JP2001063500A - Obstacle monitoring device around vehicle - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To improve visibility and convenience of a situation around a vehicle for a driver. A distance to an obstacle is calculated by an ultrasonic sensor 1 ₁ and an ultrasonic sensor control circuit 2. Display control circuit 6
Now, to determine the display area corresponding to the area A1 is identified as an obstacle exists on the basis of the ultrasonic sensor 1 1 _... position and distance information, it is highlighted the relevant display area. Therefore, only when the obstacle is at a distance closer than the predetermined threshold, the image taken by the CCD camera 5 is displayed on the screen of the display 7 by the display control circuit 6, so that the collision at a far distance An image of an obstacle with low possibility of being displayed is not displayed unnecessarily, and an image is displayed only when an obstacle such as a wall, the distance of which is difficult to understand from the image, is closer than the upper limit Lmax. Therefore, the driver can visually recognize the situation around the vehicle accurately.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for monitoring obstacles around a vehicle which detects an obstacle in a blind spot area around the vehicle and informs the driver of the presence or approach of the obstacle to prevent a collision before it occurs. is there.

[0002]

2. Description of the Related Art Conventionally, as an obstacle monitoring device around a vehicle for detecting an obstacle in a blind spot area around a vehicle and notifying a driver of the presence or approach of the obstacle to prevent a collision beforehand,
For example, a CCD camera is attached to the rear of the vehicle, and when the shift lever of the transmission is switched to the reverse position, an image is taken by the CCD camera on the screen of the monitor device for the car navigation system or the monitor device for the car TV attached to the front panel. By displaying an image, the driver can visually recognize the situation behind the vehicle, which is likely to be a blind spot, or detects the distance to the obstacle with a sensor using ultrasonic or laser light, and the distance to the detected obstacle is In some cases, a buzzer or a light-emitting diode issues an alarm when the value falls below a predetermined value.

[0003]

However, in the former conventional example, there is an advantage that the situation around the vehicle (rear) can be easily visually recognized by the image of the CCD camera, but the surface shape is one like a wall. When an object (obstacle) having a sufficient size with respect to the angle of view of the CCD camera is picked up, there is a problem that it is difficult to recognize the sense of distance. If a vehicle is equipped with a plurality of CCD cameras and displays for displaying the images of the CCD cameras, it is necessary to determine which display is the most dangerous and must be watched. There was a problem that it was hard to understand.

On the other hand, in the latter conventional example, a distance to an obstacle can be detected by a reflection type sensor using ultrasonic waves, laser light, or the like. There was a problem that it was hard to understand. For example, there is no problem with the operation of the sensor itself due to environmental conditions such as adhesion of mud and dirt in the case of a sensor using laser light, and clogging due to snow and freezing in the case of a sensor using ultrasonic waves. In some cases, the detectable area is reduced or the detection accuracy is reduced, so that a normal detection ability cannot be obtained, and there is a problem that it is difficult for a user to determine whether or not a failure has occurred.

An object of the present invention is to solve the above-mentioned problems, and an object of the present invention is to provide a vehicle-surrounding obstacle monitoring device which improves the visibility and convenience of a situation around the vehicle to a driver. .

[0006]

In order to achieve the above object, the invention according to claim 1 is provided with a distance detecting means installed in a vehicle for detecting a distance to an obstacle around the vehicle, and a distance detecting means installed in the vehicle. Imaging means for imaging the periphery of the vehicle; display means for displaying an image captured by the imaging means to allow the driver to visually recognize the situation around the vehicle; and a threshold for determining a distance to an obstacle detected by the distance detection means. Control means for displaying, on the display means, an image picked up by the image pickup means when the distance is smaller than the value, the image pickup means only when the obstacle is at a distance closer than a predetermined threshold value. Is displayed on the screen of the display means, so that images of obstacles that are far away and have a low possibility of collision are not displayed unnecessarily, and from the image like a wall. For obstacles whose distance is difficult to understand Since the image only when in close distance than the predetermined threshold value is displayed Te, the driver can accurately recognize the situation surrounding the vehicle. Moreover, by comparing the detection result of the distance detecting means with the actual distance to the obstacle, it is possible to easily detect a decrease in the detecting ability of the distance detecting means due to adhesion of dirt or clogging, and furthermore, distance detection. If the detection capability remains reduced even after cleaning the means, it can be intuitively determined that the device is not in normal operation and is in an abnormal state due to other causes such as failure or disconnection. It is possible to improve the efficiency of the operation test and the maintainability during actual use.

According to a second aspect of the present invention, in the first aspect of the present invention, there is provided a position detecting means for detecting a position of the obstacle from a distance to the obstacle detected by the distance detecting means.
The presence or absence of an obstacle in the imaging region of the imaging unit is determined based on the detection result of the position detection unit, and if an obstacle is present in the imaging region, an area where the obstacle is to be displayed on the screen of the display unit is determined. The calculation is performed, and the corresponding area of the calculated display screen is emphasized and displayed by the display means. In addition to the operation of the invention of claim 1, the position of the obstacle with a high degree of danger is displayed on the screen of the display means. , The visibility of the obstacle is improved, and the safety is improved. Furthermore, by comparing the detection result of the obstacle position by the position detection means with the screen display on the display screen, if the detection capability of the position detection means is reduced due to adhesion of dirt or clogging, the detection result is displayed. Based on the difference between the area highlighted based on the actual obstacle and the actual display position of the obstacle, the user can easily find a decrease in the ability of the position detection means, and the detection ability is improved even when the position detection means is cleaned. If the state is lowered, it is not normal operation, so it can be intuitively judged that the state is abnormal due to other causes such as failure or disconnection, and efficiency of operation tests during shipping inspection and maintenance during actual use Performance can be improved.

According to a third aspect of the present invention, in the first aspect of the present invention, the control means displays the display range corresponding to the distance to the obstacle detected by the distance detection means brighter than the other display ranges by the display means. In addition to the effect of the first aspect of the invention, the position of a short-distance obstacle having a high degree of danger is displayed brightly and emphasized on the screen of the display means, so that the visibility of the obstacle is improved. And safety can be improved.

According to a fourth aspect of the present invention, in the second aspect of the invention, the control means causes the display means to display a display range corresponding to the position of the obstacle detected by the position detection means brighter than the other display ranges. Claim 2
In addition to the operation of the invention, the position of an obstacle at a short distance with a high degree of danger is displayed brightly and emphasized on the screen of the display means, so that the visibility of the obstacle is improved and the safety is improved. .

According to a fifth aspect of the present invention, in the second aspect of the present invention, a plurality of image pickup units each having a different image pickup area are installed in the vehicle, and the control unit divides a display screen of the display unit to divide the display screen into a plurality of image pickup units And displaying each image independently and appropriately, and displaying the display range of each imaging unit corresponding to the position of the obstacle detected by the position detection unit brighter than the other display ranges by the display unit. In addition to the functions of the invention of claim 2, in addition to the image of a plurality of image pickup means on the screen of the display means, it is possible to simultaneously visually recognize the surrounding situation over a wide range of the vehicle, and to take an image of the peripheral situation with a high degree of danger. Since the display range of the means is brightly emphasized and displayed, the visibility of the obstacle is improved, and the safety can be improved.

According to a sixth aspect of the present invention, in the fifth aspect of the present invention, image pickup means is provided at least at both front and rear ends of the vehicle. The safety can be further improved by imaging the situation around the corner portion of the vehicle, which tends to be a blind spot.

According to a seventh aspect of the present invention, in the sixth aspect of the present invention, the distance detecting means is provided at least at both front and rear ends of the vehicle. Further, since the position of the obstacle is detected at the corner of the vehicle, which tends to be a blind spot, the safety can be further improved.

According to an eighth aspect of the present invention, in the first aspect of the invention, the distance detecting means is installed at a position where a distance to an obstacle behind the vehicle can be detected, and the imaging means can capture an image of the rear of the vehicle. In addition to the operation of the invention according to claim 1, the position of the obstacle is detected behind the vehicle which is difficult for the driver to see, and the rear of the vehicle is imaged by the imaging means. Visibility is further improved.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (Embodiment 1) Hereinafter, FIGS.
The first embodiment of the present invention will be described in detail with reference to FIG.

After the vehicle (automobile) Q1 as shown in FIG.
6 ultrasonic sensors 1 on some bumpers ₁~ 1₆Is installed
ing. These ultrasonic sensors 1₁~ 1₆Is well known
Transmitter / receiver type, as shown in FIG.
Obstruction behind the vehicle controlled by the sensor control circuit 2
Detect the distance to. Also, the ultrasonic sensor control circuit 2
Is each ultrasonic sensor 1₁~ 1₆To indicate the transmission of ultrasonic waves
To send an ultrasonic signal₁~ 1₆Read the received signal
Detects the signal component of the reflected wave and starts transmitting ultrasonic waves
By measuring the elapsed time until the reflected wave is received from
Ultrasonic sensor 1 ₁~ 1₆From obstacle to obstacle
You.

A buzzer 3 and a shift position sensor 4 are connected to the ultrasonic sensor control circuit 2 as shown in FIG. The shift position sensor 4 has a conventionally well-known configuration, and positions of shift levers of a transmission included in a vehicle, for example, P (parking), R (reverse), N
(Neutral), D (drive), 2 (second speed), 1
(1st speed) which position the shift lever is located in. A signal indicating the detected shift position (hereinafter referred to as “shift position detection signal”) is transmitted to the ultrasonic sensor control circuit 2. Output.

On the other hand, in the ultrasonic sensor control circuit 2, only when the shift position detection signal sent from the shift position sensor 4 indicates a shift position of N (neutral) or R (reverse), the ultrasonic sensors 11 ₁ to 11. Operate ₁₆ and P
When a shift position detection signal indicating a shift position such as (parking) or D (drive) has been sent, the ultrasonic sensors ₁₁ to ₁₆ are stopped. That is, the vehicle may normally move rearward only when the shift lever is located at N (neutral) or R (reverse). In other cases, the ultrasonic sensors ₁₁ to ₁₆ may be used. By stopping the operation, unnecessary power consumption of the battery can be prevented. Note that, in the present embodiment, the case where the position of the shift lever of the automatic transmission is detected by the shift position sensor 4 is exemplified. However, when the position of the shift lever of the manual transmission is detected,
Alternatively, even in the case of other systems, a detection unit for detecting a state in which the vehicle can retreat is provided to provide ultrasonic sensors 11 ₁ to 1.
If ₆ operates to control of the same effects.

In this embodiment, as shown in FIG. 2, a CCD camera 5 for capturing an image of the rear of the vehicle is installed near the roof at the rear of the vehicle, and an image signal of the CCD camera 5 is input to a display control circuit 6. I have. Further, a display 7 is connected to the display control circuit 6, and the display 7 is used as a liquid crystal display device constituting a conventionally known car navigation system (not shown) or a liquid crystal monitor device for a car TV. It is something that can be done. Thus, the display control circuit 6 switches to the navigation information, TV image, or the like normally displayed on the screen of the display device 7 to switch the CCD camera 5.
The display 7 is controlled so that the image picked up in the step 7 is displayed on the entire screen of the display 7 or on a small screen formed on a part of the screen. In the present embodiment, the ultrasonic sensor control circuit 2 and the display control circuit 6 constitute control means.

FIG. 3 shows a screen area imaged by the CCD camera 5, a distance measured based on the contour of the vehicle, and coordinate axes of an angle from the center line of the vehicle. The relationship between the screen area imaged by the CCD camera 5 and the detection areas of the ultrasonic sensors ₁₁ to ₁₆ is shown on the coordinate axes. The detection area of the vehicle rear portion at both ends two ultrasonic sensors installed in the vicinity of 1 _1, 1 _6, region M1 where measurable distance has the opening of the center angle of 60 ° at 60cm, M6 (Fig. 4 is a reference), the four detection areas of the ultrasonic sensor 1 _{2-1 5} the other, the area M where measurable distance has the opening of the central angle at 120cm about 30 °
The ultrasonic sensors ₁₁ to ₁₆ are arranged so as to cover the entire area where the CCD camera 5 can capture images.

[0020] Thus, for example, when an obstacle at a distance of about 80cm at the ultrasonic sensor 1 ₂ is detected,
In the ultrasonic sensor control circuit 2, it can be specified as an obstacle exists in the area of A1 in the detection area M2 of the ultrasonic sensor 1 ₂ shown in FIG. That is, in this embodiment by the ultrasonic sensor 1 ₁ to 1 ₆ and the ultrasonic sensor control circuit 2, constitutes a position detecting means for detecting the position of the obstacle.

The ultrasonic sensor control circuit 2 sends the position information of the obstacle detected as described above to the display control circuit 6 together with the detection distance information of each of the ultrasonic sensors ₁₁ to ₁₆ . Then, in the display control circuit 6, the ultrasonic sensors ₁₁ to
Based on the position ₁₆ and the distance information sent from the ultrasonic sensor control circuit 2, a display area corresponding to the area A1 specified as having an obstacle is determined, and the corresponding display is determined as shown in FIG. The brightness of the display areas N2 to N8 other than the area N1 is darkened and the corresponding display area N1 is emphasized and displayed.
In the present embodiment, an area to be emphasized by dividing the screen of the display 7 into eight display areas N1 to N8 in advance is defined. When an obstacle is detected simultaneously by a plurality of ultrasonic sensors 1 ₁ ..., The distances to the obstacles detected by the ultrasonic sensors 1 ₁ . since the ultrasonic sensor 1 1 _... detected obstacle at indicated are considered hazardous and closest to the vehicle, the display area includes the position of the obstacle detected by the shortest distance N1 ...
Is highlighted. When a plurality of obstacles are detected at the same distance at the same time, a plurality of display areas N1 including the positions of the obstacles are simultaneously highlighted and displayed.

Next, the operation of the present embodiment will be described in detail with reference to a time chart shown in FIG. In the ultrasonic sensor control circuit 2, threshold detection distance value of each ultrasonic sensors 1 ₁ to 1 ₆ is set in advance (the upper limit) Lmax (e.g.,
90 cm) (between time t = 0 and t = t0), the display control circuit 6 is provided with the ultrasonic sensors 11 ₁ .
Is not output, and the buzzer 3 is not sounded (see FIGS. 6A and 6C). For this reason, during the time t = 0 to t = t0, the risk of collision with an obstacle may be low and may exceed the camera's imageable range. Display 7
(See FIG. 6B). Then, the distance between the vehicle and the obstacle is reduced, for example, the ultrasonic sensor ₁₁
Is smaller than the upper limit Lmax (at time t =
At t0), the ultrasonic sensor control circuit 2 intermittently sounds the buzzer to alert the driver (see FIG. 6 (c)), and also provides the display control circuit 6 with a detection distance value below the upper limit Lmax. Output information. The display control circuit 6, which has received the detected distance information, controls the display unit 7 to control the CCD.
The image captured by the camera 5 is displayed on the screen. At this time, the display areas N1 to N1 divided into eight as described above are used.
A display area where an obstacle exists in N8 (for example, N1)
Are displayed in an emphasized manner by making the brightness of the image brighter than the others (see FIG. 5). Since the position of the obstacle with a high degree of danger is emphasized and displayed on the screen of the display 7, the visibility of the obstacle by the driver is improved, and the safety is improved.

Further, the vehicle and the obstacle distance between further narrowed by setting the ultrasonic sensor 1 1 _... detected distance value of pre-lower-limit value Lmin (e.g., 20 cm) when below the (time t = t1), The ultrasonic sensor control circuit 2 issues a stronger alarm to the driver by continuously sounding the buzzer 3.

[0024] As a result the driver is avoided vehicle according alarm, the distance between the vehicle and the obstacle spread, if the detected distance value of the ultrasonic sensor 1 ₁ exceeds the lower limit value Lmin (time t = t2) The ultrasonic sensor control circuit 2 switches the sound of the buzzer from continuous to intermittent.

Further, the distance between the vehicle and the obstacle is further widened when the detection distance value of the ultrasonic sensor 1 ₁ is higher than the upper limit value Lmax (time t = t3), the display control stops the operation of the buzzer 3 The output of the detection distance information to the circuit 6 is stopped. On the other hand, the display control circuit 6 does not immediately stop the display of the image of the CCD camera 5 on the display 7 even if the detection distance information is not input from the ultrasonic sensor control circuit 2 for a predetermined off-delay time Td. Is CC
The video display of the D camera 5 is continued, and the off-delay time Td
After the time elapses, the image display of the CCD camera 5 is stopped and the screen of the display 7 is switched to the display of navigation information or the like, or the display 7 is turned off. If the detection distance information is input again from the ultrasonic sensor control circuit 2 within the off-delay time Td, the time limit of the off-delay time Td is initialized and the image display of the CCD camera 5 is continued.

By providing the off-delay time Td, a chattering operation in which the display screen of the display 7 is turned on or off when the distance between the vehicle and the obstacle changes near the upper limit Lmax is prevented. can do. Note that, within the off-delay time Td, there is a possibility that the detection distance value is outside the detection area of the ultrasonic sensors 1 ₁ ... And there is no obstacle on the screen of the display 7.
In this case, the display control circuit 6 may display the entire screen with uniform brightness without highlighting.

As described above, in the present embodiment, the image taken by the CCD camera 5 is displayed by the display control circuit 6 only when the obstacle is at a distance shorter than a predetermined threshold value (upper limit Lmax). 7 is displayed on the screen of 7, so that an image of an obstacle at a long distance and having a low possibility of collision is not displayed unnecessarily, and an obstacle such as a wall whose distance is difficult to understand from the image is displayed. Therefore, since the image is displayed only when the distance is shorter than the upper limit Lmax, there is an advantage that the driver can accurately recognize the situation around the vehicle. Moreover, by comparing the detection results obtained by the ultrasonic sensors 1 ₁ ... And the ultrasonic sensor control circuit 2 with the actual distance to the obstacle, the detection capability of the ultrasonic sensors 1 ₁ . If the drop can be easily detected, and the detection capability remains reduced even after the cleaning of the ultrasonic sensors 1 _1, ..., It is not a normal operation, and is abnormal due to other causes such as failure or disconnection. It can be intuitively determined that the state is in the state, and the efficiency of the operation test at the time of shipping inspection and the maintainability at the time of actual use can be improved.

In this embodiment, the ultrasonic sensors 1 ₁ ... And the CCD camera 5 are installed only at the rear of the vehicle.
Similarly, an ultrasonic sensor and a CCD camera are installed at the front of the vehicle, and D (drive), 2 (second speed), 1 (first speed) or N (depending on the shift position detected by the shift position sensor 4).
It is operated only ultrasonic sensor front in the case of (neutral), with operating the front and all the ultrasonic sensors 1 1 _... of the rear in the case of R (reverse), in the case of P (parking) all stops the ultrasonic sensor 1 _1, may be to monitor the obstacle in the front and rear sides of the vehicle.

(Embodiment 2) Hereinafter, Embodiment 2 of the present invention will be described with reference to FIGS. However, since the basic configuration and operation of the present embodiment are common to those of the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.

In this embodiment, FIGS. 8A and 8B
A CCD camera ₅ 1 to 5 ₄ on both corners of each bumper of the front and rear of the vehicle Q2 as shown in,
The ultrasonic sensors 1 ₁₁ , 1 ₁₂ , ₁₂₁ ,
1 _22, 1 _31, 1 _32, 1 _41, 1 ₄₂ and the CCD camera _{5 1} ...
Is set up. Incidentally, one of the ultrasonic sensor 1 ₁₁ of each set, 1 _21, 1 _31, 1 ₄₁ is a transmitting / reception compatible type, the other of the ultrasonic sensor 1 _12, 1 _22, 1 _32, 1 ₄₂ is received It is a wave-only type and is arranged on the same plane with a distance Ls from each other.

The positional relationship between the ultrasonic sensors ₁₁ 1, 1 ₁₂ ,... And the obstacle is expressed using the parameters shown in FIG. Ie, H is the ultrasonic sensor 1 _11, 1 ₁₂ the plane of an opening surface of the opening for transmitting / receives ultrasonic waves in the ultrasonic sensor 1 _11, 1 ₁₂ are formed. V is the plane H
Of a normal, the ultrasonic sensor 1 _11, 1 ₁₂ through the substantial center O of the aperture of transmitting / receives ultrasonic waves to form a ultrasonic sensor 1 _11, 1 ₁₂ of the perpendicular bisector. L is the distance from the approximate center O of the opening to the obstacle, and φ is the angle between the normal V and the obstacle.

Here, the procedure for detecting the distance and the position from the vehicle to the obstacle by the ultrasonic sensors ₁₁ 1, 1 ₁₂ ,... And the ultrasonic sensor control circuit 2 will be described. In the following description, a set of the ultrasonic sensors 1 ₁₁ and 1 ₁₂ will be described, but the description of the other sets will be omitted because they perform exactly the same operation.

The ultrasonic sensors 1 ₁₁ and 1 ₁₂ are arranged on the same plane with a distance Ls therebetween. Ultrasonic sensor 1
_A transmission signal (pulse waveform signal) is applied to 11 by the ultrasonic sensor control circuit 2 as shown in FIG. 12A, and the ultrasonic wave is transmitted while the transmission signal is at the H level. It has become. Transmitting signal is generated reverberation phenomenon it takes a predetermined time until the vibration of the ultrasonic vibrator is stopped to configure the ultrasonic sensor 1 ₁₁ even after the L level, the ultrasonic signal is continuously while radiation (See FIG. 12 (b)).

[0034] Incidentally, FIG. 12 (d) is the received signal of the ultrasonic sensor 1 _12, (a signal reception to the temporally previous) left signal in its transmitting signal of the ultrasonic sensor 1 ₁₁ , And a signal on the right side (a signal received later in time) indicates a reflected wave from an obstacle. FIG.
2 (b) and 2 (d) show the envelope of the vibration waveform (approximately 40 KHz) of the ultrasonic vibrator. If the level is equal to or lower than the level, it is shaped so as to be at the H level (see FIGS. 12C and 12E). Ultrasonic sensor 1 ₁₁
In and 1 _12, these shaped signal (hereinafter, "adjusting signal" hereinafter) to detect a fall of the L-level from a and b of the H level, the reception signal is the reflected wave I have come to recognize.

[0035] When the ultrasonic waves emitted from the ultrasonic sensor 1 ₁₁ is reflected against the adjacent object, as shown in FIG. 12 (b) and (d), the reflected waves are observed in the ultrasonic sensor 1 _11, 1 ₁₂ Will be. Ultrasonic waves move in the air at the speed of sound c (= 340 m / s), so the distance to a nearby object can be calculated by measuring the time from the start of transmission of ultrasonic waves to the reception of reflected waves. become.

The time the reflected wave is received at the ultrasonic sensor 1 _11, 1 _12, because each of the ultrasonic sensor 1 _11, 1 ₁₂ are spaced apart, vary the position of the proximity object. For example, the ultrasonic sensor 1 _11, 1 ₁₂ when the long as the proximity object than normal V which are arranged located in the ultrasonic sensor 1 ₁₁ side, ultrasound as shown in FIG. 13 (c) sensor 1 ₁₁ Receive the reflected wave first (ta <tb), and the ultrasonic sensor 1 ₁₂
If located on the side, the ultrasonic sensor 1 _12, as shown in FIG. 13 (d) is receives a reflected wave before (tb <ta). That is, as shown in FIG. 10 and FIG.
_The ultrasonic sensors 1 ₁₁ and 1 _{12 after the} ultrasonic waves are transmitted from ₁₁
By measuring the times ta and tb before receiving the reflected wave, the angle φ between the normal V and the nearby object and the distance L (= tb × c / 2) from the approximate center O of the opening to the obstacle are determined. Can be calculated.

[0037] However, by the reverberation of the ultrasonic sensor 1 _11,
The reflected wave cannot be received for a while after transmitting the ultrasonic wave. Thus, for example, depending on the detection timing of the reflected wave as shown in FIG. 13 (b), when the distance as reflected waves within the reverberation hours is reception obstacle exists only in the ultrasonic sensor 1 ₁₂ reflection No waves are observed. In this case, the calculation of the angle φ is not performed, and only the information of the distance L is obtained. Therefore, it is approximated that the angle φ is 0.

As described above, one set of two ultrasonic sensors 1
_11, the 1 _12, the distance L and the angle φ to the proximity object (obstacle) is obtained. By the above-described procedure, an obstacle existing around the vehicle is detected from information obtained from all the ultrasonic sensors ₁₁ 1, 1 ₁₂ ,... Attached to the vehicle.

In the ultrasonic sensor control circuit 2, the shift position detection signal sent from the shift position sensor 4 is D
(Drive), 2 (second speed), 1 (first speed) or by operating only the front of the ultrasonic sensor 1 _11, 1 ₁₂ and 1 _21, 1 ₂₂ to indicate a shift position of the N (Neutral), R In the case of (reverse), all the ultrasonic sensors 1 in the front part and the rear part
₁₁ ... with operating a, in the case of P (parking) stops all of the ultrasonic sensor 1 _11.

[0040] Here, CCD camera ₅ 1 to 5 in FIG. 14
₄ and the ultrasonic sensors 1 ₁₁ , 1 ₁₂ ,
The coordinate axes of the distance and the angle measured with reference to the center of... Are shown in FIG.
₁ ... And the ultrasonic sensor 1 ₁₁ ,
The relationship between 1 ₁₂ ,... And the detection area is shown. Each of the ultrasonic sensors 1 ₁₁ , 1 ₁₂ ,... Has a distance that can be measured is 80 cm.
, The central angle is 120 °, the distance Ls between each pair of ultrasonic sensors ₁₁ 1, 1 ₁₂ ,... Is 3 cm, and the mutual ultrasonic sensors ₁₁ 1, 1 ₁₂ ,. Area M1
Since the portion where M1 and M12 overlap is the detectable area of the distance and angle to the obstacle, this detectable area is
It is arranged on the vehicle so as to cover the entire camera 5 1 _... imaging area (see FIG. 15).

Therefore, for example, it is installed at the left front corner.
Ultrasonic sensor 1 placed₁₁, 1 ₁₂At about 45c
If an obstacle is detected at a position where m and the angle are 30 °,
In the ultrasonic sensor control circuit 2, the ultrasonic sensor shown in FIG.
Wave sensor 1₁₁, 1₁₂Obstacle in the area of A2 in the detection area of
Can be specified.

The ultrasonic sensor control circuit 2 sends to the display control circuit 6 the position information of the obstacle detected by the set of each of the ultrasonic sensors ₁₁ 1, 1 ₁₂ ,... As in the first embodiment. Then, the display control circuit 6 determines a display area corresponding to the area A2 specified as having an obstacle based on the position information sent from the ultrasonic sensor control circuit 2, and FIG.
As shown in the figure, the display area N1 other than the corresponding display area N5
N4 to N4 to N8, and the corresponding display area N5 is highlighted and displayed. In this embodiment, similarly to the first embodiment, the screen of the display 7 is previously set to eight display areas N.
The area to be emphasized is defined by dividing the area into areas 1 to N8.

[0043] Further, in the present embodiment, each assigned the CCD on the display 7 CCD camera ₅ 1 to 5 ₄ screen four is divided into four respective areas W1~W4 a as shown in FIG. 17 display control circuit 6 to display the image captured camera 5 1 _... in controls display 7. Here, a plurality of sets of ultrasonic sensors ₁₁ 1, 1 ₁₂ ,...
When an obstacle is detected at a distance less than max (for example, 50 cm), the distances to the obstacles detected by the ultrasonic sensors ₁₁ 1, 1 _12, ... are compared, and the distance value is the smallest. ultrasonic sensor 1 ₁₁ indicating the value, 1 _12, since the detected obstacle by ... are considered to be dangerous are closest to the vehicle, the ultrasonic sensor 1 _11, 1 _12, a ... detection area The images of the CCD cameras 5 ₁ ...

For example, as shown in FIG.
Ultrasonic sensor 1 at corner₁₁, 1₁₂And 1₄₁, 1
₄₂Is below the upper limit Lmax and the left front corner
Ultrasonic sensor 1 in the section₁₁, 1₁₂Detection distance is right
Ultrasonic sensor 1 at rear corner₄₁, 1₄₂Detection distance
If it is closer than the separation, the display control circuit 6
CCD camera 5 installed in the section₁Display captured image of
The color of the screen frame of the region W1 to be displayed is different and brightly displayed,
CCD camera 5 installed in the right rear corner₄Shooting
Area W4 for displaying the image is displayed with reduced brightness as a whole
And C installed at other corners
CD camera 5₂, 5₃To prevent the captured image from being displayed.
The CCD in the left front corner, which is considered to be the most dangerous
Camera 5 ₁The image picked up by is highlighted.
However, the display control circuit 6 performs highlighted display as in the first embodiment.
Obstacle detected at the shortest distance in the specified area W1
The display area N5 including the position is highlighted and displayed. Ma
Also, when multiple obstacles are detected at the same distance at the same time
Indicates the areas W1 where the obstacles are imaged at the same time.
To display.

Thus, a plurality of CCDs are displayed on the screen of the display 7.
From each video imaged by the camera 5 ₁ to 5 _4, it is possible to visually recognize a wide range of peripheral condition of the vehicle at the same time, CCD camera 5 ₁ of the captured high degree of risk surrounding conditions ...
The visibility of the obstacle is improved because the display range of the image is brightly emphasized, and the position of the obstacle is detected particularly at the corner of the vehicle, which tends to be a blind spot, so that the safety can be further improved. There is an advantage.

Next, the operation of this embodiment will be briefly described with reference to the time chart shown in FIG. In the ultrasonic sensor control circuit 2, when the detection distance value of each of the ultrasonic sensors ₁₁ 1, 1 ₁₂ ,... Is larger than the upper limit Lmax (time t)
= 0 to t = t0), the detection distance information of the ultrasonic sensors 1 ₁₁ ... Is not output to the display control circuit 6 and the buzzer 3 is not sounded.
Not displayed on the screen of the display device 7 the video imaged by _{1-5 4.} When the distance between the vehicle and the obstacle is reduced and the detection distance value of the ultrasonic sensors ₁₁ 1, 1 ₁₂ ,... Falls below the upper limit Lmax (time t = t0), the ultrasonic sensor control circuit 2 activates the buzzer. The sound is intermittently sounded to alert the driver, and information on the detected distance value below the upper limit Lmax is output to the display control circuit 6. The display control circuit 6, which has received the detected distance information, controls the display 7 to display the image captured by the CCD camera 5 ₁ ... Installed at the corner below the upper limit Lmax in the corresponding area on the screen. W1
Displayed in ... At this time, as in the first embodiment, the brightness of the display area (for example, N5) where an obstacle is present among the display areas N1 to N8 obtained by dividing each area W1 into eight is made brighter than the others. It is highlighted and displayed (see FIG. 17).

When the distance between the vehicle and the obstacle is further reduced and the detection distance value of the ultrasonic sensors ₁₁ 1, 1 ₁₂ ,... Falls below a predetermined lower limit Lmin (for example, 20 cm) (at time t). = T1), the ultrasonic sensor control circuit 2 issues a stronger alarm to the driver by continuously sounding the buzzer 3.

Then, as a result of the driver avoiding the vehicle in accordance with the warning, the distance between the vehicle and the obstacle increases, and if the detection distance value of the ultrasonic sensors ₁₁ 1, 1 ₁₂ ,... Exceeds the lower limit Lmin ( At time t = t2), the ultrasonic sensor control circuit 2 switches the buzzer from continuous to intermittent.

When the distance between the vehicle and the obstacle further increases and the detection distance value of the ultrasonic sensors ₁₁ 1, 1 ₁₂ ,... Exceeds the upper limit Lmax (time t = t3), the buzzer 3 sounds. At the same time, the output of the detected distance information to the display control circuit 6 is stopped. On the other hand, the display control circuit 6 stops the image display of the CCD cameras 5 ₁ ... After the elapse of the off-delay time Td after the detection distance information is no longer input from the ultrasonic sensor control circuit 2 and navigates the screen of the display 7. The display is switched to information display or the like, or the display 7 is turned off. Incidentally, if the off-delay time in the Td detected again distance information inputted from the ultrasonic sensor control circuit 2 to continue the initialization and CCD camera 5 1 _... video display of the timed off-delay time Td. In this off-delay time within Td, or if the detected obstacle exceeds the displayable range of the display unit 7, the ultrasonic sensor 1 _11, 1
_In some cases, an obstacle is not detected in the detectable area of..., But in that case, the display control circuit 6 does not perform highlighting, and the entire area W1 corresponding to the corresponding corner portion has uniform brightness. indicate. If the detection distances of the ultrasonic sensors ₁₁ 1, 1 ₁₂ ,... At the other corners are shorter, the images taken by the CCD cameras 5 ₁ . I do.

As described above, in the present embodiment, only when the obstacle is at a distance closer than a predetermined threshold value (upper limit Lmax), the CCD cameras 5 _1, ... Since the image is displayed on the screen of the display 7 by the display control circuit 6 and the position of the obstacle with a high degree of danger is further emphasized and displayed in the screen, the visibility of the obstacle is further improved than in the first embodiment. And safety can be improved. Further, the position detecting means (ultrasonic sensor 1 ₁₁
.. And by comparing the result of detection of the obstacle position by the ultrasonic sensor control circuit 2) with the screen display of the display screen, if the detection capability of the position detection means is reduced due to adhesion of dirt or clogging, etc. Since the area highlighted based on the detection result is different from the actual display position of the obstacle, the user can easily find a decrease in the performance of the position detection means, and clean the ultrasonic sensors 1 ₁₁ . If the detection capability is reduced even after performing the test, it can be intuitively determined that the device is not operating normally and is in an abnormal state due to other causes, such as a failure or disconnection. It is possible to improve the maintenance and the maintenance performance during actual use.

In the first and second embodiments described above, a plurality of ultrasonic sensors are used as sensors constituting the distance detecting means and the position detecting means. Alternatively, a sensor that emits laser light or microwaves instead of ultrasonic waves, or a sensor that detects a change in capacitance may be used. In addition, although the CCD camera 5 is used as the imaging means, it is also possible to improve visibility in a dark state such as at night by using a device capable of imaging not only a visible light region but also an infrared region. Further, as a method of highlighting the position of the obstacle on the screen of the display device 7, a mode in which the display is made brighter than the other parts has been exemplified. However, the corresponding area may be displayed by being surrounded by a line. Further, the distance to the position of the detected obstacle is displayed as a numerical value, or the coordinate axes are displayed in advance by being superimposed on the image of the CCD camera 5, and the corresponding area inside the coordinate axes is blinked or other colors are displayed. It is also possible to make it flash repeatedly with multiple coatings.

As the display 7, a monitor device for a navigation system or a car TV mounted on a front panel is used, but a display device for projecting an image on a windshield, a helmet or glasses. A head-up display device that forms a screen in the field of view may be used as a display. In addition, it is possible to check the image of the rear part by looking at the display installed at the rear of the vehicle through the rearview mirror, display it directly on the rearview mirror, or install a display around the periphery, etc. The rear image may be checked while the mirror is not obstructed.

[0053] Here, embodiments in 2 particular, display forms as four corners each CCD camera 5 ₁ installed in
Although an example of 4 divided and display a screen one indicator 7 5 ₄ video, a dedicated indicator for displaying an image of the CCD camera 5 ₁ to 5 _4, each CCD camera 5
_1-5 driver an indicator of every ₄ may be arranged to be divided so as to be positioned on the line of sight when viewed each corner.

By the way, a switch for simply shifting to the operation mode for displaying the image of the CCD camera 5 is provided without interlocking with the detection of the distance to the obstacle by the ultrasonic sensors 1 ₁ . By switching the screen display form of the display 7, the function of the vehicle peripheral obstacle monitoring device may be selected. Further, it is also possible to provide an image pickup unit and a distance detection unit for monitoring the side of the vehicle, and to monitor the entire periphery of the vehicle.

[0055]

According to the first aspect of the present invention, there is provided a distance detecting means installed on a vehicle for detecting a distance to an obstacle around the vehicle.
Imaging means installed in the vehicle to image the periphery of the vehicle, display means for displaying an image taken by the imaging means to allow the driver to visually recognize the situation around the vehicle, and distance to an obstacle detected by the distance detection means And control means for displaying an image picked up by the image pickup means on the display means when the distance becomes smaller than the predetermined threshold value, so that only when the obstacle is at a distance closer than the predetermined threshold value Since the image picked up by the image pickup means is displayed on the screen of the display means, an image of an obstacle at a long distance and having a low possibility of collision is not displayed unnecessarily, and an image such as a wall is displayed. Since the video is displayed only when the distance to an obstacle whose distance is difficult to understand is less than a predetermined threshold, the effect that the driver can accurately recognize the situation around the vehicle is provided. is there. Moreover, by comparing the detection result of the distance detecting means with the actual distance to the obstacle, it is possible to easily detect a decrease in the detecting ability of the distance detecting means due to adhesion of dirt or clogging, and furthermore, distance detection. If the detection capability remains reduced even after cleaning the means, it can be intuitively determined that the device is not in normal operation and is in an abnormal state due to other causes such as failure or disconnection. This has the effect of improving the efficiency of the operation test and improving the maintainability during actual use.

According to a second aspect of the present invention, in the first aspect, there is provided a position detecting means for detecting a position of the obstacle from a distance to the obstacle detected by the distance detecting means.
The presence or absence of an obstacle in the imaging region of the imaging unit is determined based on the detection result of the position detection unit, and if an obstacle is present in the imaging region, an area where the obstacle is to be displayed on the screen of the display unit is determined. Since the calculation and the corresponding area of the calculated display screen are emphasized and displayed by the display means, in addition to the effect of the invention of claim 1, the position of the obstacle with a high degree of danger is emphasized on the screen of the display means. Is displayed, the visibility of obstacles is improved, and there is an effect that safety can be improved. Furthermore, by comparing the detection result of the obstacle position by the position detection means with the screen display on the display screen, if the detection capability of the position detection means is reduced due to adhesion of dirt or clogging, the detection result is displayed. Based on the difference between the area highlighted based on the actual obstacle and the actual display position of the obstacle, the user can easily find a decrease in the ability of the position detection means, and the detection ability is improved even when the position detection means is cleaned. If the state is lowered, it is not normal operation, so it can be intuitively judged that the state is abnormal due to other causes such as failure or disconnection, and efficiency of operation tests during shipping inspection and maintenance during actual use There is an effect that the performance can be improved.

According to a third aspect of the present invention, in the first aspect of the present invention, the control means displays the display range corresponding to the distance to the obstacle detected by the distance detection means brighter than the other display ranges by the display means. Therefore, in addition to the effect of the first aspect of the present invention, the position of a short-distance obstacle with a high degree of danger is displayed brightly and emphasized on the screen of the display means, so that the visibility of the obstacle is improved, There is an effect that safety can be improved.

According to a fourth aspect, in the second aspect, the control means causes the display means to display a display range corresponding to the position of the obstacle detected by the position detection means brighter than the other display ranges. Therefore, in addition to the effect of the second aspect of the present invention, the position of an obstacle at a short distance with a high degree of danger is displayed brightly and emphasized on the screen of the display means, so that the visibility of the obstacle is improved and the safety is improved. There is an effect that the performance can be improved.

According to a fifth aspect of the present invention, in the second aspect of the present invention, a plurality of image pickup means each having a different image pickup area are installed in the vehicle, and the control means divides the display screen of the display means to divide the plurality of image pickup means. Are displayed independently and appropriately, and a display range of each imaging unit corresponding to the position of the obstacle detected by the position detection unit is displayed by the display unit so as to be brighter than other display ranges. In addition to the effects of the second aspect of the present invention, it is possible to simultaneously visually recognize a wide range of the surrounding situation of the vehicle from the images of the plurality of imaging means on the screen of the display means, and to display the imaging means capturing the high-risk surrounding situation. Since the range is displayed in a brightly emphasized manner, the visibility of obstacles is improved, and there is an effect that safety can be improved.

According to a sixth aspect of the present invention, in the fifth aspect of the present invention, the image pickup means is provided at least at each of the front and rear ends of the vehicle. There is an effect that the safety can be further improved by imaging the situation around the corner of the vehicle.

According to a seventh aspect of the present invention, in the sixth aspect of the present invention, the distance detecting means is provided at least at both the front and rear ends of the vehicle. Since the position of the obstacle is detected at the corner portion of the vehicle which is easy to handle, there is an effect that the safety can be further improved.

According to an eighth aspect of the present invention, in the first aspect of the present invention, the distance detecting means is installed at a position where a distance to an obstacle behind the vehicle can be detected, and the imaging means can image the rear of the vehicle. In addition to the effect of the invention of claim 1, the position of the obstacle is detected behind the vehicle which is difficult for the driver to see, and the rear of the vehicle is imaged by the imaging means. Is further improved.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a first embodiment.

FIG. 2 is an explanatory diagram illustrating locations where the ultrasonic sensor and the CCD camera are installed in a vehicle in the same.

FIG. 3 is an operation explanatory diagram of the above.

FIG. 4 is an operation explanatory diagram of the above.

FIG. 5 is an operation explanatory view of the above.

FIG. 6 is a time chart for explaining the above operation.

FIG. 7 is a block diagram showing a second embodiment.

FIGS. 8A and 8B are explanatory diagrams illustrating the installation positions of the ultrasonic sensor and the CCD camera in the vehicle in the above.

FIG. 9 is an explanatory diagram of parameters for displaying a positional relationship between the ultrasonic sensor and an obstacle in the above.

FIG. 10 is an explanatory diagram of a process of detecting a position of an obstacle in the above.

FIG. 11 is an explanatory diagram of a process of detecting a position of an obstacle in the above.

FIG. 12 is a time chart of a transmission / reception signal of the ultrasonic sensor in the above.

FIG. 13 is a time chart of a shaping signal obtained by shaping a transmission / reception signal of the ultrasonic sensor in the above.

FIG. 14 is an operation explanatory view of the above.

FIG. 15 is an explanatory diagram of the operation of the above.

FIG. 16 is an operation explanatory view of the above.

FIG. 17 is an operation explanatory view of the above.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ₁ to ₁₆ Ultrasonic sensor 2 Ultrasonic sensor control circuit 5 CCD camera 6 Display control circuit 7 Display

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) // G05D 1/02 B60R 21/00 624C 624E G06F 15/62 380 F Term (Reference) 5B057 AA16 AA19 BA02 BA11 CE03 DA08 DA16 5C054 AA01 CA04 CC03 CE11 EA01 EA05 EJ04 FC11 FE09 FE18 FE26 HA30 5H180 AA01 CC04 CC11 LL01 LL02 LL07 LL08 5H301 BB20 CC03 CC06 DD07 DD16 DD17 EE02 EE08 EE12 FF06 GG01 LL06 GG01 LL01

Claims (8)

[Claims] 1. A distance detecting means installed in a vehicle to detect a distance to an obstacle around the vehicle, an image sensing means installed in the vehicle to image the periphery of the vehicle, and an image taken by the image sensing means to be displayed. Display means for allowing the driver to visually recognize the situation around the vehicle, and displaying an image picked up by the image pickup means on the display means when the distance to the obstacle detected by the distance detection means is shorter than a predetermined threshold value And a control device for causing the vehicle to monitor the obstacle around the vehicle. 2. The image processing apparatus according to claim 1, further comprising: a position detecting unit configured to detect a position of the obstacle based on a distance to the obstacle detected by the distance detecting unit. In the case where an obstacle is present in the imaging area by judging the presence or absence of an obstacle in the imaging area, the area where the obstacle should be displayed on the screen of the display means is calculated, and the corresponding area of the calculated display screen is displayed by the display means. The vehicle surrounding obstacle monitoring device according to claim 1, wherein the device is displayed in an emphasized manner. 3. The vehicle according to claim 1, wherein the control means causes the display means to display a display range corresponding to the distance to the obstacle detected by the distance detection means brighter than the other display ranges. Surrounding obstacle monitoring device. 4. The periphery of a vehicle according to claim 2, wherein the control means causes the display means to display a display range corresponding to the position of the obstacle detected by the position detection means brighter than the other display ranges. Obstacle monitoring device. 5. A plurality of image pickup units each having a different image pickup area are installed in a vehicle, and the control unit divides a display screen of the display unit to display images of the plurality of image pickup units independently and appropriately. 3. The obstacle monitoring device according to claim 2, wherein a display range of each imaging unit corresponding to the position of the obstacle detected by the position detection unit is displayed by the display unit brighter than other display ranges. . 6. The vehicle surrounding obstacle monitoring device according to claim 5, wherein image pickup means are provided at least at both front and rear ends of the vehicle. 7. The vehicle surrounding obstacle monitoring device according to claim 6, wherein distance detecting means are provided at least at both front and rear ends of the vehicle. 8. The apparatus according to claim 1, wherein the distance detecting means is installed at a position where the distance to the obstacle behind the vehicle can be detected, and the image capturing means is installed at a position where the rear of the vehicle can be imaged. Item 2. The vehicle surrounding obstacle monitoring device according to Item 1.