JP2005205983A - Apparatus for visually recognizing surrounding of own vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus for visually recognizing the surrounding of an own vehicle which can obtain a more adequate surrounding image of the own vehicle to confirm safety in accordance with a cross angle of roads at a crossing and turning directions of the own vehicle. <P>SOLUTION: Information on the crossing is detected by a crossing information detection means through a position of the own vehicle detected by a detection means for the position of the one's own vehicle and a road map stored in a navigation system. A pick-up area is changed by a pick-up area changing means in accordance with the information on the crossing. The surrounding image of the own vehicle is picked up by a pick-up means in accordance with the pick-up area. This pick-up image is processed by an image process means and the processed image is displayed by a display means. Thus, an area required for a driver to essentially confirm safety is further exactly recognized, and when the own vehicle enters the crossing and turns right or left at the crossing irrespective of the road situation of the crossing, a collision accident with other vehicles or the like is prevented and higher safety is secured. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a vehicle periphery visual recognition device capable of simultaneously viewing images in two left and right directions on the vehicle.

  For example, when a vehicle such as an automobile enters a main road from a narrow street, the driver must It is necessary to confirm the safety by visually checking the left and right sides of the vehicle. Therefore, a device that detects the left and right sides of the own vehicle and detects surrounding vehicles is necessary. Therefore, a vehicle periphery visual recognition device as shown in FIG. 9 has been conventionally proposed as a device for facilitating visual recognition of the left and right of the host vehicle (Patent Document 1).

  As shown in FIG. 9, this vehicle periphery visual recognition device is a pair of imaging units 101 a and 101 b installed at the left and right ends of the front bumper of the host vehicle 3, and the imaging units 101 a and 101 b are each driven to rotate around the vertical axis. An image pickup unit rotation driving means (not shown) for causing the image pickup unit 101a, 101b to display images taken by the image pickup units 101a and 101b, and an LCD (such as an instrument panel in a vehicle compartment, which is easily visible to the driver) A display unit (not shown) including a liquid crystal display) and a CRT. As the imaging units 101a and 101b, CCD cameras or the like are used, which are respectively attached to the side portions of the front bumper so as to be rotatable around a predetermined vertical axis, and the left side or the right side of the own vehicle 3 is the center. Imaging in a diagonally forward area is possible.

As an operation of the vehicle periphery visual confirmation apparatus configured as described above, as shown in FIG. 9, a case will be described in which the own vehicle 3 enters the intersection in an attempt to turn left at an intersection from the narrow street R1 to the main road R2. In this case, the driver of the own vehicle 3 enters the intersection while turning the own vehicle 3 leftward by turning the handle to the left. Then, the right imaging unit 101b rotates clockwise according to the turning angle of the steering wheel, and an image suitable for safety confirmation is captured by the imaging unit 101b on the right side of the narrow street R1 and along the main road R2. At the same time, the imaging unit 101a on the left side also rotates clockwise, and an image in the direction along the main road R2 on the left side of the narrow street R1 is captured and displayed on the display unit. And a driver | operator can discover the motor vehicle etc. which approach from the distant of main road R2 by visually recognizing the image displayed on the display part. For this reason, when approaching an intersection or the like, a vehicle periphery image suitable for safety confirmation can be obtained according to the turning of the host vehicle 3.
JP 2001-294086 A (paragraph 0012-0027, FIG. 2)

The vehicle periphery visual recognition apparatus of patent document 1 has the following problems.
(1) When driving everyday vehicles, various road conditions are faced. For example, when a vehicle such as an automobile enters a main road from a narrow street, the driver must have the intersection angle of the road at the intersection. It is necessary to confirm the safety by visually checking the left and right sides of the vehicle while taking into account the road conditions.
However, the vehicle periphery visual recognition device disclosed in Patent Document 1 can deal only with the case where the narrow street R1 and the main road R2 intersect each other vertically as shown in FIG. This is because, for example, when entering the main road R2 without turning the handle of the host vehicle 3 along the narrow street R1 that obliquely intersects the main road R2, the imaging units 101a and 101b do not rotate from their normal positions. This is because, as shown in FIG. 10, a region (region X1 in the drawing) that is not captured although the driver originally needs to confirm safety is generated on the main road R2.
Accordingly, there is a problem in that an image around the own vehicle suitable for safety confirmation may not be obtained depending on the intersection angle of the road at the intersection.

Further, the vehicle periphery visual recognition device disclosed in Patent Literature 1 does not necessarily alleviate the burden of driver safety confirmation. This is because the front of the vehicle 3 (region of about 120 °) is not included in the imaging region of the device as a driver's field of view, but is left to the driver's visual inspection, as shown in FIG. However, there is a region (referred to as region X2 in the figure) that is slightly distant from the own vehicle 3 and is not easily visible, and the driver can view the region X2 and view the captured image displayed on the display unit. This is because both the visual recognition and the visual recognition must be performed at the same time, and the visual recognition around the vehicle may be insufficient.
Therefore, there is a problem that the safety confirmation of the driver may be insufficient when the necessity of accurate visual inspection is required in front of the host vehicle 3 such as when entering a crowded intersection. .

(2) In the vehicle periphery visual recognition device disclosed in Patent Document 1, the reference imaging region is simply moved in the same shape as the imaging units 101a and 101b rotate according to the turning direction of the handle of the host vehicle 3. The function of changing the reference imaging region shape to an arbitrary imaging region shape in accordance with the turning direction of the host vehicle 3 is not provided. However, due to the difference in the turning direction of the own vehicle 3, for example, when the own vehicle 3 enters the main road R2 from the narrow street R1, in the case of a right turn, a predetermined lane is crossed over the lane on the front side of the main road R2. The area where the driver must enter the driving lane and the driver needs to confirm safety by visually checking the left and right of the vehicle 3 at the intersection is different from the case of the left turn. Therefore, in accordance with the rotation of the imaging units 101a and 101b according to the turning direction of the steering wheel of the host vehicle 3, the reference imaging region is simply moved in the same shape to obtain an image around the host vehicle. As shown in FIGS. 11 and 12, the vehicle periphery visual recognition apparatus has a disadvantage that an area that is not imaged is generated at the time of a right turn or a left turn, although safety confirmation is originally required. Therefore, the own vehicle periphery visual recognition device of Patent Document 1 has a problem in that it may not be possible to obtain an image around the own vehicle suitable for safety confirmation corresponding to the turning direction of the own vehicle 3.

Accordingly, an object of the present invention is to provide a vehicle periphery visual recognition device that can obtain a more appropriate vehicle periphery image in order to perform safety confirmation according to the intersection angle of the road at the intersection and the turning direction of the vehicle. There is to do.

(1) In order to solve the above-mentioned problem, in the own vehicle periphery visual recognition device according to the first aspect, an image pickup means for picking up an image in two right and left directions around the own vehicle, and image processing of the image picked up by the image pickup means. Self-vehicle position detection for detecting the position of the own vehicle in an apparatus for visually recognizing the periphery of the own vehicle, comprising: an image processing unit to perform; and a display unit that displays the image processed by the image processing unit so as to be visible and provides travel safety information Means for detecting intersection information from the position of the vehicle detected by the vehicle position detection means and a road map stored in the navigation system, and information on the intersection detected by the intersection information detection means. Accordingly, the image pickup means has an image pickup area setting means for setting an image pickup area to be picked up.

  Therefore, it is possible to provide a vehicle periphery visual recognition device that can obtain a more appropriate vehicle periphery image in order to perform safety confirmation according to the road intersection angle at the intersection.

(2) In the own vehicle periphery visual recognition device according to claim 2, in the own vehicle periphery visual recognition device according to claim 1, the own vehicle turning direction detection means for detecting whether the vehicle turns right or left from the direction indicator, and the intersection information detection means include According to another aspect of the present invention, there is provided an imaging region changing unit that changes an imaging region captured by the imaging unit according to the detected intersection information and the right / left turn detected by the vehicle turning direction detecting unit.

  Therefore, it is possible to provide a vehicle periphery visual recognition device that can obtain a more appropriate vehicle periphery image in order to perform safety confirmation according to the road intersection angle and the turning direction of the vehicle.

Hereinafter, the effect of the present invention will be described with the content of the operation.
The present invention makes it possible to visually recognize an image processing unit that captures an image in two left and right directions around the own vehicle, an image processing unit that performs image processing of an image captured by the image capturing unit, and an image processed by the image processing unit. In a vehicle periphery visual recognition device having display means for displaying and providing travel safety information, vehicle position detection means for detecting the position of the vehicle, position of the vehicle detected by the vehicle position detection means, and navigation Intersection information detecting means for detecting intersection information from a road map stored in the system, and imaging area changing means for changing the imaging area picked up by the imaging means according to the intersection information detected by the intersection information detecting means And have.
Therefore, even if the road intersects at an arbitrary angle, information such as the intersection angle of the road is detected by the own vehicle position detection means and the intersection information detection means, and further, driving by the imaging area detection means is performed from such information. The driver detects an area that requires safety confirmation, picks up an image by the image pickup means based on the area, and after processing the picked-up image, the display means displays the image so as to be visible to the driver.
Therefore, even if the road intersects at an arbitrary angle, the driver can more accurately recognize the area that originally needs to be confirmed, and when the vehicle enters the intersection and turns right or left at the intersection In this case, the presence of other vehicles, pedestrians, obstacles, etc. can be grasped, traffic accidents can be prevented, and more reliable safety can be ensured.

  Hereinafter, Embodiments 1 and 2 which are embodied about the own vehicle periphery visual recognition device according to the present invention will be described in detail with reference to FIGS. 1 to 8 and with reference to the drawings.

  The own vehicle periphery visual recognition device 1 is mounted on the own vehicle 3, and as shown in FIGS. 1 and 2, a pair of imaging means 11 installed at the left and right ends of the front bumper of the own vehicle 3, and an image processing means 12 for performing image processing. A known navigation system 19, display means 13 for displaying the processed image, own vehicle position detection means 14 for detecting the position of the own vehicle 3, a GPS receiver 18 for receiving GPS signals, and intersection information. The intersection information detecting means 15 for detecting the imaging area and the imaging area changing means 17 for changing the imaging area.

As for the operation of the first embodiment, as shown in FIGS. 2 and 3, the case where the own vehicle 3 stops before the intersection when entering the main road R2 from the narrow street R1 is shown in the flowchart of FIG. This will be explained based on. Here, the narrow street R1 and the main road R2 intersect at an angle θc.
(1) In step (hereinafter abbreviated as “S”) 1, a GPS signal is received by the GPS receiver 18, and in S 2, the position of the vehicle 3 is detected from this GPS signal. Here, in S2, it suffices to detect which intersection on the road map of the navigation system 19 corresponds to the intersection at the stop position of the own vehicle 3, and the position detection accuracy of the own vehicle 3 is not strictly required. The GPS signal, which is said to have an accuracy of about 10 m, can be handled.
(2) In S3, information on the intersection to be approached (road intersection angle θc) is detected from the detected position of the vehicle 3 and the road map stored in the navigation system 19.

(3) In S4, the imaging area is changed from the preset reference imaging area A0 to the imaging area A1, as shown in FIGS. 2 and 3, according to the intersection information (road intersection angle θc). Here, the imaging area A0 means an area where the imaging means 11 using a CCD camera or the like can capture images in a normal state. On the other hand, the imaging area A1 is an area in which the angle θ0 in the reference imaging area A0 is changed to an arbitrary angle θ1. That is, the imaging area A1 is the area X1 and the area X2 in FIG. 10 when the host vehicle 3 is about to enter the main road from a narrow street that crosses the main road diagonally as shown in FIG. This area can sufficiently cover the area where the driver needs to check the presence of other vehicles, pedestrians, obstacles, etc. for safety in both the left and right directions. The arbitrary angle θ1 is obtained by a function (θ1 = f (θc)) using the road intersection angle θc as a parameter. Note that if the reference imaging area A0 is not expanded in advance to the area of the imaging area A1 before entering the intersection, the driver will take an image up to an unnecessary area for safety confirmation. This is because there are many inconveniences.

(4) In S5, according to the imaging area A1, the imaging means 11 captures images in the left and right directions around the host vehicle 3. In S6, the captured image is processed by the image processing means 12. In S7, the processed image is displayed as a traveling safety image on the display means 13 including a liquid crystal display or the like installed at a position that is easy for the driver to visually recognize, such as an instrument panel in the vehicle 3.

Therefore, according to the road conditions at the intersection, the driver can more accurately visually recognize the area that originally needs to be confirmed without relying on visual observation. The vehicle 3 is at the intersection regardless of the road conditions at the intersection. When entering the road and turning right or left at the intersection, it is possible to prevent a collision accident with another vehicle and to secure more reliable safety.

  Here, S2 is an operation as the own vehicle position detection means 14, S3 is an operation as the intersection information detection means 15, S4 is an operation as the imaging area changing means 17, and S5 is an operation as the imaging means 11. S6 is an operation as the image processing means 12, and S7 is an operation as the display means 13.

  The own vehicle periphery visually recognizing device 2 is different in that the own vehicle turning direction detecting means 16 for detecting the turning direction of the own vehicle 3 is configured with respect to the own vehicle periphery visually recognizing device 1 as shown in FIG. Since there is no difference except for, the following description is omitted.

As shown in the flowchart of FIG. 6, the operation of the second embodiment is the same as the first embodiment in that the turning direction of the vehicle 3 is detected from the direction indicator 20 in S4, and the intersection is detected in S5. The difference is that the imaging region is changed not only by the information but also by the turning direction of the vehicle 3. Here, in S5, as shown in FIG. 7 when turning right and as shown in FIG. 8 when turning left, the imaging region is changed from the preset reference imaging region A0 to the imaging region A2. Here, as shown in FIGS. 7 and 8, the imaging region A2 is a driver who intends to make a right turn or a left turn when the own vehicle 3 stops from entering a main road from a narrow street. However, it is an area that can sufficiently cover an area that needs to be checked for the presence of other vehicles, pedestrians, and obstacles for safety. If the reference imaging area A0 is not expanded to the area of the imaging area A2 from the beginning in advance, the driver will take an image up to an area unnecessary for safety confirmation, which is rather inconvenient for the safety confirmation of the driver. It is because it thinks.
The rest of the operation is the same as that of the first embodiment, and the following description is omitted.

Here, S4 is an operation as the vehicle turning direction means 16, and S5 is an operation as the imaging area changing means 17. Since other points are not different from those of the first embodiment, description thereof will be omitted.

In addition, this invention is not limited to the said Example, A various change is possible in the range which does not deviate from the meaning.
For example, in the first embodiment, a method may be used in which the image pickup unit 11 is rotated in accordance with the road intersection angle θc to move the image pickup region A0 itself to obtain the vehicle periphery image. Moreover, although the GPS receiver was employ | adopted in order to detect the own vehicle position, it is not restricted to this, You may detect an own vehicle position based on a vehicle speed pulse and a direction sensor.

It is a block diagram which shows the structure of the own vehicle periphery visual recognition apparatus. It is a figure which shows imaging area A0 before changing by the imaging area change means 17 in the intersection which cross | intersects by angle (theta) c. It is a figure which shows imaging region A1 after changing by the imaging region change means 17 in the intersection which cross | intersects by angle (theta) c. It is a flowchart figure which shows operation | movement of the own vehicle periphery visual recognition apparatus. It is a block diagram which shows the structure of the own vehicle periphery visual recognition apparatus. It is a flowchart figure which shows operation | movement of the own vehicle periphery visual recognition apparatus 2. FIG. It is a figure which shows imaging area A2 of the own vehicle periphery visual recognition apparatus 2 when the own vehicle turns right. It is a figure which shows imaging area A2 of the own vehicle periphery visual recognition apparatus 2 when the own vehicle turns left. It is a figure which shows the structure and operation | movement in the vehicle periphery visual recognition apparatus of patent document 1. FIG. In the vehicle periphery visual recognition apparatus of patent document 1, it is a figure which shows the problem of the road condition of an intersection, and an imaging region. In the vehicle periphery visual recognition apparatus of patent document 1, it is a figure which shows the problem of the turning direction (at the time of a right turn) of the own vehicle, and an imaging region. In the vehicle periphery visual recognition apparatus of patent document 1, it is a figure which shows the problem of the turning direction (at the time of a left turn) of the own vehicle, and an imaging region.

Explanation of symbols

1 Self-vehicle periphery visual recognition device (Example 1)
2 Self-vehicle periphery visual recognition device (Example 2)
3 own vehicle 11 imaging means 12 image processing means 13 display means 14 own vehicle position detecting means 15 intersection information detecting means 16 own vehicle turning direction detecting means 17 imaging area changing means 18 GPS receiver 19 navigation system 20 direction indicator

Claims (2)

An image pickup means for picking up an image in two right and left directions centering on the own vehicle, an image processing means for performing image processing of an image picked up by the image pickup means, and an image processed by the image processing means are displayed so as to be visible In the vehicle periphery visual recognition device having display means for providing safety information,
Own vehicle position detecting means for detecting the position of the own vehicle;
Intersection information detection means for detecting intersection information from the position of the vehicle detected by the vehicle position detection means and a road map stored in the navigation system;
An own vehicle periphery visual recognition device, comprising: an imaging region changing unit that changes an imaging region captured by the imaging unit according to information on an intersection detected by the intersection information detecting unit. In the own vehicle periphery visual confirmation apparatus of Claim 1,
A vehicle turning direction detecting means for detecting whether the vehicle turns right or left from the direction indicator;
An imaging region changing unit that changes an imaging region captured by the imaging unit according to the intersection information detected by the intersection information detecting unit and the right / left turn detected by the vehicle turning direction detecting unit. The vehicle periphery visual recognition device.

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