JP2019104336A - Image display device and driving assist system - Google Patents

Abstract

To change the display of a predictive course on an image display device according to the situation of an own vehicle (vehicle).SOLUTION: An image display device 70 includes a display unit 74 that displays an image taken by any of four onboard cameras 11 to 14 which image the surroundings of a vehicle 200, a guide designation unit 71 that designates a guide Pg serving as a target for parking the vehicle 200, and a parking area detection unit 72 that detects a parking area. (1) When a gear lever is shifted to a Reverse position, if the parking area detection unit 72 detects a parking lot or any other parking area, a rear region image Pb taken by the rear camera 12 is displayed on the display unit 74 with the guide Pg superposed on the image. (2) When the gear lever is shifted to the Reverse position, if the parking area detection unit 72 does not detect any parking area, the rear region image Pb is displayed on the display unit 74 without superposition of the guide Pg.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an image display device and a driving support system.

  The rear of the vehicle (hereinafter referred to as the own vehicle) is equipped with a camera for capturing the rear area of the own vehicle, and when the shift lever of the own vehicle is set to the reverse operation position, the camera captured backward There is known a parking assistance device that displays an image of a region on a monitor (image display device) and presents it to a driver. The parking assistance apparatus displays a guide (mark) as a parking target such as a calculated predicted course calculated based on the driver's driving operation on the image displayed on the rear area displayed on the monitor. (See, for example, Patent Document 1).

  Then, the driver can drive the vehicle so as to follow the guide or the automatic driving is controlled, whereby the vehicle can be correctly guided into the parking area.

JP, 2008-049889, A

  In the parking assist device described in the above-mentioned patent document, when the shift lever is switched to the reverse operation position, the photographed image of the camera is displayed, and the guide is always superimposed on the photographed image.

  However, when the guides are superimposed and displayed, there is a portion of the captured image that is hidden by the displayed guides, or the guides are displayed, which makes the image displayed on the monitor complicated. Preferably, the guide is not displayed when it is not necessary.

  The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide an image display device that switches the display of a guide according to the situation of the vehicle and a driving support system provided with this image display device.

  According to a first aspect of the present invention, there is provided a display unit for displaying an image input from an on-vehicle camera for photographing the periphery of a vehicle, a guide setting unit for setting a guide serving as a target when parking the vehicle (1) when the hazard lamp of the vehicle is turned on or when the transmission of the vehicle is shifted to the reverse position, and the parking area detector detects the parking area Controls the display unit so that the guide is superimposed and displayed on the image captured by the on-vehicle camera and displayed on the display unit, and (2) when the hazard lamp is lit or the transmission is reverse When it is shifted to the position and the parking area detection unit does not detect the parking area, the on-vehicle camera takes a picture without overlapping the guides. A display control section for controlling the display unit to display an image on the display unit has an image display device provided with.

  According to a second aspect of the present invention, there is provided an image display device according to the present invention, a car navigation device having the in-vehicle camera, and map information in which the position of the parking area is prerecorded. And a driving support system.

  According to the image display device and the driving support system according to the present invention, the display of the guide can be switched according to the situation of the own vehicle.

It is a block diagram showing a driving support system concerning one embodiment of the present invention. It is a flowchart which shows the flow of a process of the image display apparatus shown in FIG. 1, and a driving assistance system. It is the schematic diagram which superimposed the guide showing the prediction path | route at the time of a back on the back area | region image image | photographed with the back camera, and was displayed on the display part. It is the schematic diagram which displayed on the display part, without superimposing the guide showing the prediction path | route at the time of a back on the back area | region image | photographed with the back camera. It is a schematic diagram which shows the transition of the state of the vehicle in the case of carrying out tandem in advance, and the display content of the display part corresponding to each state of a vehicle.

  Hereinafter, specific embodiments of an image display device and a driving support system according to the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a driving support system 100 according to an embodiment of the present invention.

<Configuration of driving support system>
The illustrated driving support system 100 includes an on-vehicle camera 10, a car navigation device 20, a vehicle speed sensor 30, a steering angle sensor 40, a shift position sensor 50, a hazard switch 60, and an image display device 70. There is.

  The on-vehicle camera 10 is a camera provided in the vehicle 200, and includes, for example, a front camera 11, a rear camera 12, a right camera 13, and a left camera 14.

  The front camera 11 is provided in, for example, a front grille, which is a front end portion of the vehicle 200, and photographs a front region including a road surface etc. mainly in front of the vehicle 200. The rear camera 12 is provided at the rear end of the vehicle 200, for example, above the rear license plate, and images a rear area including the road surface and the like mainly on the rear of the vehicle 200.

  The right camera 13 is provided, for example, under the right door mirror, which is the right side of the vehicle 200, and captures an image of the right side area including the road surface etc. mainly to the right of the vehicle 200. The left camera 14 is provided, for example, under the left door mirror, which is the left side of the vehicle 200, and captures an image of the left side area mainly including the road surface on the left side of the vehicle 200.

  Each of the cameras 11 to 14 is provided with a wide-angle lens, and the front area photographed by the front camera 11 and the right side area photographed by the right camera 13 overlap in part, and are photographed by the front camera 11 The front area and the left side area photographed by the left camera 14 partially overlap. Similarly, the rear area photographed by the rear camera 12, the right area photographed by the right camera 13, and the left area photographed by the left camera 14 partially overlap each other.

  The installation positions of the cameras 11 to 14 described above are an example, and are not limited to the above-described positions. Moreover, although the driving assistance system 100 of this embodiment has four cameras 11-14 as the vehicle-mounted camera 10, the number of vehicle-mounted cameras 10 is not limited to four, and should just be one or more.

  The car navigation device 20 is provided in a vehicle 200. The car navigation device 20 has map information in which various information including roads, buildings, positions of facilities, and the like are recorded. In the map information, information such as the position of the parking lot (parking area) is also recorded in advance. The parking lot also includes a parking area that can be parked on the road. In the case of a parking section set on a road, a parking meter is often provided side by side, and information on the presence or absence of the parking meter set as such is also included in the map information. The map information may not be provided in the car navigation device 20 itself, and may be transmitted from the server or the like to the car navigation device 20 via communication or the like.

  In addition, the car navigation device 20 includes a position detection device such as a GPS device that detects the current position of the vehicle 200. Thereby, the car navigation device 20 adapts the current position of the vehicle 200 detected by the position detection device on the map information, and displays the current position of the vehicle 200 on the map on the image display device 70, and Route guidance of the destination of the vehicle 200 is performed.

  The vehicle speed sensor 30 is attached to, for example, a wheel of the vehicle 200, detects the speed of the wheel as a pulse signal, and detects the speed of the vehicle 200 by performing a predetermined calculation on the number of pulses of the detected signal. . The vehicle speed sensor 30 may not be attached to the wheel described above, and may be detected based on the number of rotations of a drive source such as an engine or a motor.

  The speed of the vehicle 200 can also be detected based on the image captured by the on-vehicle camera 10 or the temporal change of the current position of the vehicle 200 detected by a position detection device such as a GPS device. The camera 10 or the position detection device (a part of the car navigation device 20) may be applied as the vehicle speed sensor 30.

  The steering angle sensor 40 detects a steering angle of the steering system of the vehicle 200 (hereinafter, simply referred to as a steering angle). The steering angle is the angle of the steered wheels with respect to the state in which the vehicle 200 travels straight.

  The shift position sensor 50 detects that the transmission of the vehicle 200 is selected (shifted) to the reverse position (reverse position). When being shifted to the reverse position, the vehicle 200 moves backward.

  The hazard switch 60 is a switch operated by the driver to switch between blinking and extinguishing of the hazard lamp. The hazard lamp blinks for the purpose of notifying other vehicles that the vehicle 200 is temporarily stopped (including parking) or that the vehicle 200 is stopped in such a manner, mainly on the road, withdrawing from the normal traveling state It is used by

  That is, in normal driving conditions, the vehicle 200 may be stopped due to traffic rules such as traffic lights or traffic jams, but the hazard lamp is not used in the case of stopping in such normal driving conditions It blinks when notifying the driver of a succeeding vehicle or an oncoming vehicle that it is not in a normal driving condition, such as parking on the shoulder of the road, or moving backward to enter another target location.

<Configuration of Image Display Device>
The image display device 70 is an embodiment of the image display device according to the present invention. The image display device 70 includes a guide setting unit 71, a parking area detection unit 72, a display control unit 73, and a display unit 74.

  When the shift position sensor 50 detects the reverse position, the display unit 74 displays an image of the rear area (rear area image Pb) captured by the rear camera 12. When the shift position sensor 50 detects a position other than the reverse position, the display unit 74 may perform guidance display by the car navigation device 20, or may display an image or the like by an audio visual device. Of course, the image taken by the on-vehicle camera 10 may be displayed even at a position other than the reverse position.

  The guide setting unit 71 sets a guide Pg which is a target when parking the vehicle 200. In the present embodiment, when the shift position sensor 50 detects a reverse position, the steering angle sensor 40 According to the detected steering state of the vehicle 200, a predicted route in the reverse direction when the vehicle 200 retreats is calculated. The predicted route is an example of a guide serving as a target when the vehicle 200 is parked.

  The parking area detection unit 72 detects whether the vehicle 200 is in a parking lot. Specifically, the parking area detection unit 72 detects that the vehicle 200 is in the parking lot based on the detection result of the current position navigation device 20 of the vehicle 200, and the car navigation device 20 detects that the car is in the parking lot. When the car navigation apparatus 20 detects that the current position of the vehicle 200 is not in the parking lot, the vehicle navigation apparatus 20 detects that the vehicle 200 is not in the parking lot based on the detection result of the car navigation apparatus 20. . Therefore, in the present embodiment, the car navigation device 20 may be applied as the parking area detection unit 72.

  The parking area detection unit 72 detects a parking lot based on, for example, an image captured by the on-vehicle camera 10 without depending on the detection result of the current position of the vehicle 200 by the car navigation device 20 described above. It may be Specifically, generally in the parking lot, a partition line or a rectangular frame-shaped partition frame is drawn on the road surface to partition the area where the vehicle 200 is parked, including the parking section on the road. Then, the parking area detection unit 72 may detect the parking lot based on the detection of the partition lines and the partition frames based on the image captured by the on-vehicle camera 10.

  The display control unit 73 performs the process of (1) when the following condition (1) is satisfied, and performs the process of (2) when the following condition (2) is satisfied.

  (1) When the shift position sensor 50 detects a reverse position due to the shift lever of the vehicle 200 being shifted to the reverse position, and the parking area detection unit 72 detects a parking lot, the rear camera 12 Control the display unit 74 so as to superimpose and display the guide Pg representing the predicted route in the backward direction of the vehicle 200 set by the guide setting unit 71 on the rear area image Pb captured and displayed on the display unit 74 Do.

  (2) When the shift position sensor 50 detects the reverse position due to the shift lever of the vehicle 200 being shifted to the reverse position, and the parking area detection unit 72 does not detect the parking lot, the guide The display unit 74 is configured to display the rear area image Pb captured by the rear camera 12 on the display unit 74 without overlapping the guide Pg representing the predicted route in the backward direction of the vehicle 200 set by the setting unit 71. Control.

  When the condition (1) is not satisfied and the condition (2) is not satisfied, that is, when the shift position sensor 50 detects a position other than the reverse position, the display control unit 73 Control is performed to display the content of the guidance display by the car navigation device 20 on the display unit 74 or to display a video or the like by the audiovisual device.

<Function>
FIG. 2 is a flowchart showing the flow of processing of the image display device 70 and the driving support system 100 shown in FIG. 1, and FIG. 3 is a guide representing a predicted route at the time of backs FIG. 4 is a schematic view in which Pg is superimposed and displayed on the display unit 74, and FIG. It is a schematic diagram.

  Next, the operation of the image display device 70 and the driving support system 100 according to the present embodiment will be described with reference to the flowchart of FIG.

  The image display device 70 and the driving support system 100 wait until the transmission of the vehicle 200 is switched to reverse and the shift position sensor 50 detects the reverse position (S1), and when the reverse position is detected, the detection result Are input to the image display device 70.

  Next, the parking area detection unit 72 detects a parking lot (parking area) based on the input from the car navigation device 20 (S2). The detection of the parking lot may be performed prior to the detection process of the reverse position in step 1 (S1), or may be performed concurrently with the process of step 1, and the order of the processes does not matter.

  When the reverse position is detected and the parking lot is detected by the process of step 1 and the process of step 2 (YES in S2), the guide setting unit 71 uses the steering angle detected by the steering angle sensor 40. The predicted route when the corresponding vehicle 200 moves backward is calculated, and the display control unit 73 performs the process of (1) described above. That is, as shown in FIG. 3, in the rear area image Pb captured by the rear camera 12, a guide Pg representing the predicted path set by the guide setting section 71 is displayed on the display section 74 by the process of (1). It is superimposed and displayed (S3).

  On the other hand, when the reverse position is detected and the parking lot is not detected in the process of step 1 and the process of step 2 (NO in S2), the display control unit 73 performs the process of (2) described above. That is, as shown in FIG. 4, in the display unit 74, the rear region image Pb captured by the rear camera 12 has a guide Pg representing the predicted route set by the guide setting unit 71 as a result of the process (2). It is displayed without being superimposed (S5).

  Also in the process of (1) and the process of (2), the process continues until the reverse position is not detected by the shift position sensor 50 (NO at S4 and S6), and another shift from the reverse position is made. When the position is changed and the reverse position is not detected (YES in S4 and S6), the process of displaying the rear area image Pb or the like on the display unit 74 is ended (not displayed).

  In the image display device 70 and the driving support system 100 of the present embodiment, when the vehicle 200 moves backward (when the shift position sensor 50 detects the reverse position), the parking area detection unit 72 detects the parking area. The guide Pg of the predicted path is superimposed on the rear area image Pb captured by the rear camera 12 and displayed on the display unit 74. That is, it is presumed that it is time to park the vehicle 200 when the vehicle 200 is retracted in the parking lot. At the time of the parking operation, it is appropriate to display a guide Pg which helps the parking operation.

  On the other hand, when the parking area detection unit 72 does not detect the parking area even when the vehicle 200 moves backward, the image display device 70 and the driving support system 100 according to the present embodiment cause the guide Pg of the predicted route to overlap. Instead, the rear area image is displayed on the display unit 74. In other words, when backing up the vehicle 200 in a place other than a parking lot, it is not an operation for parking the vehicle 200, but an operation for returning by retreating because the vehicle has passed a road to be turned a little It is presumed that it is.

  In the case of such a turning back operation, when the guide Pg is displayed, the guide Pg is displayed because an image portion covered and hidden by the guide Pg may occur or the display itself of the guide Pg may be troublesome. It is appropriate not to.

  The image display device 70 and the driving support system 100 according to the present embodiment support the parking operation by superimposing the guide Pg corresponding to the parking operation of the vehicle 200, and for the reverse operation that is not the parking operation of the vehicle 200. Correspondingly, by not displaying the guide Pg in a superimposed manner, it is possible to prevent or suppress the troublesomeness and the like due to the display of the guide Pg at the time of a simple reverse operation which is not a parking operation.

<Modification>
In the image display device 70 and the driving support system 100 according to the present embodiment, the parking area detection unit 72 detects the parking lot by the input from the car navigation device 20, but the input from the car navigation device 20 In addition to the above, when the vehicle speed input from the vehicle speed sensor 30 is a low speed such as 5 to 10 [km / h], for example, a parking lot may be detected.

  That is, parking area detection unit 72 receives an input from car navigation device 20 that the current position of vehicle 200 is a parking lot and a low vehicle speed of 5 to 10 [km / h] from vehicle speed sensor 30. If there is an input, it is assumed that the parking lot is detected, and the input that the current position of the vehicle 200 is the parking lot from the car navigation device 20 or the vehicle speed is 5 to 10 from the vehicle speed sensor 30 If there is no input that the speed is low [km / h], the parking lot is not detected.

  Thus, in addition to the condition that the vehicle 200 is in the parking lot, the condition that the vehicle speed is low is applied to identify whether it is a parking operation or a simple reverse operation. Since it is necessary to store the vehicle 200 in a certain parking area, it is general to perform a reverse operation at a low speed, whereby even when the vehicle 200 is in a parking lot, for example, turning When entering a large parking lot for the purpose and performing a reverse operation, etc., the vehicle speed at the time of reverse is often more than 10 [km / h] (a speed higher than a low speed). The parking area detection unit 72 can be excluded from the parking operation, and can accurately identify the parking operation and the simple reverse operation.

  Further, the image display device 70 and the driving support system 100 according to the present embodiment predicts whether the parking operation is performed only when the vehicle 200 moves backward (when the shift position sensor 50 detects the reverse position). The image display device and the driving assistance system according to the present invention switch the presence or absence of the superimposed display of the guide according to whether or not the parking operation is performed except when the vehicle 200 is moving back. May be switched.

  That is, for example, in step 1 (S1) of the flowchart shown in FIG. 2, instead of the detection of the reverse position, traveling as a parking operation by inputting a signal indicating that the hazard switch 60 is switched to blinking of the hazard lamp It may be one of the conditions for determining whether the vehicle is moving forward or backward) or traveling other than the parking operation.

  That is, when a signal indicating that the hazard lamp 60 is switched to blinking is input by the process of step 1 and the process of step 2 and the parking lot is detected (YES in S2), the vehicle 200 is detected. In the traveling direction of the vehicle 200, a guide route Pg representing a parking target in the traveling direction of the vehicle 200 according to the steering angle detected by the steering angle sensor 40 corresponding to the traveling direction of the vehicle 200 It is superimposed on the image photographed by the corresponding on-vehicle camera 10 (the rear camera 12 in the case of backward movement, the left camera 14 in the case of forward movement), and displayed on the display unit 74.

  The image displayed on the display unit 74 is the same as in the case of detection of the reverse position as the reverse area image Pb of the rear camera 12 of the rear camera 12 when moving backward, but the left side area image Pl taken by the left camera 14 The reason for displaying is as follows. That is, forward travel is a normal travel state, and the driver is used to the behavior of the vehicle 200 corresponding to steering during forward travel, and visual prospects are better than in the backward region during backward travel, so It does not require the display of the guide Pg.

  Therefore, when moving forward (when the shift position sensor 50 detects a shift position (drive position, second position, low position, etc.) corresponding to forward movement), the image display device 70 moves forward in the forward area image Pf or forward. Do not display the guide Pg.

  FIG. 5 is a schematic view showing the transition of the state of the vehicle 200 in the case of tandem in forward movement and the display content of the display unit 74 corresponding to each state of the vehicle 200. As shown in FIG. In addition, the guide Pg for parking in FIG. 5 represents not a line representing a predicted route but a predicted posture or the like.

  By the way, even when moving forward, for example, as shown in FIG. 5, the road shoulder on the left side of the road 400 (in the case of a left-passing country or region. When approaching 410, it is difficult for the driver to grasp the positional relationship between the road shoulder 410 and the vehicle 200 on the left side.

  Therefore, in this case (when moving forward when blinking of the hazard lamp is detected by the hazard switch 60), the left side area image P1 photographed by the left camera 14 is displayed on the display unit 74. In addition, when the flashing of the hazard lamp is detected, and the parking frame 420 provided on the road shoulder 410 in the forward direction is detected, the forward operation is trying to park the parking frame 420 on the road shoulder 410 forward. The display control unit 73 determines that the operation is a parking operation, and displays a guide Pg for parking on the display unit 74 in addition to the left side area image P1 captured by the left camera 14.

  Since the left side area image P1 is displayed on the display section 74 after the hazard lamp is switched to blinking, the display in the state before the hazard lamp is switched to blinking (the state of the lowermost vehicle 200 in FIG. 5) The guidance image etc. by the normal car navigation apparatus 20 are displayed on the part 74, and neither the left side area | region image Pl nor the guide Pg is displayed.

  Then, when the hazard lamp is switched to blinking (the state of the second vehicle 200 from the bottom in FIG. 5), the parking frame 420 has not been detected near the vehicle 200 (for example, within several [m]) The left side area image P1 is displayed on the display unit 74, and the guide Pg is not displayed.

  Then, when the vehicle 200 approaches the parking frame 420 (for example, within a few [m]) (the state of the third vehicle 200 from the bottom in FIG. 5), the parking frame 420 is detected and the display unit 74 The area image P1 and the guide Pg are superimposed and displayed. After that, the display unit 74 continues until the vehicle 200 is settled in the parking frame 420 behind the parked vehicle 300 (the state of the fourth vehicle 200 from the bottom in FIG. 5) and the hazard switch 60 is switched to extinguish the hazard lamp. The left side area image Pl and the guide Pg are displayed superimposed on each other.

  When the hazard lamp is switched to blinking, the vehicle 200 moves backward (when the shift position sensor 50 detects a reverse position) and performs parallel parking in the nearby parking frame 420, the embodiment described above Similarly to the above, the guide Pg at the rear of the vehicle 200 may be superimposed on the rear area image Pb captured by the rear camera 12 and displayed on the display unit 74.

  Also by the image display device 70 and the driving support system 100 of the modified example configured in this manner, the parking operation is supported by superimposing the guide Pg corresponding to the parking operation of the vehicle 200, and the parking of the vehicle 200 is performed. By not displaying the guide Pg in a superimposed manner in response to the reverse operation which is not the operation, it is possible to prevent or suppress the troublesomeness due to the display of the guide Pg in the reverse operation which is not the parking operation.

  In the embodiment and the modification described above, the display unit 74 displays an image captured by the on-vehicle camera 10 corresponding to the traveling direction of the vehicle 200 or the image and the guide Pg. The four images captured by camera 10 (front camera 11, rear camera 12, right camera 13 and left camera 14) are combined into a single overhead image that virtually looks down on the ground surface from directly above vehicle 200 The guide Pg may be superimposed on the overhead image or the overhead image and displayed on the display unit 74.

10 in-vehicle camera 12 rear camera 20 car navigation device 40 steering angle sensor 50 shift position sensor 70 guide setting unit 72 parking area detection unit 73 display control unit 74 display unit 100 driving support system 200 vehicle Pb rear area image Pg guide

Claims (3)

A display unit that displays an image input from an on-vehicle camera that captures an area around the vehicle;
A guide setting unit configured to set a guide to be a target when the vehicle is parked;
A parking area detection unit that detects a parking area;
(1) When the hazard lamp of the vehicle is lit, or when the transmission of the vehicle is shifted to the reverse position, and the parking area detection unit detects the parking area, shooting is performed by the on-vehicle camera Control the display unit so that the guide is superimposed and displayed on the image displayed on the display unit, and (2) when the hazard lamp is turned on or when the transmission is shifted to the reverse position. When the parking area detection unit does not detect the parking area, the display unit is controlled to display an image captured by the on-vehicle camera without superposing the guide on the display unit. An image display apparatus comprising a display control unit.   The parking area detection unit determines whether the current position is the position of the parking area in the map information, based on the map information in which the position of the parking area is recorded in advance and the current position of the vehicle. The image display apparatus according to claim 1, wherein the parking area is detected. An image display apparatus according to claim 1 or 2;
Said in-vehicle camera,
And d) a car navigation apparatus having map information in which the position of the parking area is recorded in advance and a position detection device for detecting the current position of the vehicle.