the rear monitoring point or in a parking area. The vehicle speed is 10 km / h in a state where the current position of the vehicle is continuously detected for 10 s or more continuously within the radius of 50 m around the rear monitoring point or in the parking area. Set to 2 when it is detected that: Thereafter, it is set to 0 when the automatic display of the rear monitoring video is canceled by the occupant.

  Next, in step 113, 0 is set to the monitoring video display flag MF. The monitoring video display flag MF is set to 1 when the front monitoring video is displayed based on an operation performed by the occupant and when the front monitoring video is automatically displayed based on the value of the front monitoring flag FMF. In step 115, the current position of the vehicle calculated by the current position calculation unit 82 is acquired, and map data around the current position is acquired by the map data acquisition unit 81.

  In steps 120 to 144, the in-area flag AF and the rear monitoring flag RMF are set as follows based on the current position of the vehicle and the map data. In step 120, it is determined whether the current position of the vehicle is within the parking area or within a radius of 50 m from the rear monitoring point set by the occupant. Here, whether or not the current vehicle position is within the parking area satisfies the condition “the current position of the vehicle is 50 m or more away from the road and within a radius of 50 m from the parking location”. It is determined based on whether or not it is.

  If YES is determined in step 120, the timer measures the elapsed time from the time when the rear monitoring flag RMF is set to 1 and the rear monitoring flag RMF is set to 1 in step 122. It is determined whether or not the value indicated by TIMER is 10 s or more. If NO is determined, it is determined in step 128 whether or not the in-area flag AF is zero. If it is determined as YES in step 128, 1 is set to the in-area flag AF in step 130, and it is further determined in step 133 whether or not the rear monitoring flag RMF is 0. If YES is determined, the backward monitoring flag is set to 1 in step 135, the timer TIMER is reset in step 138, and the measurement of the elapsed time from when the backward monitoring flag RMF is set to 1 is started. . In this way, if it is detected that the vehicle has moved from outside the parking area or outside the range of the surrounding radius of the rear monitoring point to within the parking area or inside the rear monitoring point of the surrounding radius of 50 m, 1 is set in the rear monitoring flag RMF. After execution of step 138, the process proceeds to step 145.

  If NO is determined in step 128 or NO is determined in step 133, the process proceeds directly to step 145 without changing the setting of the rear monitoring flag RMF.

  On the other hand, if YES is determined in step 122, it is determined in step 124 whether the vehicle speed is 10 km / h or less. If YES is determined, 2 is set in the rear monitoring flag RMF in step 126. At this time, the rear monitoring camera 20 is turned on. In this way, it was detected that the vehicle speed was 10 km / h or less in a state where the vehicle was continuously detected for 10 s or more within the range of the radius 50 m around the rear monitoring point or in the parking lot area. In this case, 2 is set in the rear monitoring flag RMF. After execution of step 126, the process proceeds to step 145. If it is determined as NO in step 124, the process directly proceeds to step 145 without changing the setting of the rear monitoring flag RMF.

  If NO is determined in step 120, 0 is set to the in-area flag AF in step 140. Further, in step 142, it is determined whether or not the rear monitoring flag RMF is 1. If YES is determined, the rear monitoring flag RMF is set to 0 in step 144. After execution of step 144, the process proceeds to step 145. If it is determined as NO in step 142, the process proceeds to step 145 as it is.

  In steps 145 to 160, the forward monitoring flag FMF is set as follows based on the current position of the vehicle and the map data. In step 145, it is determined whether or not the current position of the vehicle is in the vicinity of an intersection with poor visibility or is within a radius of 50 m from the front monitoring point set by the passenger. In the present embodiment, an intersection on a road whose width is a predetermined value (for example, 5 m) or less is regarded as an intersection with poor visibility, and whether or not the vehicle is near an intersection with poor visibility is determined by the condition “width is 5 m or less. This is based on whether the current position of the vehicle is on the road and the radius is within 50 m from the intersection on the road.

  If it is determined as YES in step 145, it is determined in step 155 whether the forward monitoring flag FMF is 0 and the vehicle speed is 10 km / h or less. If it is determined YES, it is determined in step 158 whether or not the automatic display of the front monitoring video has been canceled by the occupant. If it is determined NO in step 158, 1 is set to the forward monitoring flag FMF in step 160. At this time, the front monitoring camera 17 is turned on. After execution of step 160, the process proceeds to step 165. If NO is determined in step 155 or YES is determined in step 158, the process directly proceeds to step 165 without changing the setting of the forward monitoring flag FMF.

  On the other hand, if it is determined as NO in step 145, 0 is set to the forward monitoring flag FMF in step 150. At this time, if the front monitoring camera is ON, it is turned OFF. After execution of step 150, the process proceeds to step 165.

  In Steps 165 to 199, display on the display device 10 is performed as follows based on the values of the front monitoring flag FMF and the rear monitoring flag RMF. In step 165, it is determined whether or not the forward monitoring video is selected as information to be displayed on the display device 10 by the occupant. If YES is determined, the process proceeds to step 175.

  If NO is determined in step 165, it is determined in step 170 whether or not 1 is set in the forward monitoring flag FMF. If YES is determined, the process proceeds to step 175.

  In step 175, 1 is set to the monitoring video display flag MF. As a result, the forward monitoring video is displayed on the display device 10 in the subsequent step 190 or 194. After execution of step 175, the process proceeds to step 180.

  In step 180, it is determined whether or not a rear monitoring video is selected as information to be displayed on the display device 10 by the occupant. If YES is determined, the process proceeds to step 192. If it is determined NO in step 180, it is determined in step 182 whether the rear monitoring flag RMF is set to 2. If NO is determined, the process proceeds to step 188.

  If it is determined as YES in step 182, it is determined in step 184 whether or not the automatic display of the rear monitoring video is canceled by the occupant. If NO is determined, the process proceeds to step 192.

  If YES is determined in step 184, the rear monitoring flag RMF is set to 0 in step 186 and the process proceeds to step 188.

  In step 192, it is determined whether or not 1 is set in the monitoring video display flag MF. If NO is determined, a rear monitoring video is displayed on the display device 10 in step 197. If it is determined YES in step 192, in step 194, both the front monitoring video and the rear monitoring video are displayed on the display device 10. In this way, when both the front monitoring video and the rear monitoring video are displayed, for example, the display area of the display device 10 is divided into left and right, the left front side video on the left side, and the right front side video on the right side. , The rear video is displayed in the center. The display of the monitoring video in step 194 or 197 is performed only when the display device 10 is turned on by the passenger. After execution of step 194 or 197, the process returns to step 113, and the following steps are repeatedly executed at a predetermined cycle.

  In step 188, it is determined whether or not 1 is set in the monitoring video display flag MF. When it determines with YES, a front monitoring image | video is displayed on the display apparatus 10 in step 190. FIG. However, such display of the forward monitoring video is performed only when the display device 10 is turned on by the passenger. After execution of step 190, the process returns to step 113 and the following steps are repeatedly executed at a predetermined cycle.

  If NO is determined in step 188, it is determined in step 196 whether or not the TV image is selected as information to be displayed on the display device 10 by the occupant and the parking brake is in operation. If YES is determined, a TV image is displayed on the display device 10 in step 198. If NO is determined in step 196, navigation information is displayed on the display device 10 in step 199. The display of the TV video or navigation information in step 198 or 199 is performed only when the display device 10 is turned on by the passenger. After execution of step 198 or 199, the process returns to step 113, and the following steps are repeatedly executed at a predetermined cycle.

  According to the configuration of the present embodiment, the display on the display device 10 is automatically changed to the rear monitoring video only when the vehicle is in the parking area and within the predetermined range around the rear monitoring point set by the occupant. In other cases, it is not automatically switched to the rear monitoring video even when the vehicle moves backward. Therefore, when the driver moves the vehicle backward, such as when there is no obstacle behind the vehicle, compared to the conventional case where the vehicle is automatically switched to the rear monitoring video based on whether the vehicle is moving backward. However, automatic switching to the rear monitoring video can be reduced when the rear monitoring video is not required.

  Further, in the present embodiment, the automatic switching to the rear monitoring video is performed only when the vehicle is continuously detected within the parking area or within the predetermined range around the rear monitoring point for 10 seconds or longer. It is possible to reduce the automatic switching to the rear monitoring video by mistake even though the vehicle is not in the parking area or the predetermined range around the rear monitoring point.

  Once automatically switched to the rear monitoring video, the driver continues to display the rear monitoring video until the ignition switch is turned off or until the automatic display of the rear monitoring video is canceled by the occupant. Even when the vehicle is stored in the parking space by repeatedly moving backward and forward, the display does not change over and over again. Also, if the vehicle is in the parking area or within a predetermined range around the rear monitoring point when the ignition switch is turned on, the rear monitoring video is not automatically displayed, so the driver parks in the parking space. When the ignition switch is turned on to start the vehicle that has been started, the display on the display device 10 is not switched to the rear monitoring video, but the TV video or navigation information is displayed.

  Thus, according to the configuration of the present embodiment, when the driver stores the vehicle by retracting the vehicle in a parking space such as a parking lot or a home, and then starts by moving the vehicle forward from the parking space, It is possible to appropriately provide the driver with a rear monitoring image.

  Furthermore, according to the configuration of the present embodiment, the display on the display device 10 is automatically forwarded only when the vehicle is in the vicinity of an intersection with poor visibility and within a predetermined range around the forward monitoring point set by the occupant. Since switching to the monitoring video is performed, it is possible to reduce the automatic switching to the forward monitoring video when the driver does not need the forward monitoring video, such as an intersection with a good view.

  The position detector 2 and the current position calculation unit 82 in the present embodiment correspond to the current position detection unit of the present invention, and the map data input unit 6 and the map data acquisition unit 81 correspond to the map data acquisition unit of the present invention. ing. In addition, the operation switch group 7, the remote control sensor 12, the remote control 13, and the switch signal input unit 80 in the present embodiment correspond to the rear monitoring point setting means of the present invention. The vehicle speed sensor 4 and the sensor signal input unit 92 in the present embodiment correspond to the vehicle speed information acquisition unit of the present invention, and the display control unit 86 corresponds to the display control unit of the present invention.

(Other embodiments)
The present invention is not limited to the above embodiment, and various modifications are possible as follows.

  In the above embodiment, on the assumption that the driver retracts the vehicle in the parking lot and stores it in the parking space, when the vehicle enters the parking lot, it automatically switches to the rear monitoring video, When the vehicle's ignition switch is turned on in the parking lot, it is configured not to automatically switch to the rear monitoring image. However, depending on the driver or depending on the arrangement of the parking space in the parking lot, the vehicle may be moved forward. In such a case, the vehicle can be stored in the parking space. Switching to the rear monitoring video may be performed using information regarding whether or not the vehicle is moving backward.

  FIG. 10 shows the configuration of the navigation device in this case only for parts different from the above embodiment, and FIG. 11 shows only a part of the procedure of display control processing by the display control unit 86. As shown in FIG. 10, the control device 8 acquires a signal indicating the shift position of the transmission gear of the vehicle from the shift position sensor 5 through the sensor signal input unit 92. The shift position sensor 5 and the sensor signal input unit 92 correspond to the backward information acquisition unit of the present invention.

  The display control unit 86 initially sets the in-area flag AF to 1 in step 100 in the above embodiment, whereas the display control unit 86 initially sets the in-area flag AF to 0 in step 102. In the above embodiment, it is determined in step 122 whether the rear monitoring flag RMF is 1 and the value indicated by the timer TIMER is 10 s or more. In step 123, the rear monitoring flag RMF is set to 1. And whether the value indicated by the timer TIMER is 5 s or more is determined. In the above embodiment, it is determined in step 124 whether or not the vehicle speed is 10 km / h or less, whereas in step 125 the vehicle transmission gear is moved to the reverse position based on the signal from the shift position sensor 5. It is determined whether or not.

  Thereby, for example, even when the ignition switch of the vehicle is turned on in the parking lot, the rear monitoring video is automatically displayed when it is detected that the transmission gear of the vehicle is in the reverse position after 5 seconds or more. In addition, when the vehicle moves from outside the parking area into the parking area, the transmission gear may be in the reverse position in a state in which it is continuously detected that the vehicle is in the parking area for 5 seconds or more. When detected, automatic switching to the rear monitoring video is performed. In step 125, whether or not the transmission gear of the vehicle is in the reverse position is determined based on the signal indicating the shift position of the transmission gear as described above, and the current or voltage supplied to the backup lamp is detected. This can also be done based on this.

  In the above embodiment, when the rear monitoring video is displayed on the display device 10, the rear monitoring video is displayed on the entire display area. For example, the display area is divided into left and right parts, navigation information on the left side, and rear on the right side. You may make it display both navigation information and back surveillance video, such as displaying a surveillance video.

  In the above embodiment, when it is determined whether or not the vehicle is in the parking lot area in step 120, the condition “the current position of the vehicle is 50 m or more away from the road and the radius of the parking lot installation point is 50 m. In order to make a more accurate determination, the vehicle speed when the vehicle travels away from the road is a predetermined value (for example, 20 km). / H) It may be determined whether or not a condition such as “the vehicle has changed by 60 ° or more when the vehicle deviates from the road” is satisfied.

  In the above embodiment, when determining whether or not the vehicle is in the parking area, it is determined whether or not the current position of the vehicle is off the road. The above determination is made based on whether or not the vehicle is deviated. However, when high-precision GPS is used to detect the current position of the vehicle, for example, the determination is made based on whether or not the current position of the vehicle is deviated by 5 m from the road. It can be carried out. In the above embodiment, when the vehicle passes through an intersection with poor visibility, the display of the forward monitoring video is continued until 50 m after passing the intersection. For example, when the vehicle travels about 5 m, it may be switched from the front monitoring video to the navigation information.

  In the above embodiment, the intersection on the road having a road width of 5 m or less in step 145 is defined as an “interview with poor visibility”. An intersection having a road width of 5 m or less and having a building on either the left or right side of the road may be defined as an “intersection with poor visibility”. In this case, for example, when there is a building only on the right side of the road, only the video on the right side may be displayed. At this time, when only the right monitoring video is provided, the right monitoring video is displayed on the right half of the display area of the display device 10, navigation information is displayed on the left half, and only the left monitoring video is provided. In such a case, it is preferable to display the left monitoring video on the left half of the display area and to display the navigation information on the right half.

  Alternatively, as part of the map data, information regarding whether or not each intersection is an unsightly intersection is stored, and based on this, whether or not the vehicle is approaching an intersection with an unfavorable line of sight in step 145 is determined. You may judge. Furthermore, information regarding whether the left or right side of the road has poor visibility may be stored as information regarding whether the intersection has a poor visibility. In addition to information on intersections with poor visibility, information on intersections where accidents occur frequently are stored as part of the map data, and all intersections where such accidents occur frequently are instructed by passengers. Then, it may be configured such that it can be set as a forward monitoring point.

  In the above embodiment, a constant value such as 10 km / h is used as the vehicle speed threshold value in steps 124 and 155, but such a vehicle speed threshold value can be set between 10 and 30 km / h by the occupant. Good. In this case, the threshold value used in step 124 and the threshold value used in step 155 may be configured so that they can be set respectively.

  In the above embodiment, a constant value such as 5 m is used as the road width threshold value in step 145. However, such a road width threshold value can be set between about 1.5 to 100 m by the passenger. Good.

  In the above embodiment, a constant value such as 50 m is used as a threshold for determining whether or not the vehicle is approaching an intersection or a monitoring point in Steps 120 and 145. It may be possible to set with.

  In addition, in the above-described embodiment, a constant value of 50 m is used as a threshold for determining whether or not the vehicle is in the parking area in step 120. However, the size of the parking lot used by the occupant, etc. It is good also as a structure which can be set based on. For example, if the occupant can set the size of the parking lot to “large”, “medium”, or “small”, and the threshold is set to “large”, for example, When “100 m” or “medium” is set, the threshold value can be set to “50 m”, for example, and when set to “small”, the threshold value can be set to “30 m”, for example.

  In the above embodiment, it is determined in step 122 whether or not the value indicated by the timer TIMER is 10 s or more, so that the vehicle is within a radius of 50 m within the parking area or the rear monitoring point for 10 s or more. Only in this case, it is determined that the vehicle is actually within the parking area or within a surrounding radius of 50 m around the rear monitoring point. May be. Further, the occupant may be able to set the threshold value for the duration between about 3 to 15 s based on the frequency of the actual automatic switching to the rear monitoring video.

  In the above-described embodiment, the front monitoring video and the rear monitoring video are automatically displayed. However, only the rear monitoring video may be automatically displayed in a vehicle on which only the rear monitoring camera is mounted. .

1 is a block diagram illustrating an overall configuration of a navigation device according to an embodiment of the present invention. It is a figure which shows the front monitoring camera mounted in the vehicle, and its imaging | photography range. It is a figure which shows the example of a display of the front monitoring image | video in a display apparatus. It is a figure which shows the back surveillance camera mounted in the vehicle, and its imaging | photography range. It is a figure which shows the example of a display of the back monitoring image | video in a display apparatus. (A) is a figure which shows the example of a setting screen in case a passenger | crew sets a front monitoring point, (b) is a figure which shows the example of a setting screen in case a passenger | crew sets a back monitoring point, (c ) Is a diagram showing a map display after the monitoring point is set. It is a flowchart of the 1st part of the display control process performed by a control apparatus. It is a flowchart of the 2nd part of the display control process performed by a control apparatus. It is a flowchart of the 3rd part of the display control process performed by a control apparatus. It is a block diagram which shows the structure of the modification of the navigation apparatus shown in FIG. 11 is a flowchart of display control processing executed by the control device in the navigation device shown in FIG. 10.

Explanation of symbols

1 navigation device 2 position detector (current position detection means)
4 Vehicle speed sensor (vehicle speed information acquisition means)
5 Shift position sensor (backward information acquisition means)
6 Map data input device (Map data acquisition means)
7 Operation switch group (rear monitoring point setting means)
8 control device 10 display device 12 remote control sensor (rear monitoring point setting means)
13 Remote control terminal (rear monitoring point setting means)
20 Rear monitoring camera 80 Switch signal input section (rear monitoring point setting means)
81 Map data acquisition unit (Map data acquisition means)
82 Current position calculation unit (current position detection means)
86 Display control unit (Display control means)
92 Sensor signal input unit (vehicle speed information acquisition means, reverse information acquisition means)

Claims (6)

A vehicle surroundings confirmation support device that is mounted on a vehicle and provides support information for confirming a situation around the vehicle to an occupant,
A display device for displaying the support information;
A rear monitoring camera for acquiring a rear monitoring video which is a video of the rear of the vehicle;
Current position detecting means for detecting the current position of the vehicle;
Map data acquisition means for acquiring map data around the current position;
A vehicle surrounding confirmation support device, comprising: display control means for determining whether to display the rear monitoring video as the support information on the display device based on the current position and the map data. The display control means displays the rear monitoring video on the display device when it is determined that the vehicle is in a parking area on the map represented by the map data based on the current position and the map data. The vehicle surrounding confirmation support device according to claim 1, wherein the vehicle surrounding confirmation support device is determined. Selecting a point on the map represented by the map data based on an instruction from the occupant, and comprising a rear monitoring point setting means capable of setting this point as a rear monitoring point;
The display control means determines to display the rear monitoring video on the display device when it is determined that the vehicle is within a predetermined range around the rear monitoring point based on the current position and the map data. The vehicle surrounding confirmation support device according to claim 1 or 2. Vehicle speed information acquisition means for acquiring vehicle speed information related to the vehicle speed of the vehicle,
The display control means determines, based on the vehicle speed information, that the rear monitoring video is displayed on the display device when it is determined that the vehicle speed of the vehicle is a predetermined value or less. The vehicle surrounding confirmation support device according to any one of 1 to 3. The vehicle includes reverse information acquisition means for acquiring reverse information regarding whether or not the transmission gear is in the reverse position.
The display control means determines, based on the reverse information, that the rear monitoring video is displayed on the display device when it is determined that the transmission gear is in the reverse position. The vehicle surrounding confirmation support device according to any one of 4. A front monitoring camera that acquires a front monitoring video that is a video ahead of the vehicle;
Selecting a point on the map represented by the map data based on an instruction from the occupant, and comprising a forward monitoring point setting means capable of setting this point as a forward monitoring point;
The display control means displays the forward monitoring video as the support information on the display device when it is determined that the vehicle is within a predetermined range around the forward monitoring point based on the current position and the map data. The vehicle surrounding confirmation support device according to claim 3, wherein

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