JP2017073040A - Visual recognition device for vehicle and visual recognition control program for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a warning from being overlooked, the warning on an area in a direction different from an area in a direction that is recognized through display.SOLUTION: A visual recognition device for a vehicle comprises: a monitor 14 that displays a photographed image on one lateral side of the right and left of a vehicle; and a control device 18 that, when an obstacle warning device 16 detecting an obstacle around the vehicle detects an obstacle, controls the monitor 14 to display the photographed image, and display a warning image showing both the detection of the obstacle and the direction of the detected obstacle with respect to the vehicle.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle visual recognition device and a vehicle visual control program for visually recognizing a vehicle periphery by photographing the vehicle periphery and displaying a captured image.

  For example, a technique disclosed in Patent Document 1 has been proposed as a vehicular visual recognition device that displays captured images around a vehicle and visually recognizes the vicinity of the vehicle.

  In Patent Document 1, a camera that captures the periphery of the host vehicle, an approaching object detection unit that detects an approaching object that approaches the host vehicle based on a captured image captured by the camera, and an indicator that notifies the driver of the host vehicle of information. And a notification control unit that activates an indicator when an approaching object is detected by the approaching object detection unit. At least one set of indicators is provided so as to be separated from the traveling direction of the host vehicle by a predetermined distance from side to side, and it is proposed that the notification control unit operates an indicator opposite to the direction in which the approaching object is detected. ing.

  Japanese Patent Application Laid-Open No. H10-228667 describes that images captured by a camera that captures a plurality of directions are combined and displayed on a display.

JP 2012-170127 A

  However, in Patent Document 1, the approach of a vehicle or the like from the opposite side to the viewing direction can be notified by an indicator, but since the display and the indicator are in different positions, there is a possibility that the lighting of the indicator may be missed when staring at the display. There is room for improvement.

  The present invention has been made in consideration of the above facts, and an object thereof is to prevent a warning from being overlooked in a direction different from the direction confirmed by display.

  In order to achieve the above object, according to the first aspect of the present invention, an obstacle is detected by a display unit that displays a captured image of one side of the left and right sides of the vehicle and a detection unit that detects an obstacle around the vehicle. A control unit that controls the display unit to display the captured image and to display a warning image representing each of the detected obstacles and the direction of the detected obstacles with respect to the vehicle. Prepare.

  According to the first aspect of the present invention, the captured image on one side of the left and right sides of the vehicle is displayed on the display unit. Thereby, the side of a vehicle can be visually recognized by checking the side of a vehicle with a display part.

  In the control unit, when an obstacle is detected by the detection unit that detects an obstacle around the vehicle, a side-captured image is displayed, the obstacle is detected, and the direction of the detected obstacle with respect to the vehicle The display unit is controlled to display a warning image representing each of the above.

  That is, when an obstacle around the vehicle is detected, a warning image is displayed on the display unit in addition to the captured image on the side, so that the warning image is displayed even if the occupant is staring at the captured image on the side. You won't miss it. Therefore, it is possible to prevent a warning from being missed in a direction different from the direction confirmed in the display.

  The control unit displays a captured image and a warning image when the detection unit detects an obstacle in a direction other than one direction, as in the invention described in claim 2. The unit may be controlled. Thereby, the presence of an obstacle in a direction different from the captured image can be warned.

  Further, as in the third aspect of the present invention, the control unit may perform control so that the position where the warning image is displayed matches the direction of the obstacle with respect to the vehicle. Thereby, the direction of an obstacle can be recognized sensuously.

  Further, the control unit may control the display unit so as to move and display the warning image from the direction of the obstacle with respect to the vehicle. This also makes it possible to recognize the direction of the obstacle sensorially.

  Further, as in the invention described in claim 5, when the warning image is displayed, the control unit controls the display unit so that the captured image is moved, and the warning image is displayed in an empty area by moving. Also good. Thereby, it can prevent that a picked-up image and a warning image overlap and it becomes difficult to see a picked-up image.

  In addition, this invention is the visual recognition control program for vehicles for functioning a computer as a control part of the visual recognition device for vehicles as described in any one of Claims 1-5 like invention of Claim 6. It is good.

  As described above, according to the present invention, there is an effect that it is possible to prevent a warning from being overlooked in a direction different from the direction confirmed in the display.

(A) is a figure which shows the vehicle mounting position example of the visual recognition apparatus for vehicles which concerns on embodiment of this invention, (B) is a figure which shows schematic structure of the visual recognition apparatus for vehicles. It is a block diagram which shows the structure of the control system of the visual recognition apparatus for vehicles which concerns on this embodiment. (A) is a figure which shows an example of the picked-up image image | photographed with the rear side camera, (B) is the example which performed mirror image conversion with respect to the picked-up image image | photographed with the rear side camera, and reversed right and left FIG. (A) is a figure which shows the example which displayed the icon image as a warning image, (B) is a figure which shows the example which displayed the opposite side picked-up image as a warning image. It is a figure which shows the example which displayed the other side picked-up image and the icon image as a warning image. It is a flowchart which shows an example of the flow of the process performed with the control apparatus of the visual recognition apparatus for vehicles which concerns on this embodiment. (A) is a figure which shows a mode that a warning image appears and moves from the direction which detected the obstruction, (B) is a figure which shows a mode that the warning image has moved to the corner of a monitor. (A) is a figure which shows a mode that the picked-up image of the back side being displayed is moved to a direction opposite to an obstacle, (B) produces | generates the area | region which displays a warning image in the direction of an obstacle, and is a warning image It is a figure which shows the example which displayed.

  Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1A is a diagram illustrating an example of a vehicle mounting position of the vehicle visual recognition device according to the embodiment of the present invention, and FIG. 1B is a diagram illustrating a schematic configuration of the vehicle visual recognition device.

  In the vehicular visual recognition device according to the present embodiment, the rear side camera 12, the monitor 14 as a display unit, the obstacle warning device 16 as a detection unit, and the control device 18 as a control unit correspond to the left and right sides of the vehicle. Each is provided.

  The rear side camera 12 is installed outside at the front side end of the vehicle in the vertical direction middle part of the side door (front side door, not shown) of the vehicle and photographs the rear side of the vehicle. The rear side camera 12 is provided in a substantially rectangular parallelepiped box-shaped housing 13 as a support, and a lens is arranged toward the rear side of the vehicle to photograph the rear side of the vehicle. The vehicle width direction inner side end part of the housing | casing 13 is attached to the side door, and the housing | casing 13 is supported by the side door (vehicle body side) so that rotation in the vehicle front-back direction is possible.

  The monitor 14 is provided in the vicinity of the lower end of the front pillar and mainly displays an image captured by the rear side camera 12. That is, the rear side of the vehicle can be visually recognized by checking the monitor 14 instead of the outer mirror.

  The control device 18 is provided corresponding to each of the left and right, and performs display control of the captured image of each of the left and right rear side cameras 12. The control device 18 changes the viewing range on the rear side of the vehicle when reversing to make it easier to visually recognize obstacles on the lower side of the vehicle, and sets the viewing range in conjunction with the operation of the direction indicator. You may make it change and carry out turning interlocking control etc. which make it easy to visually recognize the vehicle rear side.

  The obstacle warning device 16 detects an obstacle around the vehicle, and generates an alarm sound or the like when the obstacle is detected. For example, a sensor such as an ultrasonic sensor is provided in a bumper or the like, and an obstacle around the vehicle is detected by the sensor. When an obstacle is detected, a warning sound is generated. At this time, the generation interval of the warning sound is changed according to the distance from the obstacle. In the present embodiment, the obstacle warning device 16 and the control device 18 are connected, and a warning signal is input to the control device 18 when an obstacle is detected.

  In addition, you may provide the operation part which instruct | indicates the display position of the image displayed on the monitor 14, ie, the instruction | indication of a rear side visual range change. For example, a switch, a sensor, or the like for issuing a change instruction in the vehicle width direction of the viewing range, a change instruction in the vehicle vertical direction, or the like may be provided.

  Then, the structure of the control system of the visual recognition apparatus 10 for vehicles which concerns on this embodiment is demonstrated. FIG. 2 is a block diagram illustrating a configuration of a control system of the vehicle visual recognition device 10 according to the present embodiment.

  The control device 18 includes a microcomputer in which a CPU 18A, a ROM 18B, a RAM 18C, and an I / O (input / output interface) 18D are connected to a bus 18E.

  The ROM 18B stores various programs such as a vehicle visual control program for performing display control for displaying the rear side captured image of the rear side camera 12 on the monitor 14. The program stored in the ROM 18B is expanded in the RAM 18C and executed by the CPU 18A, whereby display control on the monitor 14 is performed.

  The obstacle warning device 16, the rear side camera 12, and the monitor 14 are connected to the I / O 18D.

  As described above, the obstacle warning device 16 detects an obstacle around the vehicle, and when the obstacle is detected, issues a warning sound or the like to warn the obstacle. Further, when an obstacle is detected, a warning signal is output to the control device 18 so that the control device 18 can recognize the presence or absence of an obstacle around the vehicle. The warning signal outputs, for example, a signal including information indicating the direction of the obstacle to the vehicle together with the presence of the obstacle to the control device 18.

  The rear side camera 12 obtains a rear side photographed image by photographing the rear side of the vehicle. The rear side photographed image obtained by photographing is output to the control device 18 as a photographing result of the rear side camera 12.

  The monitor 14 displays a rear side photographed image photographed by the rear side camera 12 on one side of the left and right sides of the vehicle. In the present embodiment, when the control device 18 receives a warning signal, a warning image indicating that an obstacle has been detected is displayed on the monitor 14 in addition to the captured image.

  The control device 18 performs display control for displaying the captured image of the rear side camera 12 on the monitor 14. When a warning signal is received from the obstacle warning device 16, in addition to the captured image of the rear side camera 12, a warning image representing each of the detected obstacle and the direction of the detected obstacle with respect to the vehicle. The monitor 14 is controlled to display.

  In addition, the control apparatus 18 may perform display control of the left and right monitors 14 with one control apparatus 18, or a pair may be provided corresponding to the left and right of the vehicle. When a pair of control devices 18 are provided corresponding to the left and right, the other control device 18 may be connected to each I / O 18D so that they can communicate with each other.

  Here, display control when the control device 18 displays the photographing result of the rear side camera 12 on the monitor 14 will be described.

  The photographed image photographed by the rear side camera 12 is an image in which left and right are reversed. For example, FIG. 3A is a photographed image obtained by photographing the rear side of the right side of the vehicle, but when viewed as a substitute for the outer mirror, the image is reversed left and right. Therefore, the control device 18 performs mirror image conversion on the captured image captured by the rear side camera 12 to invert the left and right to generate the image shown in FIG. 3B and display it on the monitor 14. It has become. As a result, an image similar to the image projected on the outer mirror is displayed on the monitor 14, and the monitor 14 can function as an outer mirror.

  In the present embodiment, as described above, the obstacle warning device 16 is connected to the control device 18, and a warning signal is input to the control device 18 when an obstacle is detected. As described above, the control device 18 displays a warning image on the monitor 14 when a warning signal is received. The display of the warning image will be specifically described below.

  In the present embodiment, when the control device 18 receives a warning signal, a warning image is displayed at the corner of the display area of the monitor 14. At this time, a warning image is displayed so as to indicate the direction of the obstacle with respect to the vehicle. Note that the position where the warning image is displayed may be displayed in the same direction as the obstacle with respect to the vehicle.

  Specifically, as shown in FIG. 4A, the presence of obstacles around the vehicle is displayed by displaying an icon image 20 indicating that an obstacle has been detected as a warning image at the corner of the display area of the monitor 14. To the passenger. In particular, when an occupant detects an obstacle on the other side while checking a captured image on one rear side on one monitor 14, if the icon image 20 is displayed on one monitor 14, the other The passenger can be notified of the obstacle on the side. For example, when turning left or right or when reversing parking, there is a possibility of overlooking the opposite side because of fear of contact on the left and right sides of the vehicle. In this embodiment, the warning image (icon image) of the obstacle on the opposite side 20) is displayed on the monitor 14, so that the contact with the obstacle on the opposite side can be warned.

  The icon image 20 displayed on the monitor 14 confirms the direction of the obstacle from the icon image 20 by displaying an image indicating the direction of the obstacle on the icon image 20 itself, for example, as shown in FIG. can do.

  Further, the warning image displayed on the monitor 14 is not limited to the icon image 20. For example, as shown in FIG. 4B, as another example of displaying a warning image so as to indicate the direction of an obstacle with respect to the vehicle, the opposite side image captured by the rear side camera 12 opposite to the monitor 14. The image 22 may be displayed at the corner of the monitor 14. In this case, the direction of the obstacle with respect to the vehicle can be recognized by displaying the opposite side captured image 22 including the vehicle. Alternatively, as shown in FIG. 5, the icon image 20 may be displayed together with the opposite side photographed image 22 photographed by the rear side camera 12 opposite to the monitor 14.

  When displaying a warning image, the color of the frame of the warning image such as the icon image 20 or the opposite side captured image 22 may be displayed in a conspicuous color such as red. Alternatively, the warning image frame may be displayed blinking.

  In addition, a warning image may be displayed when an obstacle in a direction other than the direction of the captured image displayed on the monitor 14 is detected.

  Then, the specific process performed with the control apparatus 18 of the visual device 10 for vehicles which concerns on this embodiment comprised as mentioned above is demonstrated. FIG. 6 is a flowchart illustrating an example of a flow of processing performed by the control device 18 of the vehicle visual device 10 according to the present embodiment. Note that the process of FIG. 6 starts when an ignition switch (not shown) is turned on. 6 is performed when the CPU 18A develops and executes the above-described vehicle visual control program stored in the ROM 18B on the RAM 18C.

  In step 100, the CPU 18 </ b> A controls the rear side camera 12 to start photographing with the rear side camera 12, and proceeds to step 102.

  In step 102, the CPU 18A acquires the imaging result of the rear side camera 12, performs mirror image conversion on the acquired rear side captured image, starts displaying on the monitor 14, and proceeds to step 104. That is, a captured image as shown in FIG. Since the monitor 14 is provided near the lower end of the front pillar, it is possible to visually recognize the rear side by looking at the monitor 14 instead of the outer mirror.

  In step 104, the CPU 18A determines whether an obstacle has been detected. This determination determines whether or not a warning signal has been received from the obstacle warning device 16. If the determination is affirmative, the process proceeds to step 106, and if the determination is negative, the process proceeds to step 112.

  In step 106, the CPU 18 </ b> A combines and displays a warning image on the image obtained by mirror image conversion of the photographing result of the rear side camera 12, and proceeds to step 108. For example, a warning image (the icon image 20 or the opposite side captured image 22) as shown in FIGS. 4A, 4B, and 5 is displayed on the monitor 14 to warn the occupant of the presence of an obstacle. be able to. In particular, when an obstacle on the opposite side of the monitor 14 is detected, a warning image is displayed when one of the rear sides is confirmed on the monitor 14, thereby preventing the obstacle on the opposite side from being overlooked. .

  In step 108, the CPU 18A determines whether or not an obstacle has been avoided. The determination is made, for example, by determining whether or not the warning signal from the obstacle warning device 16 is stopped. If the determination is negative, the process returns to step 106 and the above processing is continued, and the determination is affirmed. If YES, go to step 110.

  In step 110, the CPU 18 </ b> A acquires the imaging result of the rear side camera 12, performs mirror image conversion on the acquired rear side captured image, displays it on the monitor 14, and proceeds to step 112. That is, the rear side captured image is displayed by restoring the display on the monitor 14.

  In step 112, the CPU 18A determines whether or not the ignition switch (IG) is turned off. If the determination is negative, the CPU 18A returns to step 104 and repeats the above-described processing, and the determination is affirmed. A series of processing ends.

  By performing the control by the control device 18 in this way, the rear side photographed image can be displayed on the monitor 14 and function as a door mirror. When an obstacle is detected around the vehicle, a warning image is displayed on the monitor 14, so that the user may miss the obstacle on the opposite side of the monitor 14 while paying attention to the confirmation of the monitor 14. Can be prevented.

  By the way, in the above embodiment, an example in which the control device 18 simply displays a warning image at the corner of the monitor 14 when receiving a warning signal from the obstacle warning device 16 has been described. However, it is not limited to this.

  For example, as shown in FIG. 7A, a warning image appears from the direction in which the obstacle is detected, and as shown in FIG. 7B, the warning image (FIG. 7) is moved to the corner of the monitor 14. Then, the display of the icon image 20) may be controlled. Thereby, it becomes easy to recognize the direction of an obstacle sensuously.

  Further, in the above embodiment, when displaying the warning image on the monitor 14, the warning image is superimposed and displayed on the captured image captured by the rear side camera 12, but an area for displaying the warning image is provided and displayed. Also good. For example, when the control device 18 receives a warning signal, as shown in FIG. 8 (A), the rear side photographed image being displayed is moved in the direction opposite to the obstacle, and FIG. As shown, an area for displaying a warning image in the direction of the obstacle with respect to the vehicle may be generated, and the warning image may be displayed in this empty area. Thereby, it can prevent that a picked-up image and a warning image overlap and it becomes difficult to see. In this case, only the icon image 20 may be displayed in the area where the warning image is displayed. Alternatively, as shown in FIG. 8B, in addition to the icon image 20, an opposite-side captured image 22 may be displayed.

  Further, in the above embodiment, when the captured image on the opposite side is displayed as the warning image, the captured image on the opposite side may be displayed as it is, but the obstacle portion is extracted and extracted by image processing or the like. May be displayed.

  In the above-described embodiment, an example in which the rear side camera 12 captures the rear side of the vehicle and displays it on the monitor 14 has been described. However, the present invention is not limited to this. For example, a configuration in which the side of the vehicle is photographed and displayed on the monitor 14 without being limited to the rear side of the vehicle may be applied.

  In the above embodiment, an example in which a warning image for an obstacle on the side opposite to the captured image displayed on the monitor 14 has been described. However, the present invention is not limited to this, and an obstacle around the vehicle is detected. In this case, a warning image may be displayed.

  Moreover, although the process performed by the control apparatus 18 in said embodiment was demonstrated as a software process, it is not restricted to this. For example, the processing may be performed by hardware, or may be processing that combines both hardware and software.

  Further, the processing performed by the control device 18 in the above embodiment may be stored and distributed as a program in a storage medium.

  Furthermore, the present invention is not limited to the above, and it goes without saying that various modifications can be made without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 10 Vehicle visual recognition device 12 Rear side camera 14 Monitor 16 Obstacle warning device 18 Control device 20 Icon image 22 Opposite side photographed image

Claims (6)

A display unit that displays a captured image of one side of the left and right sides of the vehicle;
When an obstacle is detected by a detection unit that detects an obstacle around the vehicle, the captured image is displayed, and a warning image representing each of the detected obstacle and the direction of the detected obstacle with respect to the vehicle is displayed. A control unit for controlling the display unit to display
A vehicular visual recognition device.   The control unit controls the display unit to display the captured image and the warning image when the detection unit detects the obstacle in a direction other than the one side direction. The visual device for vehicles according to 1.   The vehicular visual recognition device according to claim 1, wherein the control unit performs control so as to display a position where the warning image is displayed in accordance with a direction of the obstacle with respect to the vehicle.   The vehicular visual recognition device according to claim 1, wherein the control unit controls the display unit to move and display the warning image from a direction of the obstacle with respect to the vehicle.   The said control part moves the said picked-up image, when displaying the said warning image, The said control part is controlled in any one of Claims 1-4 to display the said warning image in the vacant area | region by moving. The vehicle visual recognition device according to the item. The vehicle visual control program for functioning a computer as a control part of the visual device for vehicles given in any 1 paragraph of Claims 1-5.