JP2008044612A - On-vehicle image display - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an image display capable of complementing the dead zone produced by a forward vehicle. <P>SOLUTION: This on-vehicle image display receives images photographed by a camera mounted on the forward vehicle through a communication device 19, converts the received images to those displayed when the set position of the camera is changed to the visual point of the driver, and displays the visual point-converted image data on a windshield glass by a headup display 14a. When a marker is displayed on the windshield and the driver focuses on a marker, a marker image focused on the cornea is detected by a camera 14b for photographing eyeballs. When the marker image is detected, visual point converged image data is displayed. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an image display device for a vehicle, and more particularly to an in-vehicle image display device that generates an image of a blind spot area generated by a vehicle ahead.

The driver of the traveling vehicle confirms the scenery in the traveling direction entering the field of view, and appropriately performs the driving operation of the vehicle according to the recognized information. For example, the driver recognizes a signal at a distant intersection, predicts the color of the signal when the host vehicle passes, and adjusts the traveling speed of the vehicle. On the other hand, when the vehicle is congested, there may be other vehicles in front of the host vehicle. In such a case, the front field of view is blocked by the front vehicle and a blind spot is generated. In particular, when the preceding vehicle is a large vehicle having a high vehicle height such as a truck or a bus, the field of view is blocked in a wide range, and the blind spot area that cannot be recognized by the driver is widened. In such a case, in order to put the visual information in the field of view, the driver tries to move the head to the left or right, or move the vehicle slightly to the left or right to change the viewpoint. In addition, it is necessary to adopt a method of recognizing information ahead through the window of the vehicle ahead or increasing the distance between vehicles.

JP-A-7-9886

However, when the driver moves his / her head to the left or right, the driver's consciousness about the driving operation may be distracted, and the driving operation may be impaired, and such an operation does not necessarily provide desired information. . Further, when the traffic is congested, widening the inter-vehicle distance with the preceding vehicle may cause discomfort to the following vehicle and induce an interruption.
On the other hand, since the information ahead cannot be obtained, the previous signal cannot be recognized, and there is a possibility that the vehicle may enter an intersection even though the signal has turned red. Similarly, there is a possibility that the guide plate cannot be seen and the vehicle enters an unintended lane.
Further, the driver side also has a problem that stress due to not being able to obtain necessary information overlaps, and excessive fatigue accumulates as compared with normal driving.

  An object of this invention is to provide the vehicle-mounted image display apparatus which can complement the blind spot area | region produced | generated by the front vehicle.

The present invention for solving the above problems has the following configuration.
(1) a forward vehicle image receiving device that receives an image acquired by a vehicle in front of the host vehicle from the forward vehicle;
Image conversion means for converting the image received by the front vehicle image receiving device into an image when the camera viewpoint of the image is the driver's viewpoint position;
An in-vehicle image display device comprising image display means for displaying an image generated by the image conversion means.

(2) The vehicle-mounted vehicle according to (1), wherein the image conversion unit includes a detection unit that detects a viewpoint position of the driver, and the image conversion unit converts the image to a driver's viewpoint position detected by the detection unit. Image display device.

(3) marker projection means for projecting a marker constituted by visible light and invisible light when the image converted by the image conversion means exists;
Judgment means for judging whether or not the driver visually recognizes the marker projected by the marker projection means,
The in-vehicle image according to (1) or (2), wherein the image display unit displays the converted image when the determination unit determines that the driver recognizes the marker. Display device.

(4) The in-vehicle image display device according to (3), wherein the determination unit determines from the relationship between the invisible light of the marker and the driver's eyeball.

(5) The in-vehicle image display device according to any one of (2) to (4), further including a rear transmission unit that transmits the image converted by the image conversion unit to a rear vehicle.

According to the first aspect of the present invention, since an image transmitted through the vehicle ahead is obtained, it is possible to reduce anxiety about road conditions, oversight of road signs, and blind spots. Furthermore, since the imaging means is image-processed as if it were installed at the position of the driver's viewpoint, the display image becomes an image close to the driver's field of view, and the road conditions in the traveling direction can be grasped from the image. It becomes easy.

According to the second aspect of the present invention, since the imaging means is image-processed as if it were installed at the position of the driver's viewpoint, the display image becomes an image close to the driver's field of view, and the traveling direction This makes it easier to grasp the road conditions from the image.
According to the third aspect of the invention, since the image display can be switched with the displayed marker, a special switching operation is not required, and the burden on the driving operation is reduced. Further, when image display is unnecessary, the image is not displayed and is displayed only when necessary, so there is no possibility of blocking the view.

According to the fourth aspect of the present invention, noise can be suppressed and detection accuracy can be improved by detecting the imaging of the marker composed of invisible light.
According to the fifth aspect of the present invention, by providing means for transmitting the converted image to the rear vehicle further, the image information of the vehicle positioned at the foremost position between the vehicles traveling in tandem in the front-rear direction is lastly stored. It becomes possible for some vehicles to receive, and the range of the front situation which can be acquired can be expanded.

DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a block diagram showing a configuration of an in-vehicle image display device 1 of the present invention. The vehicle-mounted image display device 1 includes an arithmetic processing device 12 that performs image processing, a camera 13 that is attached to a vehicle body as an imaging unit, a display device 14a that is a display unit that displays an image, an eyeball camera 14b, A current position detection device 15, a data communication device 19, and a storage device 10 are provided, and these devices are connected to each other via a system bus 11.

The camera 13 is connected to the system bus 11 via the A / D converter 131. The camera 13 is attached toward the front of the vehicle (advancing direction when moving forward) and is attached so that an image of the advancing direction of the vehicle can be taken.
The image signal output from the camera 13 is converted into a digital signal by the A / D converter 131. Further, when the connected camera 13 can output a digital signal, an A / D converter is not necessary. The camera 13 uses a fisheye lens.

The current position detection device 15 includes a steering angle sensor 151, a vehicle speed sensor 152, a GPS reception device 153, an orientation sensor 154, and a distance sensor 155. The steering angle sensor 151 detects the steering angle of the vehicle. The steering angle is obtained by detecting the rotation angle of the steering wheel or the angle of the front wheel. The vehicle speed sensor 152 detects the traveling speed of the vehicle. The GPS receiver 153 detects the absolute position of the vehicle. The direction sensor 154 detects the direction of the vehicle. The distance sensor 155 detects the moving distance of the vehicle.

The storage device 10 stores a host vehicle data storage unit 16 that stores host vehicle data, a reception data storage unit 17 that stores data received from a preceding vehicle, and a combination that stores data obtained by combining the host vehicle data and reception data. And a data storage unit 18.
The own vehicle data storage unit 16 includes a position data memory 161, an image data memory 162, a camera setting data memory 164, a driver viewpoint data memory 165, a viewpoint conversion parameter memory 166, and a viewpoint conversion image data memory 167. It has. The position data memory 161 is a memory in which the position data of the host vehicle detected by the current position detection device 15 is stored. The image data memory 162 is a memory for storing images taken by the camera 13 and stores images output from the camera 13 continuously.

The camera setting data memory 164 stores an installation position specified by the lens characteristics of the camera 13, an angle of view, a relative position from the reference position of the vehicle body, and similarly a viewpoint position specified by a relative position from the reference position of the vehicle body. This is a memory in which shooting directions and the like are stored. Examples of the lens characteristics include a photographing method, a lens type, and a distortion rate of an image in a field angle range. The shooting direction can be determined by acquiring two or more azimuth sensors or position data. The reference position of the vehicle body includes, for example, the position of the antenna of the GPS receiver, the position of the front wheel or the rear wheel, and the installation position of other sensors such as a direction sensor. The driver viewpoint data memory 165 is a memory in which the position of the driver's viewpoint defined as a relative position from the reference position of the vehicle body is stored. The viewpoint conversion parameter memory 166 is a memory in which a relative distance calculated from the viewpoint position of the camera included in the camera setting data 164 and the viewpoint position of the driver included in the driver viewpoint data is stored. The viewpoint conversion image data memory 167 is a memory that stores image data after the viewpoint conversion processing is performed on the image data.

Data that is stored in the camera setting data memory 164 and the driver viewpoint data memory 165 and whose numerical values are not changed (for example, data in which numerical values are fixed such as the shooting direction and angle of view of the camera with respect to the vehicle). May be stored in a read-only memory [ROM] 122 of the arithmetic processing unit 12 to be described later.
The reception data storage unit 17 includes a position data memory 171, an image data memory 172, a vehicle data memory 173, a camera setting data memory 174, a viewpoint conversion parameter memory 175, and a viewpoint conversion image data memory 176. Yes. The position data memory 171 is a memory in which position data of the vehicle ahead is stored. The image data memory 172 is a memory in which image data acquired by the camera of the vehicle ahead is stored. The vehicle data memory 173 is a memory that stores contour data representing the contour of the vehicle body of the preceding vehicle, and dimensional data such as a total length, a total width, and a total height. The contour line data is, for example, line drawing information that represents a contour line when the vehicle is viewed from behind. An example of the contour line may be a contour line that symbolizes a vehicle body, and includes, for example, a contour line including at least one of a vehicle body, a bumper, a tail lamp, a shape of a rear window, a rear window wiper, a rear wheel, and the like.

The camera setting data 174 includes an installation position specified by a camera lens characteristic, an angle of view, a relative position from a vehicle body reference position, a viewpoint position specified by a relative position from a vehicle body reference position, and the like. This is a memory in which directions and the like are stored. The viewpoint conversion parameter memory 175 is a memory that stores a relative distance calculated from the viewpoint position of the camera of the preceding vehicle included in the camera setting data 174 and the viewpoint position of the driver. The viewpoint conversion image data memory 176 is a memory for storing image data after the viewpoint conversion processing is performed on the image data.

The composite data storage unit 18 includes a position data memory 181, an image data memory 182, and a camera setting data memory 184.

The position data memory 181 stores own vehicle position data. The image data memory 182 stores composite image data obtained by combining the image data acquired by the vehicle and the received image data of the preceding vehicle. As will be described in detail later, the camera setting data memory 184 receives the data from the vehicle ahead and stores the driver viewpoint data 165 when the data can be combined, and the camera when the data cannot be combined. Setting data 164 is stored.

As shown in FIG. 2, the head-up display 14a as an image display means is composed of a holographic combiner 142 provided on the entire surface of the windshield 140 and a display 143 for projecting an image onto the holographic combiner 142. ing. The display 143 is disposed in the dashboard 144, for example, and displays an image on the holographic combiner 142. The image data stored in the viewpoint conversion image data memory 176 of the received data storage unit 17 is displayed on the holographic combiner 142 by the head-up display 14a. Alternatively, a composite image stored in the image data 182 of the composite data storage unit 18 can be displayed.

The image displayed on the holographic combiner 142 is translucent, and the scenery beyond the windshield 140 can be sufficiently recognized.

When there is image information to be displayed, the head-up display 14a displays the marker P on the holographic combiner 142 (windshield 140) as shown in FIG. The marker P includes a visible light marker P1 displayed with visible light and an invisible light marker P2 displayed with invisible light. The visible light marker P1 has a dot shape, and the invisible light marker P2 has a cross shape that intersects at the position of the visible light marker P1. The marker P is displayed at or near the position where the line of sight and the windshield 140 intersect when the driver visually recognizes the preceding vehicle. Data sent to the head-up display 14a is converted into an analog signal via the D / A converter 141a. Further, when the head-up display 14a can input a digital signal, the D / A converter is not necessary. Here, the head-up display 14a also functions as marker projection means.

The eyeball camera 14b, which is a determination means, is installed at a position where an image reflected on the cornea of the driver's eyeball can be shot. The eyeball camera 14b detects the presence or absence of an invisible light marker P2 imaged on the cornea of the driver's eyeball. Visible light is light within a wavelength range of 380 nm to 780 nm and is visible to the naked eye. Invisible light is light that cannot be seen with the naked eye, such as infrared or ultraviolet light. Invisible light in this embodiment uses infrared rays.

By detecting the invisible light marker P2, it can be determined that the driver focuses on the visible light marker P1 displayed on the holographic combiner 142. In this way, by adopting a configuration for detecting the imaging of invisible light, it is possible to reduce the influence of noise caused by a visible light image (landscape or the like) projected on the cornea. In the present embodiment, the invisible light marker reflected on the cornea is used as a determination criterion. However, it is also possible to make a determination from the invisible light marker reflected on the pupil or the retina.

The data communication device 19 receives data transmitted by the vehicle ahead using wireless communication means, and stores the received data in the buffer 191. The accumulated forward vehicle data is sent to each memory of the reception data storage unit 17 via the bus line 11. Further, when there is a vehicle that can communicate with the rear side, data to be transmitted is transmitted to the rear vehicle.

The arithmetic processing unit 12 includes a central processing unit [CPU (Central Processing Unit)] 121, a read-only memory [ROM] 122, and a random access memory [RAM] 123. The central processing unit 121 calculates, for example, information on the relative position between the preceding vehicle and the host vehicle from the position data obtained from the current position detection device 15 and the vehicle orientation and the received position data regarding the preceding vehicle. Alternatively, the image data of the host vehicle and the received image data of the preceding vehicle are acquired from the storage device 10, and composite image data is generated from these data.
The ROM 122 stores, for example, software for the central processing unit 121 to perform image processing, and the RAM 123 is used as a working area, for example.

The image processing apparatus of the present invention operates as follows. FIG. 4 is an overall side view showing the positional relationship between the host vehicle 21 equipped with the image processing apparatus of the present invention and the forward vehicle 22 located in the traveling direction (front). A forward vehicle 22 that travels in the same direction as the traveling direction (forward) of the host vehicle 21 is located in the imaging region a of the camera 13a that reflects the front of the host vehicle 21. Such a forward vehicle 22 includes a camera 13b that reflects the front in the same manner as the host vehicle 21. Further, the preceding vehicle 22 includes the same on-vehicle image display device as the host vehicle 21, and the image acquired by the camera 13b can be subjected to image processing such as viewpoint conversion processing. Further, the front vehicle 22 transmits an image photographed by the camera 13b to the rear vehicle 21 via the wireless communication means.

A blind spot area b blocked by the forward vehicle 22 is generated in the imaging area a of the host vehicle 21. The blind spot area b further overlaps with the imaging area c of the camera 13b of the vehicle 22 ahead. Accordingly, the signal 23 positioned in front of the front vehicle 22 is included in the blind spot area b and cannot be recognized by the driver on the own vehicle 21 side, but is reflected on the camera 13b of the front vehicle 22, and therefore the front vehicle By acquiring 22 image data, the color state of the signal 23 in the blind spot area b can be grasped.

The installation positions of the cameras 13a and 13b are most preferably the position of the driver's viewpoint, but may be a position close to the position of the viewpoint. For example, in addition to the position of the rearview mirror, the vicinity of the center of the dashboard, the position of the shoulder of the seat, and the like can be mentioned.

The operation of the image processing apparatus 1 of the present invention configured as described above will be described. FIG. 5 is a flowchart showing the operation of the processing device 12.
The process is started, for example, when the ignition is turned on, when the detected value of the vehicle speed sensor is equal to or higher than a certain value (when the vehicle is in a running state), or when the device is turned on. In addition to this, the switch-on may be triggered when the shift change lever is set to the D position.

First, initialization processing is performed (step S101). FIG. 6 is a flowchart showing a subroutine of initialization processing. In the initialization process, the vehicle data is first checked (step S201). The vehicle data includes camera setting data and driver viewpoint data. It is determined whether there is insufficient data in the checked data (step S203). If there is insufficient data, the insufficient data is input and written to the storage device 10 (step S205).

If there is no data shortage, viewpoint conversion parameters are calculated (step S207). The viewpoint conversion parameter is calculated from the viewpoint position of the camera included in the camera setting data and the viewpoint position of the driver included in the driver viewpoint data. The calculated viewpoint conversion parameter is written into the viewpoint conversion parameter memory 166 (step S209).

The data writing head position in the image data memory 162 of the storage device 10 is detected, and preparations for writing data are made (step S211). For example, a variable or the like for monitoring a set value for determining whether to update the image storage data stored in the viewpoint conversion image data memory 167 or the like is initialized.

When the initialization process (step S101) is completed as described above, next, data is acquired from the current position detection device 15 and the camera 13a (step S103). Position data is acquired from the current position detection device 15, and image data is acquired from the camera 13a. As described above, the image capturing means of the present invention is obtained by acquiring an image in the traveling direction in the host vehicle.

The acquired position data is written in the position data memory 161 of the vehicle data storage unit 16, and the acquired image data is also written in the image data memory 162 (step S105). A viewpoint conversion parameter is read from the viewpoint conversion parameter memory 166 of the host vehicle data storage unit 16 (step S107). According to the read viewpoint conversion parameter, the host vehicle image data is converted into the host vehicle driver viewpoint image (step S109). For example, the distance in the vertical direction and the horizontal direction between the camera installation position and the driver viewpoint position is defined in advance, and from the center point of the image data (position where the optical axis of the lens is orthogonal) according to the distance, Correction is performed so that the position corrected on the basis of the prescribed value is centered. An image having the corrected center point as the center position of the image is defined as a viewpoint converted image. In this way, the vehicle image correction means of the present invention is obtained by correcting the image of the vehicle and the image of the viewpoint viewed from the driver.
The viewpoint-converted image data is written into the viewpoint-converted image data memory 167 (step S111).

It is determined whether data can be received from the preceding vehicle 22 (step S113). That is, it is determined whether there is data transmission from the vehicle ahead. Moreover, you may judge by the positional relationship of the own vehicle and a front vehicle. Whether or not the data communication is possible is determined by, for example, providing a distance sensor in advance, measuring the distance to the vehicle 22 ahead, and determining whether communication is possible or not from this measured distance.
If reception is possible, data is received from the preceding vehicle 22 (step S115). The received data includes position data of the preceding vehicle 22, image data acquired by the camera 13b of the preceding vehicle 22, camera setting data and vehicle data of the preceding vehicle 22. The vehicle data includes a contour line of a vehicle body shape including at least one of a vehicle body, a bumper, a light, a wiper, a tire, a seat, and a window shape of a preceding vehicle. The contour line receiving means of the present invention is used.

The received data is stored in the reception buffer 191 via the data communication device 19 (step S117). Data is read from the reception buffer 191, and the corresponding data is written as reception data in the position data memory 171, image data memory 172, vehicle data memory 173, and camera setting data memory 174 of the reception data storage unit 17 (step S119). . In this way, the forward vehicle image receiving device (means) of the present invention is obtained by receiving an image acquired by a vehicle in front of the host vehicle from the forward vehicle.

A received image data viewpoint conversion process is performed on the received image data (step S121). FIG. 7 is a flowchart showing a received image data viewpoint conversion processing subroutine. The received image data viewpoint conversion process will be described below. The position data and driver viewpoint data of the own vehicle are read from the own vehicle data storage unit 16 (step S301).

Based on the read position data and driver viewpoint data, the coordinates of the driver viewpoint are calculated (step S303). Specifically, the coordinate value of the antenna of the GPS receiver 153 is obtained as the position data. And the coordinate value of a driver | operator viewpoint is calculated from the driver | operator viewpoint data prescribed | regulated as a relative position from this reference | standard position by making the antenna of GPS receiver 153 into a reference | standard position.

The position data and camera setting data of the preceding vehicle 22 are read from the reception data storage unit 17 (step S305). A coordinate value of the camera viewpoint of the preceding vehicle is calculated from the read position data and camera setting data (step S307). Specifically, the coordinate value of the antenna of the GPS receiver of the preceding vehicle 22 is obtained as the position data. Then, the coordinate value of the camera viewpoint is calculated from the camera installation position (viewpoint position) data defined as the relative position from the reference position with the antenna of the GPS receiver as the reference position. As described above, the distance calculation means of the present invention is obtained by calculating the distance to the imaging position of the received image.

A viewpoint conversion parameter is calculated from the coordinate value of the driver viewpoint position of the host vehicle 21 calculated in step S303 and the camera viewpoint coordinate value of the forward vehicle 22 calculated in step S307 (step S309). The calculated viewpoint conversion parameter is written into the viewpoint conversion parameter memory 175 (step S311).

Next, the image data of the preceding vehicle 22 is read from the image data memory 172 of the received data storage unit 17 (step S313), and the received image data is converted based on the viewpoint conversion parameters stored in the viewpoint conversion parameter memory 175. It converts into the driver viewpoint image of the own vehicle (step S315). The viewpoint-converted image data is written in the viewpoint-converted image data memory 176 as viewpoint-converted image data (step S317). As described above, the received image of the preceding vehicle is corrected to the viewpoint image viewed from the driver based on the distance calculated by the distance calculation means, thereby providing the image conversion means of the present invention.

After the received image data viewpoint conversion processing as described above, the viewpoint converted image data is read from the viewpoint converted image data memory 167 of the own vehicle data storage unit 16 and the viewpoint converted image data memory 176 of the received data storage unit 17, respectively. (Step S123). Two viewpoint conversion image data are synthesized (step S125). FIG. 8 is a diagram illustrating an image composition method. The viewpoint conversion image B0 is read from the viewpoint conversion image data memory 176 of the reception data storage unit 17. Further, the front image A0 of the host vehicle is read from the image data memory 162, and viewpoint conversion processing is performed if necessary to create a viewpoint conversion image A1. A contour line of the preceding vehicle is extracted from the viewpoint conversion image A1 by Sobel filter processing, Laplacian filter processing, or the like, and an area in which the preceding vehicle is projected is extracted. An area that matches the area of the preceding vehicle is extracted from the image B0, and an image B1 that has been subjected to size adjustment and the like is created.

The composite image AB0 is formed by superimposing the image B1 on the area of the viewpoint conversion image A1 where the vehicle ahead is displayed. In FIG. 8, in order to make the explanation easy to understand, the image after the normal image conversion process is used, and the contour line of the vehicle is not a three-dimensional image but a two-dimensional display. The image composition process described above is performed with the fisheye lens image as it is. Therefore, next, the image AB0 is subjected to normal image conversion to obtain the image AB1. Note that the above processing may be performed after first performing normal image conversion processing on the images acquired by the cameras 13a and 13b. This step S125 constitutes an image generating means.

The composite image AB1 generated by superimposing is written into the image data memory 182 of the composite data storage unit 18 as composite data, and the position data of the composite image AB1 is written into the position data memory 181 and the camera setting data of the host vehicle. Then, the vehicle driver viewpoint data is written in the camera setting data memory 184 (step S127).
Next, a normal image conversion process is performed on the image data subjected to the viewpoint conversion process (step S129). Then, the normal image converted image is stored in the RAM 123 functioning as a work memory (step S131).

Next, a normal image conversion image display process for displaying an image stored in the display device memory is performed (step S133). FIG. 9 shows a normal image converted image display processing subroutine. Hereinafter, the normal image converted image display process will be described.
It is determined whether the previously displayed image or marker P is being displayed on the holographic combiner 142 (front glass 140) (step S401). If it is being displayed, it is determined whether there is an image that can be newly updated (step S403). Then, it is determined whether the driver is focused on the marker P (step S405). This determination is made by determining whether the invisible light marker P2 is imaged on the driver's cornea by the eyeball camera 14b. When an image is formed, it means that the marker P is in focus.

If the image is in focus, the image of the holographic combiner 142 (windshield 140) is updated (step S407). In this case, the image and the marker P are projected on the windshield 140.
If it is determined in step S401 that the previous image is not displayed, it is determined whether there is a displayable image (step S409). If it does not exist, the image is not displayed on the holographic combiner 142, and the marker P notifying that the display image exists is not displayed.

If there is an image, the marker P is displayed (step S411). The display of the marker P notifies the driver that there is an image that can be displayed. As described above, when the generated image exists, the marker projection unit of the present invention is configured by projecting (projecting) the marker onto the windshield 140 (holographic combiner) with visible light and invisible light.

Next, it is determined whether the driver is focused on the marker P (step S413). If they do not match, it is determined that the driver does not want image display, image display is not performed, and only the marker P is displayed on the windshield 140.
If it is in focus, it is determined that the driver wants to display an image, and an image is displayed (step S415). At this time, the marker P and the image are displayed on the windshield 140. In this embodiment, it is determined whether or not the subject is in focus, but it is also possible to increase the accuracy of the determination by detecting the driver's line of sight using the pupil / corneal reflection method.

If it is determined in step S403 that there is no updatable image, the display of the marker P and the image is turned off, and neither is displayed (step S417). If it is determined in step S405 that the driver is not focused on the marker P, the image display is turned off (step S419), and only the marker P is displayed on the windshield 140. The normal image conversion image displayed as described above includes a blind spot area obstructed by the preceding vehicle located in the driver's field of view, and this image is displayed on the windshield 140 in an overlapping manner. For this reason, a transmission image of the blind spot area is displayed on the front vehicle that is in the blind spot, and the driver recognizes the scenery as if it is visible through the front vehicle.

As described above, when the normal image converted image display process (step S133) is completed, the position data, image data, vehicle data, and camera setting data stored in the composite data storage unit 18 are stored in the transmission buffer 191. (Step S135). If it is determined in step S113 that data cannot be received, normal image conversion processing is performed on the image data subjected to viewpoint conversion processing in step S111 (step S139). Then, the normal image converted image is stored in the RAM 123 functioning as a work memory (step S141).

Next, a normal image conversion image display process for displaying an image stored in the display device memory is performed (step S143). Since the content of this process is the same as the content of step S133, description thereof is omitted. Then, the host vehicle data including the position data of the host vehicle, the image data, and the camera setting data of the host vehicle is stored in the transmission buffer 191 (step S145).

The data stored in the transmission buffer 191 is transmitted to the rear vehicle by the data communication device 19 (step S137). Thus, it is set as the back transmission means of this invention by transmitting the synthesized image to the rear vehicle. The transmitted data is received by the succeeding vehicle of the host vehicle and processed as received data of the following vehicle.

In the image processing apparatus described above, the blind spot area hidden behind the vehicle ahead is displayed on the windshield, so that the driver can easily understand the blind spot area (signals, signs, pedestrian situation, traffic jam situation, etc.). Further, since the image is displayed on the windshield, it is not necessary to move the viewpoint, and the driver can grasp the contents of the image at the same time while looking forward, and can perform a safer driving operation.

Next, as another embodiment, as shown in FIG. 10, a plurality of types of markers Pa, Pb, and Pc may be displayed on the windshield 140 to display different image information. For example, by arranging a visible light marker having a different color or shape and an invisible light marker having a different shape for each visible light marker and focusing each marker, different information corresponding to each marker is displayed. It can be configured. Examples of the information to be displayed include character information, navigation system map information, and vehicle information such as a fuel gauge. Moreover, since the position information of the vehicle can be acquired, the information on the stores located within a certain distance from the own vehicle position may be displayed. In addition, when the content of information such as road construction information changes according to the schedule and time, the display content can be changed according to the schedule and time. The invisible light marker can be identified by changing the blinking interval (changing the frequency) in addition to the shape.

Further, the position of the marker can be arbitrarily set on the user side. Alternatively, the display can be switched on / off by dividing the marker display position and the position where the image information is displayed and focusing on the marker.

In the vehicle-mounted image display device of the present invention that operates as described above, the installation height of the camera mounted on all the vehicles can be configured to match the installation height of the camera of the ordinary vehicle with the lowest vehicle height. . In this case, since the burden on the apparatus for the viewpoint conversion process is reduced, the image processing time can be shortened. Also, the difference between the actual image and the converted image is reduced.

Moreover, the camera attached to a large vehicle can also be set as the structure attached to the upper part of the vehicle body. In this case, an image viewed from far can be obtained. Furthermore, you may attach inside the windshield of a bus | bath or a truck. In this case, it is easy to mount, and since it is installed in the vehicle, it is not exposed to external impacts or wind and rain, so that the occurrence of failure can be suppressed.

FIG. 11 is a plan view of a road showing a state where a plurality of rear vehicles are arranged in a horizontal row in a state where the vehicle is traveling on a road having a plurality of lanes. Each of the vehicles 21a, 21b, and 21c individually receives data transmitted from the preceding vehicle 22, performs image processing, replaces the preceding vehicle 22 with a contour line, and displays the superimposed image on the composite image.

FIG. 12 is a plan view of a road showing a state in which a plurality of front vehicles are arranged in a horizontal row in a state where the vehicle is traveling on a road having a plurality of lanes. In this case, the rear vehicle 21 performs image processing in the order in which data is received from the front vehicles 22a, 22b, and 22c. Further, if an identification signal is attached to each vehicle and the vehicle ahead can be identified by the received signal, the processing of the vehicle 22a positioned immediately before can be preferentially performed.

FIG. 13 is a plan view of a road when there is a vehicle traveling in the oncoming lane. In this case, data about the shooting direction of the camera with respect to the vehicle and the traveling direction are also added to the transmission data so that the transmission data is not picked up by the vehicle traveling in the oncoming lane. The receiving side is configured to receive only data in the same direction as the traveling direction, thereby preventing image processing on the vehicle side of the oncoming lane.

FIG. 14 is a plan view of a road showing a congested state. When there is a vehicle 23 in front of the preceding vehicle 22 and there are vehicles 24 in succession, the data transmitted from the leading vehicle 24 is received by the next vehicle 23, and the synthesis process and the contouring process are performed. Later, by repeating the process of transmitting to the rear vehicle 22, the rearmost vehicle 21 can also acquire the image of the foremost vehicle. This is especially useful for grasping the situation ahead in the case of traffic jams. Here, if all the contour lines processed by the vehicle connected in front are displayed, the contour line is excessive in the rear vehicle, and there is a possibility that sufficient information cannot be obtained from the display image. Accordingly, the color of the contour line can be changed for each vehicle, or only the contour line of the immediately preceding vehicle can be displayed.

This specification discloses the following contents.
Imaging means for acquiring an image of the traveling direction of the host vehicle;
A forward vehicle image receiving device for receiving an image acquired by a vehicle in front of the host vehicle from the forward vehicle;
Image generating means for superimposing the image acquired by the imaging means on the image received by the forward vehicle image receiving means, and generating an image transmitted through the forward vehicle;
An in-vehicle image display device comprising: an image display unit that displays an image generated by the image generation unit on a windshield.
According to such an invention, the transmission image is displayed so as to be superimposed on the image of the vehicle ahead, so that it is easier to grasp the blind spot area.

It is a block diagram which shows the structure of the image processing apparatus of this invention. It is a schematic diagram which shows the structure of a head-up display. It is a top view which shows the structure of the marker displayed on the windshield. It is a side view of two vehicles carrying the image processing device of the present invention. It is a flowchart which shows the effect | action of the image processing apparatus of this invention. It is a flowchart which shows the effect | action of the image processing apparatus of this invention. It is a flowchart which shows the effect | action of the image processing apparatus of this invention. It is a flowchart which shows the effect | action of the image processing apparatus of this invention. It is a flowchart which shows the procedure of an image process. It is a top view which shows the other structural example of the marker displayed on a windshield. It is a top view of the road which shows a state when a plurality of back vehicles are located in a line in the state where it is running on a road of multiple lanes. It is a top view of the road which shows the state when the vehicle ahead is located in the horizontal line in the state which is drive | working the road of multiple lanes. It is a top view of the road when there is a vehicle traveling in the oncoming lane. It is a top view of the road which shows the state which is congested.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Image processing apparatus 10 Storage apparatus 12 Arithmetic processing apparatus 13 Camera 14a Head-up display 14b Camera for eyeball 15 Current position detection apparatus 16 Own vehicle data storage part 17 Received data storage part 18 Composite data storage part 19 Data communication apparatus 21 Own vehicle 22 Vehicle ahead

Claims (5)

A forward vehicle image receiving device for receiving an image acquired by a vehicle in front of the host vehicle from the forward vehicle;
Image conversion means for converting the image received by the front vehicle image receiving device into an image when the camera viewpoint of the image is the driver's viewpoint position;
An in-vehicle image display device comprising image display means for displaying an image generated by the image conversion means. 2. The in-vehicle image display device according to claim 1, further comprising: a detecting unit that detects a viewpoint position of the driver, wherein the image converting unit converts the image into a driver's viewpoint position detected by the detecting unit. Marker projection means for projecting a marker constituted by visible light and invisible light when an image converted by the image conversion means exists;
Judgment means for judging whether or not the driver visually recognizes the marker projected by the marker projection means,
The in-vehicle image display device according to claim 1, wherein the image display unit displays the converted image when the determination unit determines that the driver recognizes the marker. The in-vehicle image display apparatus according to claim 3, wherein the determination unit determines from the relationship between the invisible light of the marker and the eyeball of the driver. 5. The vehicle-mounted image display device according to claim 2, further comprising a rear transmission unit configured to transmit an image converted by the image conversion unit to a rear vehicle.

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