JP5547159B2 - Vehicle periphery monitoring device - Google Patents

Description

  The present invention relates to a vehicle periphery monitoring device that detects a monitoring object in the vicinity of the vehicle based on an imaging signal output from an imaging unit mounted on the vehicle.

  2. Description of the Related Art As a conventional vehicle periphery monitoring device, a device that displays an image in front of a vehicle by an infrared camera on a HUD (Head Up Display) in front of a driver's seat and highlights an image part of a pedestrian detected from the image is known. ing.

JP 2003-284057 A

  When the driver wants to know in detail what range the monitoring object is in, the driver recognizes the monitoring object by looking at the display. However, in the conventional vehicle periphery monitoring device, the captured image is displayed. Since it is displayed, various information is displayed, and it is difficult to instantly grasp the monitoring object.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a vehicle periphery monitoring device that can very easily grasp the presence / absence and position of a monitoring target detected from an image.

A vehicle periphery monitoring device according to the present invention is a vehicle in which an imaging unit mounted on a vehicle detects a monitoring object in front of the vehicle based on a captured image obtained by imaging a landscape in front of the vehicle. A periphery monitoring device, a monitoring object detection unit that detects the monitoring object based on the captured image, a position calculation unit that calculates a position of the monitoring object in the captured image, and the monitoring object A distance calculation unit that calculates a distance to the first display unit, a first display control unit that displays the captured image on the first display unit, and highlights the detected monitoring target, and the calculated monitoring target A second display control unit that displays a mark symbolizing the monitoring object at a display position on the second display unit corresponding to the position in the captured image, and the second display control unit calculates Was Position in the captured image of the serial monitored object, and in accordance with the distance of the calculated to the object to be monitored, to display either one indicating and avoiding direction urging a brake on the second display unit, wherein The first display control unit stops highlighting the monitoring target when the second display control unit displays either one of the indication that the brake is urged and the avoidance direction .

As described above, the driver can easily and instantly grasp the presence / absence of the monitoring target object and the position of the monitoring target object when there is the monitoring target only by looking at the second display unit. Further, the driver displays either the effect of urging braking or the avoidance direction on the second display unit according to the position of the monitored object in the captured image and the distance to the monitored object. 2 The information can be grasped instantaneously only by looking at the display section, and the brake operation or the operation of turning the steering wheel in the avoiding direction can be quickly performed. At this time, when displaying either one of the effect of urging the brake and the avoidance direction, the highlighted display of the monitored object is stopped, so that the driver can be prevented from seeing the first display unit.

  The second display control unit is configured to place the contact on the position where it is difficult to avoid contact based on the calculated position of the monitored object in the captured image and the calculated distance to the monitored object. If it is determined that there is an object to be monitored, a message that encourages braking may be displayed. In this way, when it is determined that there is an object to be monitored at a position where it is difficult to avoid contact, the fact that the brake is urged is displayed on the second display unit, so the driver can instantly grasp the information. The brake operation can be performed quickly.

  The second display control unit monitors the monitor object at a position where contact can be avoided based on the calculated position in the captured image and the calculated distance to the monitor object. When it is determined that there is an object, an avoidance direction may be displayed. As described above, when it is determined that there is an object to be monitored at a position where contact can be avoided, the avoidance direction is displayed on the second display unit, so that the driver can instantly grasp the information and quickly You can cut the handle.

  The second display control unit may display that the brake is urged when the detected monitoring target is an animal. As a result, the driver can grasp the information instantly and can perform a brake operation, so that contact with an animal that performs unpredictable behavior can be avoided.

The captured image is divided into at least a central region, a right region, and a left region, and the second display control unit performs the second display according to the region where the detected monitoring target exists. You may display the mark which symbolized the said monitoring target object in the position on a display part.

  According to the vehicle periphery monitoring apparatus according to the present invention, the driver can easily and instantly grasp the presence / absence of the monitoring target object and the position of the monitoring target object when the monitoring target exists only by looking at the second display unit. it can. Further, the driver displays either the effect of urging braking or the avoidance direction on the second display unit according to the position of the monitored object in the captured image and the distance to the monitored object. 2 The information can be grasped instantaneously only by looking at the display section, and the brake operation or the operation of turning the steering wheel in the avoiding direction can be quickly performed.

It is an electric block diagram which shows the structure of the vehicle periphery monitoring apparatus which concerns on this Embodiment. It is a schematic perspective view of the vehicle incorporating the vehicle periphery monitoring apparatus shown in FIG. FIG. 3 is an interior view of the vehicle shown in FIG. 2 viewed from the driver side. 4A is a front view of the general-purpose display shown in FIG. 4B is a front view of the MID shown in FIG. It is explanatory drawing of the display position of the mark displayed according to the position of the person who is a monitoring target. It is a flowchart with which operation | movement description of the vehicle periphery monitoring apparatus shown in FIG. 1 is provided. It is a flowchart with which operation | movement description of the vehicle periphery monitoring apparatus shown in FIG. 1 is provided. 8A is a diagram illustrating an example of the captured image displayed in the first display area of the general-purpose display in step S11 of FIG. 6, and FIG. 8B is a diagram of FIG. 6 when the captured image illustrated in FIG. 8A is captured. It is a figure which shows an example of the simulation image displayed on the 2nd display area of MID at step S10. FIG. 9A is a diagram illustrating an example of a captured image displayed in the first display area of the general-purpose display in step S11 of FIG. 6 when there are monitoring objects at the center and the right side, and FIG. 9B is illustrated in FIG. 9A. It is a figure which shows an example of the simulation image displayed on the 2nd display area of MID at step S10 of FIG. 6 when a captured image is imaged. It is a figure which shows the example of a display to which a brake is encouraged. It is a figure which shows the example of a display of the avoidance direction in case the monitoring target object exists in the left side area | region and center area | region of a captured image.

  Hereinafter, preferred embodiments of a vehicle periphery monitoring device according to the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is an electric block diagram showing a configuration of a vehicle periphery monitoring apparatus 10 according to the present embodiment. FIG. 2 is a schematic perspective view of the vehicle 12 in which the vehicle periphery monitoring device 10 shown in FIG. 1 is incorporated. FIG. 3 is a front interior view of the vehicle 12 as viewed from the driver side of the vehicle 12 shown in FIG. In addition, this vehicle 12 has shown the condition which is drive | working the road of the country in which the motor vehicle has decided to drive on the right side, and the vehicle 12 is illustrated as a left-hand drive vehicle.

  The vehicle periphery monitoring device 10 detects an image processing unit 14 that controls the vehicle periphery monitoring device 10, left and right infrared cameras 16L and 16R (imaging units) connected to the image processing unit 14, and a vehicle speed Vs of the vehicle 12. A vehicle speed sensor 18 that detects a brake pedal operation amount Br (brake operation amount Br) (not shown) by a driver, a yaw rate sensor 22 that detects a yaw rate Yr of the vehicle 12, and an alarm or the like is issued by voice. Speaker 24, a general-purpose display 26 that displays captured images output from the infrared cameras 16L and 16R, an MID (Multi-Information Display) 28 that visualizes and displays accompanying information during driving of the vehicle 12, And a storage unit 30.

  As shown in FIG. 2, the infrared cameras 16 </ b> L and 16 </ b> R functioning as a stereo camera image the scenery in front of the vehicle 12, and the front bumper portion of the vehicle 12 is positioned with respect to the vehicle width direction center portion of the vehicle 12. Are arranged at substantially symmetrical positions. The two infrared cameras 16 (infrared cameras 16L and 16R) are fixed so that the optical axes thereof are parallel to each other and the heights from both road surfaces are equal. The infrared cameras 16L and 16R have a characteristic that the output signal level becomes higher (the luminance increases) as the temperature of the monitoring object is higher.

  Here, the reason for providing two infrared cameras 16 is to calculate the distance to the monitoring object. Therefore, the captured image obtained by one of the infrared cameras 16L and 16R is basically used, and the captured image obtained by capturing the image by the other infrared camera 16 is obtained up to the monitoring object. Used only when calculating distance. In the present embodiment, a captured image (hereinafter referred to as a captured image IL) obtained by the infrared camera 16L is basically used, and a captured image (hereinafter referred to as a captured image IR) obtained by the infrared camera 16R is the target of the monitoring target. Used only when calculating the distance.

  The imaging unit of the present invention is not limited to the configuration example shown in FIG. For example, the imaging unit may be a compound eye camera (stereo camera) or a monocular camera (one camera). In the case of a monocular camera, another ranging means (radar device) may be provided, and the distance to the subject may be calculated using a TOF (Time Of Flight) method. To explain simply, the TOF method is a method of obtaining the distance to the subject from the flight time (delay time) of light until the light emitted from the light source is reflected by the object and reaches the camera, and the speed of the light. is there. Instead of an infrared camera, a camera that mainly uses light having a wavelength in the visible light region (also referred to as a color camera) may be used, or both may be provided. The imaging unit may include a plurality of cameras.

  As shown in FIGS. 2 and 3, the dashboard 40 is provided with a handle 42 that protrudes from a lower portion thereof toward a driver's seat (not shown). An MID (second display unit) 28 is disposed at a position of the dashboard 40 (or in the instrument panel 44) that is aligned with the center position of the handle 42 and near the upper side of the instrument panel 44. Yes. As a result, the driver can view the MID 28 with his / her face facing the front of the vehicle 12 and the visibility to the MID 28 is improved. The general-purpose display (first display unit) 26 is disposed at a predetermined portion of the dashboard 40 (specifically, a portion on the right side with respect to the position where the MID 28 is disposed).

  4A is a front view of the general-purpose display 26, and FIG. 4B is a front view of the MID 28.

  A rectangular first display region 46 that is long in the horizontal direction is provided on substantially the entire surface of the general-purpose display 26 shown in FIG. 4A. In this figure, the captured image IL output from the infrared camera 16L is displayed in the first display area 46. The general-purpose display 26 is a module capable of displaying a color image or a monochrome image, and may be composed of, for example, a liquid crystal panel, an organic EL (Electro-Luminescence), an inorganic EL panel, or the like. In this case, the general-purpose display 26 can display arbitrary images, for example, various images for car navigation (road maps, service information, etc.), moving image content, and the like.

  A rectangular second display region 48 that is long in the horizontal direction is provided on substantially the entire surface of the MID 28 shown in FIG. 4B. In the second display area 48, a simulated image 50 obtained by extracting and simulating only a predetermined feature portion displayed in the first display area 46 is displayed. Specifically, the simulated image 50 includes a road 52 that schematically represents a road that can be seen in front of the vehicle, and the road 52 includes lines 52L, 52C, and 52R. The road 52 is represented using a perspective method. Specifically, the width between the lines 52L and 52R becomes narrower toward the upper side. The lines 52L, 52C, and 52R can remind the driver of a straight road when looking forward from the driver's seat. Note that the MID 28 may display the lines 52L, 52C, and 52R mechanically or structurally rather than electrically. For example, the road 52 may be schematically displayed by pasting members indicating the lines 52L, 52C, and 52R on the second display area 48 of the MID 28 in advance. That is, the MID 28 only needs to represent a road 52 that is a model of a road that can be seen in front of the vehicle.

  The MID 28 is a display module that has a simpler configuration than the general-purpose display 26 and is inexpensive. The MID 28 may be able to display fuel consumption, current time, information on the instrument panel 44, and the like.

  The image processing unit 14 includes an A / D conversion circuit that converts an input analog signal into a digital signal, a CPU (central processing unit; computer) that performs various arithmetic processes (not shown), and the like in the storage unit 30. By reading the stored program, it functions as the image processing unit 14 of the present embodiment. The storage unit 30 stores captured images IL and IR converted into digital signals, RAM (Random Access Memory) that stores temporary data used for various arithmetic processes, or an execution program, a table, a map, or the like. It is composed of ROM (Read Only Memory) or the like.

  The output signals of the infrared cameras 16L and 16R, the vehicle speed sensor 18, the brake sensor 20, and the yaw rate sensor 22 are configured to be supplied to the image processing unit 14 as digital signals.

  The image processing unit 14 includes an object detection unit 60, a distance calculation unit 64, a position calculation unit 66, a contact avoidance determination unit 68, an avoidance direction determination unit 70, a first display control unit 72, and a second display control unit 74. . Through various processes by the image processing unit 14, the image processing unit 14 captures captured images (infrared images) L and R in front of the vehicle 12 captured by the infrared cameras 16 </ b> L and 16 </ b> R and various signals (for example, the traveling state of the vehicle 12). When the monitoring object existing in front of the vehicle 12 is detected from the vehicle speed Vs, the brake operation amount Br, the yaw rate Yr), etc., and it is determined that the vehicle 12 is likely to contact the monitoring object, the speaker 24 An alarm is issued through etc.

  The object detection unit 60 detects whether or not a monitoring object exists in the captured image, based on the captured image IL obtained by the infrared camera 16L. Examples of monitoring objects include humans and animals (for example, dogs, cats, etc.). As the detection method, for example, a pattern matching method (a method of detecting a human or an animal by matching feature data indicating the characteristics of humans or various animals with the captured image IL) may be employed. .

  The distance calculation unit 64 calculates the distance to the monitoring target detected by the target detection unit 60. Specifically, the distance calculation unit 64 calculates the distance to the detected monitoring object from the captured images IL and IR obtained by the infrared cameras 16L and 16R using a known means such as a triangulation method. The vehicle periphery monitoring device 10 includes a distance measuring sensor, and the distance calculating unit 64 may calculate a distance to the monitoring object based on a detection signal of the distance measuring sensor, and may be a TOF (Time Of Flight) method. May calculate the distance to the monitoring object. When calculating the distance to the monitoring object using the distance measuring sensor or the TOF method, the number of the infrared cameras 16 may be one.

  The position calculator 66 calculates the position of the detected monitoring object in the captured image IL obtained by the infrared camera 16L. The contact avoidance determination unit 68 comes into contact with the monitoring target when the vehicle 12 travels as it is based on the distance to the monitoring target calculated by the distance calculation unit 64 and the position of the monitoring target in the captured image IL. If the possibility is high, or if the possibility of contact is high, it is determined whether contact can be avoided.

  The avoidance direction determination unit 70 determines an avoidance direction in which the vehicle 12 should move in order to avoid contact between the vehicle 12 and the monitoring target. The avoidance direction determination unit 70 determines an avoidance direction based on the detected position of the monitored object in the captured image IL calculated by the position calculation unit 66.

  The first display control unit 72 causes the general-purpose display 26 to display the captured image IL obtained by imaging by the infrared camera 16L and highlights the detected monitoring target. Further, when the contact avoidance determining unit 68 determines that there is a high possibility of contact, the first display control unit 72 stops highlighting the detected monitoring target.

  When a person is detected as the monitoring object, the second display control unit 74 displays on the MID 28 the mark 102 (see FIGS. 8 and 9) that symbolizes the person who is the monitoring object. Specifically, the second display control unit 74 causes the mark 102 to be displayed at a display position on the second display area 48 corresponding to the position of the person who is the monitoring target in the captured image IL calculated by the position calculation unit 66. In addition, the second display control unit 74 has a high possibility of contact by the contact avoidance determination unit 68, and when it is determined that the contact can be avoided, the avoidance direction is displayed in the second display area 48 of the MID 28, When it is determined that it is difficult to avoid the contact, a message that encourages braking is displayed in the second display area 48 of the MID 28.

  The display position of the mark 102 displayed on the MID 28 by the second display control unit 74 according to the position of the human being the monitoring target calculated by the position calculation unit 66 will be described with reference to FIG. The captured image IL is divided into a left area 82, a central area 84, and a right area 86 in order from the left, three areas, and the second display area 48 of the MID 28 has three positions, a left display position 92 and a center from the left. A display position 94 and a right display position 96 are determined. The left area 82 is associated with the left display position 92, the center area 84 is associated with the center display position 94, and the right area 86 is associated with the right display position 96. It should be noted that the captured image IL may be divided into squares along the oblique lines of the road. Further, the captured image IL may be divided into four or more regions. Needless to say, when the captured image IL is divided into four or more regions, the display position of the second display region 48 is determined corresponding to each region.

  When the position of the person who is the monitoring target calculated by the position calculation unit 66 belongs to the left region 82, the mark 102 is displayed at the left display position 92, and the position of the human being the monitoring target calculated by the position calculation unit 66 is displayed. Mark 102 is displayed at the central display position 94, and when the position of the person who is the monitoring target calculated by the position calculation unit 66 belongs to the right area 86, the mark 102 is displayed on the right display position. 96.

  Therefore, the position calculation unit 66 calculates the positions of a plurality of monitoring objects. For example, when the positions of the plurality of monitoring objects belong to the left area 82 and the center area 84, the mark 102 is the left display position 92. It is displayed at the center display position 94. Even if the positions of the plurality of monitoring objects calculated by the position calculation unit 66 belong to the same area, for example, the right area 86, one mark 102 is displayed at the right display position 96. Become.

  The vehicle periphery monitoring apparatus 10 according to the present embodiment is basically configured as described above. Subsequently, the operation of the vehicle periphery monitoring device 10 will be described along the flowcharts of FIGS. 6 and 7 with reference to other drawings as appropriate.

  The image processing unit 14 acquires the captured images IL and IR obtained by the infrared cameras 16L and 16R (step S1). Assume that the infrared cameras 16L and 16R perform imaging at a predetermined frame rate, for example, 30 fps (frame rate for imaging 30 frames per second). Note that the operations shown in the flowcharts of FIGS. 6 and 7 are executed at a cycle of 1/30 seconds. That is, every time the infrared cameras 16L and 16R capture an image, the operations shown in the flowcharts of FIGS. 6 and 7 are executed.

  Next, the object detection unit 60 detects a monitoring object based on the captured image IL captured by the infrared camera 16L among the captured images IL and IR acquired in step S1 (step S2). The object detection unit 60 detects a plurality of monitoring objects when there are a plurality of monitoring objects in the captured image IL.

  Next, the distance calculation unit 64 calculates the distance to the monitoring target detected in step S2 (step S3). Specifically, where the monitored object in the captured image IL detected in step S2 is located in the captured image IR is detected by a block matching method or the like, and up to the monitored object using the principle of triangulation. The distance is calculated. When a plurality of monitoring objects are detected, the distance calculation unit 64 calculates the distances to the plurality of monitoring objects, respectively.

  Next, the contact avoidance determination unit 68 calculates the time (hereinafter referred to as arrival time) for the vehicle 12 to reach the monitored object from the distance calculated in step S3 and the current vehicle speed detected by the vehicle speed sensor 18 (hereinafter, arrival time). Step S4). The arrival time can be obtained by dividing the distance detected in step S3 by the vehicle speed. When a plurality of monitoring objects are detected, the contact avoidance determination unit 68 calculates arrival times to the plurality of monitoring objects, respectively.

  Next, the position calculation unit 66 calculates the position of the monitored object detected in step S2 in the captured image IL (step S5).

  Next, the contact avoidance determination unit 68 determines whether or not an animal is detected as the monitoring target detected in step S2 (step S6).

  In step S6, when the contact avoidance determination unit 68 determines that no animal is detected as the monitoring target, the position in the captured image IL of all the monitoring targets (human) calculated in step S5 is one. It is determined whether it belongs to an area (step S7). That is, it is determined whether or not the calculated positions of all the monitoring objects in the captured image IL belong to any one of the left region 82, the center region 84, and the right region 86.

  When it is determined in step S7 that the calculated positions of all the monitoring objects (human) in the captured image IL belong to one region, the contact avoidance determination unit 68 determines all the calculated monitoring objects. It is determined whether or not the position in the captured image IL belongs to the central region 84 (step S8).

  When it is determined in step S8 that the positions in the captured image IL of all detected monitoring objects belong to the central region 84, the contact avoidance determination unit 68 reaches the monitoring object calculated in step S4. It is determined whether or not the time is equal to or shorter than a predetermined time (step S9). At this time, when a plurality of monitoring objects are detected, it is determined whether or not the shortest arrival time is equal to or shorter than a predetermined time.

  If it is determined that the positions in the captured image IL of all the monitoring objects calculated in step S8 do not belong to the central region 84, it is determined in step S9 that the arrival time to the monitoring object is not less than a certain time. If so, the contact avoidance determination unit 68 determines that there is a low possibility that the vehicle 12 will come into contact with the monitoring object, and proceeds to step S10.

  In step S10, the second display control unit 74 causes the MID 28 to display the mark 102 at the display position on the second display area 48 corresponding to the calculated position of the monitoring object in the captured image IL.

  Next, the first display control unit 72 displays the captured image IL most recently acquired in step S1 in the first display area 46 of the general-purpose display 26 and highlights the detected monitoring target (step S11). The process is terminated.

  FIG. 8A is a diagram illustrating an example of the captured image IL displayed in the first display area 46 of the general-purpose display 26 in step S11. FIG. 8B illustrates a case where the captured image IL illustrated in FIG. 8A is captured. It is a figure which shows an example of the simulation image 50 displayed on the 2nd display area 48 of MID28.

  As shown in FIG. 8A, the monitored object H1 is highlighted by surrounding the detected monitored object H1 with a highlight frame 100. The display position of the highlight frame 100 is determined based on the position of the monitoring target calculated in step S5. In the example shown in FIG. 8A, the position of the monitoring object H1 in the captured image IL belongs to the central area 84. Therefore, as shown in FIG. 8B, the mark 102 is the central display position 94 of the second display area 48. Is displayed. As a result, the driver can easily and instantly grasp the presence / absence of the monitoring object and the position of the monitoring object when there is a monitoring object only by looking at the MID 28 with the line of sight directed forward.

  If it is determined in step S7 that the calculated positions of all the monitored objects in the captured image IL do not belong to one region, the contact avoidance determining unit 68 captures all the detected monitored objects. It is determined whether or not the position in the image IL belongs to the left region 82 and the central region 84 (step S12 in FIG. 7). That is, in step S12, it is determined whether the monitoring target exists on the left side and the center.

  When it is determined in step S12 that the calculated positions of all the monitoring objects in the captured image IL do not belong to the left area 82 and the central area 84, the contact avoidance determination unit 68 determines all the calculated monitoring objects. It is determined whether or not the position of the object in the captured image IL belongs to the right region 86 and the central region 84 (step S13). That is, in step S13, it is determined whether or not the monitoring target exists on the right side and the center.

  When it is determined in step S13 that the calculated positions of all the monitoring objects in the captured image IL do not belong to the right area 86 and the central area 84, the contact avoidance determination unit 68 determines the calculated monitoring objects. It is determined whether or not the position in the captured image IL belongs to all the regions (the left region 82, the central region 84, and the right region 86) (step S14). That is, in step S14, it is determined whether or not the monitoring target exists on the right side, the center, and the left side.

  If it is determined in step S14 that the calculated positions of all the monitored objects in the captured image IL do not belong to all the areas, the contact avoidance determining unit 68 captures all the calculated monitored objects. The position in the image IL is determined to belong to the left area 82 and the right area 86, and the process proceeds to step S16.

  When it is determined that the positions in the captured image IL of all the monitoring objects calculated in step S12 belong to the left area 82 and the central area 84, the positions in the captured image IL of all the monitoring objects calculated in step S13. When it is determined that the position in the right area 86 and the central area 84 belongs, the contact avoidance determination unit 68 determines that the monitoring object in the central area 84 is farther than the monitoring object in the left area 82 or the right area 86. It is determined whether or not it exists at the position (step S15). That is, in step S15, it is determined whether or not the monitoring target in the center exists at a position farther than the monitoring target in the left and right. When there are a plurality of monitoring objects at the center and a plurality of monitoring objects at the left or right, in step S15, the closest monitoring object among the monitoring objects at the center is on the left or right. It may be determined whether or not the monitoring object is farther than the farthest monitoring object, and the monitoring object that is the closest or farthest monitoring object in the center is on the left or right It may be determined whether or not the object is farther than the nearest or farther monitoring object.

  If it is determined in step S15 that the monitoring object in the central area 84 is not located farther than the monitoring object in the left area 82 or the right area 86, the process proceeds to step S16.

  In step S16, the contact avoidance determination unit 68 determines whether or not the arrival time to one of the monitoring objects calculated in step S4 is equal to or less than a predetermined time. That is, it is determined whether or not the arrival time to the shortest monitoring object is a certain time or less.

  If it is determined in step S16 that the arrival time to all the monitoring objects is not equal to or less than a predetermined time, the process proceeds to step S10 in FIG. In other words, when the monitoring object is on the left and right sides, or when the monitoring object in the center is closer to the monitoring object on the left and right, the arrival time to all the monitoring objects is a fixed time If not, it can be determined that the vehicle 12 is unlikely to come into contact with the monitoring object, so the second display control unit 74 uses the second display area of the MID 28 corresponding to the position of the monitoring object in the captured image IL. The mark 102 is displayed at the display position 48, and the first display control unit 72 displays the captured image IL in the first display area 46 of the general-purpose display 26 and highlights the monitoring target.

  FIG. 9A is a diagram illustrating an example of a captured image IL displayed in the first display area 46 of the general-purpose display 26 in step S11 when there is a monitoring target at the center and the right side, and FIG. 9B is illustrated in FIG. 9A. It is a figure which shows an example of the simulation image 50 displayed on the 2nd display area 48 of MID28 at step S10, when the captured image IL is imaged.

  As shown in FIG. 9A, the monitoring object H1 is present in the central area 84, the monitoring object H2 is present in the right area 86, and the monitoring objects H1, H2 are surrounded by the emphasis frame 100, H2 is highlighted. In the example shown in FIG. 9A, the position of the monitoring object H1 in the captured image IL belongs to the central area 84, and the position of the monitoring object H2 in the captured image IL belongs to the right area 86, as shown in FIG. 9B. The mark 102 is displayed at the center display position 94 and the right display position 96 of the second display area 48. As a result, the driver can easily and instantly grasp the presence / absence of the monitoring object and the position of the monitoring object when there is a monitoring object only by looking at the MID 28 with the line of sight directed forward.

  If it is determined in step S15 that the monitoring object in the central area 84 is located farther than the left area 82 or the right area 86, the contact avoidance determination unit 68 determines the arrival time to the monitoring object in the central area 84. It is determined whether or not the time is equal to or shorter than a predetermined time (step S17).

  If it is determined in step S17 that the arrival time to the monitoring target in the central area 84 is equal to or less than a predetermined time, the contact avoidance determination unit 68 can contact the vehicle 12 and the monitoring target in the central area 84 when traveling as it is. It is determined that it is difficult to avoid contact and the process proceeds to step S18. When the contact avoidance determination unit 68 determines that there is a high possibility of contact, the driver 24 recognizes that effect by causing the speaker 24 to output a warning sound or the like.

  If it progresses to step S18, the 2nd display control part 74 will display the effect to urge a brake on the 2nd display area 48 of MID28, and will progress to step S20. FIG. 10 is a diagram illustrating a display example for prompting the brake. As shown in FIG. 10, the characters “BRAKE” are displayed large on the road 52. As a result, the driver can easily and instantly understand that the driver is encouraged to operate the brake by simply looking at the MID 28 while keeping his line of sight forward. It can be performed. In addition, you may display the figure etc. which modeled the brake instead of the character of BRAKE.

  On the other hand, if it is determined in step S17 that the arrival time to the monitoring target in the central area 84 is not less than a predetermined time, the contact avoidance determination unit 68 may contact the monitoring target in the central area 84 with the vehicle 12. Although it is high, it is determined that contact avoidance is possible, and the process proceeds to step S19. The monitoring object in the central region 84 is far from the monitoring object in the left region 82 or the right region 86, and the arrival time to the monitoring object in the central region 84 is longer than a certain time. Since the monitoring object in the left area 82 or the right area 86 closer to the vehicle 12 is noticed, the monitoring object in the central area 84 may not be noticed. Therefore, in such a case, it is determined that there is a high possibility that the vehicle 12 and the monitoring object come into contact if the vehicle travels as it is. When the contact avoidance determination unit 68 determines that there is a high possibility of contact, the speaker 24 outputs a sound to alert the user such as an alarm sound, thereby causing the driver to recognize that.

  In step S19, the avoidance direction determination unit 70 determines the avoidance direction based on the calculated position of the monitoring object in the captured image IL, and the second display control unit 74 sets the determined avoidance direction in the MID 28. The second display area 48 is displayed, and the process proceeds to step S20. FIG. 11 is a diagram illustrating a display example of the avoidance direction when there are monitoring objects in the left area 82 and the central area 84. As shown in FIG. 11, an arrow 106 indicating the avoidance direction (an arrow indicating the right side) 106 is displayed large on the road 52. Thereby, the driver can grasp the avoidance direction easily and instantaneously only by looking at the MID 28 with the line of sight directed forward, and can quickly turn the handle 42 in the avoidance direction. The avoidance direction determination unit 70 determines an arrow indicating the left as an avoidance direction when there are monitoring objects in the right region 86 and the central region 84.

  In step S20, the first display control unit 72 displays the captured image IL most recently acquired in step S1 of FIG. 6 in the first display area 46 of the general-purpose display 26. At this time, if the first display control unit 72 determines that there is a high possibility of contact with the monitoring object, the first display control unit 72 stops highlighting the monitoring object. Therefore, when the possibility of contact is high, the highlighting of the monitoring object is stopped, so that it is possible to eliminate or reduce the time for the driver to look at the general-purpose display 26.

  If it is determined in step S6 of FIG. 6 that an animal has been detected as a monitoring object, the contact avoidance determination unit 68 is likely to contact the monitoring object when traveling as it is, and it is difficult to avoid contact. And the process proceeds to step S18 in FIG. This is because animals are likely to take unpredictable behavior. In step S18, the second display control unit 74 causes the MID 28 to display that the brake is urged, and in step S20, the first display control unit 72 displays the general display 26 acquired most recently in step S1 of FIG. The captured image IL is displayed. Of course, the monitoring object is not highlighted at that time. Needless to say, if the contact avoidance determination unit 68 determines that there is a high possibility of contact, the speaker 24 outputs a warning sound or other sound that calls for attention.

  If it is determined in step S9 in FIG. 6 that the arrival time to the monitoring object in the central region 84 is a predetermined time or less, the contact avoidance determination unit 68 is highly likely to come into contact with the monitoring object when traveling as it is. It is determined that it is difficult to avoid contact, and the process proceeds to step S18 in FIG.

  If it is determined in step S14 of FIG. 7 that the calculated position of the monitoring object belongs to all the areas, the contact avoidance determination unit 68 may cause the vehicle 12 to come into contact with the monitoring object when traveling as it is. It is determined that it is difficult to avoid contact, and the process proceeds to step S18.

  In step S14 of FIG. 7, it is determined that the calculated positions of all the monitoring objects do not belong to all the areas, that is, belong to the left area 82 and the right area 86. In step S16, any one of the monitoring objects is determined. If it is determined that the arrival time is less than a certain time, there is a possibility that the monitoring object on the right side or the left side may move toward the traveling direction of the vehicle 12, and Since the arrival time is short, the contact avoidance determination unit 68 determines that it is highly likely that the vehicle 12 will come into contact with the monitoring object if the vehicle travels as it is, and the process proceeds to step S18.

  In step S15 of FIG. 7, it is determined that the monitoring object in the central area 84 is closer than the monitoring object in the left area 82 or the right area 86, and in step S16, the arrival time to any monitoring object is a fixed time. If it is determined that the following is true, the contact avoidance determination unit 68 determines that it is highly likely that the vehicle 12 will come into contact with the monitored object if the vehicle travels as it is, and the process proceeds to step S18.

  In this way, the driver can easily and instantly grasp the presence / absence of the monitoring target object and the position of the monitoring target object when the monitoring target exists only by looking at the MID 28 with the line of sight directed forward. it can. In addition, since either one of the warning prompt and the avoidance direction is displayed on the MID 28 according to the position in the captured image IL of the monitored object and the arrival time to the monitored object, the driver looks at the MID 28 at a glance. It is possible to grasp the information instantly and to quickly perform a brake operation or an operation of turning the steering wheel in the avoiding direction.

  The above embodiment may be modified as follows.

  (Modification 1) In the above embodiment, when it is determined that there is a high possibility that the vehicle 12 will come into contact with the monitoring object, the mark 102 is not displayed and the brake is urged or the avoidance direction is set to the first of the MID 28. 2 is displayed in the display area 48 (step S18, step S19 in FIG. 7), but the mark 102 and the effect of urging the brake or the avoidance direction may be alternately displayed at regular time intervals. Further, the effect of urging the brake or the avoidance direction may be displayed on the MID 28 at the same time.

  (Modification 2) In the above embodiment, even if an animal is detected as a monitoring object, the mark symbolizing the animal is not displayed on the MID 28. However, as in Modification 1, there is a possibility of contact. Even when the mark 102 is determined to be high, when the mark 102 is displayed, a mark symbolizing the animal may be displayed on the MID 28. In this case, the display position (right display position 92, center display) on the second display area 48 corresponding to the area (right area 82, center area 84, left area 86) to which the detected animal position in the captured image IL belongs. A mark symbolizing an animal is displayed at a position 94 and a left display position 96). For example, when the detected position of the animal in the captured image IL belongs to the right area 86, a mark symbolizing the animal is displayed at the right display position 96 on the second display area 48 corresponding to the right area 86. May be. Furthermore, the display position on the second display area 48 corresponding to the area to which the position in the captured image IL of the animal belongs may be slightly different from the display position in the case of a human being. For example, even if the positions in the captured image IL of the human and the animal belong to the right area 86, the display positions on the second display area 48 are made different between the human and the animal. Thereby, the mark 102 and the mark symbolized as an animal are not displayed at the same display position, and visibility is improved.

  (Modification 3) In the above embodiment, if it is determined in step S6 in FIG. 6 that an animal has been detected as a monitoring object, the vehicle 12 is likely to come into contact with the animal when traveling as it is, and is difficult to avoid. Although it is determined that there is a brake display in step S18 of FIG. 7, when an animal is detected as a monitoring target, processing may be performed in the same manner as when a human is detected as a monitoring target. . Specifically, the operation in step S6 in FIG. 6 may be eliminated, and the operation may proceed to step S7 as it is after the operation in step S5. In step S10 of FIG. 6 when an animal is detected, the second display region 48 of MID 28 corresponding to the region (left region 82, central region 84, right region 86) to which the position of the detected animal in the captured image IL belongs. A mark symbolizing an animal is displayed at the upper display position (left display position 92, center display position 94, right display position 96). In step S11, the detected animal is highlighted (the detected animal is highlighted). 100). In the case of an animal and a human, the display position displayed on the second display area 48 may be slightly different. Thereby, the mark 102 and the mark symbolized as an animal are not displayed at the same display position, and visibility is improved.

  (Modification 4) The modification 1 to the modification 3 may be arbitrarily combined.

  As described above, the present invention has been described using the preferred embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above embodiment. It is apparent from the description of the scope of claims that embodiments with such changes or improvements can be included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 10 ... Vehicle periphery monitoring apparatus 12 ... Vehicle 14 ... Image processing unit 16L, 16R ... Infrared camera 26 ... General-purpose display 28 ... MID
DESCRIPTION OF SYMBOLS 30 ... Memory | storage part 40 ... Dashboard 42 ... Handle 46 ... 1st display area 48 ... 2nd display area 52 ... Road 52L, 52C, 52R ... Line 60 ... Object detection part 64 ... Distance calculation part 66 ... Position calculation part 68 ... contact avoidance determination unit 70 ... avoidance direction determination unit 72 ... first display control unit 74 ... second display control unit 82 ... left side region 84 ... center region 86 ... right side region 92 ... left side display position 94 ... center display position 96 ... right side Display position 100 ... Emphasis frame 102 ... Mark 106 ... Arrow

Claims (5)

A vehicle periphery monitoring device that detects an object to be monitored in front of the vehicle based on a captured image obtained by capturing an image of a landscape in front of the vehicle with an imaging unit mounted on the vehicle,
A monitoring object detection unit that detects the monitoring object based on the captured image;
A position calculator that calculates the position of the monitoring object in the captured image;
A distance calculation unit for calculating a distance to the monitoring object;
A first display control unit that displays the captured image on the first display unit and highlights the detected monitoring target;
A second display control unit for displaying a mark symbolizing the monitoring object at a display position on the second display unit corresponding to the calculated position of the monitoring object in the captured image;
With
The second display control unit urges the second display unit to brake according to the calculated position of the monitored object in the captured image and the calculated distance to the monitored object. Display one of the avoidance directions ,
The first display control unit stops highlighting of the monitoring object when the second display control unit displays one of the indication that the brake is urged and the avoidance direction. apparatus. The vehicle periphery monitoring device according to claim 1,
The second display control unit is configured to place the contact on the position where it is difficult to avoid contact based on the calculated position of the monitored object in the captured image and the calculated distance to the monitored object. A vehicle periphery monitoring device that displays a warning to urge a brake when it is determined that there is an object to be monitored. In the vehicle periphery monitoring device according to claim 1 or 2,
The second display control unit monitors the monitor object at a position where contact can be avoided based on the calculated position in the captured image and the calculated distance to the monitor object. A vehicle periphery monitoring device that displays an avoidance direction when it is determined that an object is present. In the vehicle periphery monitoring device according to any one of claims 1 to 3,
The second display control unit, when the detected object to be monitored is an animal, displays a message to urge the brake. In the vehicle periphery monitoring device according to any one of claims 1 to 4,
Dividing the captured image into at least a central area, a right area, and a left area;
The second display control unit displays a mark symbolizing the monitoring object at a position on the second display unit corresponding to the area where the detected monitoring object exists. Perimeter monitoring device.

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