JP2007172462A - Vehicular periphery monitor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To properly monitor a periphery using a blind corner camera, in response to a vehicular speed. <P>SOLUTION: This vehicular periphery monitor is provided with a function for displaying, on a display, each pick-up image of the camera equipped in a vehicle to image a lateral direction of a vehicle front part. The vehicular periphery monitor has a speed determination means (S03) for determining whether a current speed of the vehicle equipped with the camera is a prescribed speed or more, or not, an image recognition means (S25) for investigating a moving object in the each lateral-directional pick-up image, when the current speed is determined to be the prescribed speed or more by the speed determination means (NO in the S03), and an alarm output means for outputting an alarm (S31) about the approaching of the moving object, when the moving object under an approaching condition is determined to exist by the determination, based on a result investigated by the image recognition means (YES in the S27). <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle periphery monitoring apparatus that captures and displays a direction that becomes a blind spot of a driver's seat such as a left-right direction of a front portion of a vehicle with a camera (blind corner camera).

  In Japanese Patent Laid-Open No. 2005-039547, when turning right, the opposite camera direction is photographed with the right camera and the right turn direction pedestrian crossing is photographed with the left camera. An apparatus is described in which two images are combined and displayed so that the display ratio of the captured image of (direction) is increased. Further, in the apparatus of the same publication, when a pedestrian is detected in a photographed image of the left camera (right turn direction pedestrian crossing), the two images are displayed at a constant ratio regardless of the turning right angle of the vehicle. (See Patent Document 1).

JP 2005-039547 A

The captured image of the blind corner camera is generally displayed when the vehicle speed is equal to or lower than a predetermined switching speed, and is not displayed when the vehicle speed exceeds the predetermined switching speed. The reason is that the peripheral monitoring by the blind corner camera is premised on a low speed or when stopped, and it is presumed to be confirmed with the naked eye at a high speed.
In the apparatus of Patent Document 1, since an image is displayed at an intersection regardless of the vehicle speed, the image is also displayed during high-speed passage on the assumption that monitoring is performed with the naked eye. However, this image cannot be used for surrounding monitoring and is useless.
On the other hand, in the conventional device that switches between display and non-display according to the vehicle speed, the speed increases while passing through the intersection, and the image is not displayed even if it exceeds a predetermined switching speed, which hinders surrounding monitoring. There is a fear. For example, moving objects (pedestrians, bicycles, two-wheeled vehicles) jumping out from the shadows, vehicles approaching from a distance, etc. may not be monitored.

  It is an object of the present invention to enable peripheral monitoring using a blind corner camera to be appropriately performed according to the vehicle speed. In other words, by making it possible to use the blind corner camera for peripheral monitoring even at high speeds, where surveillance with the naked eye is a prerequisite, for example, moving objects (pedestrians, bicycles, two-wheeled vehicles) jumping out of the shadows, or far away The purpose is to make it possible to monitor vehicles that are approaching quickly.

The present invention is configured as the following [1] to [7].
[1] Configuration 1:
A vehicle periphery monitoring device having a function of displaying on a display device each captured image of a camera installed in the vehicle so that the left and right direction of the front portion of the vehicle can be photographed,
Speed determining means for determining whether or not the current speed of the vehicle in which the camera is installed is equal to or higher than a predetermined speed;
Image recognition means for examining each moving object in each captured image in the left-right direction when the speed determination means determines that the current speed is greater than or equal to a predetermined speed;
Warning output means for outputting a warning to that effect when it is determined that there is a moving object in the approaching state based on the determination based on the result of the examination by the image recognition means;
A vehicle periphery monitoring device comprising:

As the camera, a so-called blind corner camera that guides left and right images to a single image sensor via a prism can be used, but is not limited to this, and a configuration in which a plurality of image sensors are used for each of the left and right images. But you can.
The current speed of the vehicle can be obtained by taking in a result calculated by a known vehicle control function using a detection signal of a known vehicle speed sensor.
“Over a predetermined speed” means “the threshold is a predetermined speed”. Therefore, it includes both a case where the determination is made with a group of “less than a predetermined speed and a predetermined speed or more” and a case where the determination is made with a group of “below a predetermined speed and greater than a predetermined speed”.
The presence and absence of moving objects (eg, pedestrians, bicycles, two-wheeled vehicles, etc.) in each captured image in the left-right direction can be detected and detected by a known image recognition process.
The warning output can be performed by, for example, voice output such as a message or warning sound, forced vibration of the steering, or the like.

[2] Configuration 2:
In configuration 1,
An intersection determination means for determining whether or not the current position of the vehicle where the camera is installed is within the intersection;
The image recognizing means examines the moving object in each captured image in the left-right direction when the intersection determining means determines that the vehicle is in the intersection;
The vehicle periphery monitoring apparatus characterized by the above-mentioned.
Whether or not the vehicle is in the intersection can be determined based on, for example, a current position detection function and road information of a known car navigation device. In addition, a known image recognition process is performed on the image in front of the vehicle captured by the front camera or the image in the blind spot direction captured by the blind corner camera to detect intersection elements (eg, pedestrian crossings, stop lines, signs, etc.). It can also be determined by.
[3] Configuration 3:
In configuration 2,
When the intersection determination means determines that the vehicle is in the intersection, the vehicle further includes display control means for hiding each captured image in the left-right direction.
The vehicle periphery monitoring apparatus characterized by the above-mentioned.

[4] Configuration 4:
In Configuration 2 or Configuration 3,
The image recognition means further examines an intersection element in each captured image in the left-right direction,
The intersection determination means determines whether or not the vehicle is within an intersection based on the inspection result of the intersection element by the image recognition means;
The vehicle periphery monitoring apparatus characterized by the above-mentioned.

[5] Configuration 5:
In Configuration 2 or Configuration 3,
Position detection means for detecting the current position of the vehicle in which the camera is installed;
Road information acquisition means for acquiring road information;
Further comprising
The intersection determination means determines whether or not the vehicle is in an intersection based on the current position of the vehicle detected by the position detection means and the road information acquired by the road information acquisition means;
The vehicle periphery monitoring apparatus characterized by the above-mentioned.

[6] Configuration 6:
In Configuration 2 or Configuration 3,
A front camera installed in the vehicle so that the front of the vehicle can be photographed;
Front image recognition means for examining an intersection element in a photographed image of the front camera;
Further comprising
The intersection determination means determines whether or not the vehicle is within an intersection based on the inspection result of the intersection element by the front image recognition means.
The vehicle periphery monitoring apparatus characterized by the above-mentioned.

[7] Configuration 7:
A vehicle periphery monitoring device having a function of displaying on a display device a photographed image of a camera installed in a vehicle so as to be able to photograph a blind spot direction from a driver's seat,
Speed determining means for determining whether or not the current speed of the vehicle in which the camera is installed is equal to or higher than a predetermined speed;
Image recognition means for examining each moving object in each captured image in the blind spot direction when the speed determination means determines that the current speed is equal to or higher than a predetermined speed;
Warning output means for outputting a warning to that effect when it is determined that there is a moving object in the approaching state based on the determination based on the result of the examination by the image recognition means;
A vehicle periphery monitoring device comprising:
Examples of the direction of the blind spot from the driver's seat include the side of the vehicle, but are not limited to the side of the vehicle. Depending on the vehicle type, the field of view may be restricted, and in such a vehicle type, the restricted direction corresponds to a direction that becomes a blind spot.

Configuration 1 is a vehicle periphery monitoring device having a function of displaying on a display device each captured image of a camera installed in a vehicle so that the left and right directions of the front portion of the vehicle can be photographed. An image for examining each moving object in each of the captured images in the left-right direction when the current speed is determined by the speed determination means to be greater than or equal to a predetermined speed. Since it is a vehicle periphery monitoring device having a recognition unit and a warning output unit that outputs a warning to that effect when it is determined that there is a moving object in an approaching state based on a determination based on the result of the examination by the image recognition unit, Peripheral confirmation using a camera can be appropriately performed according to the vehicle speed. In other words, the camera can be used to monitor the surroundings even when traveling at high speeds, where surveillance with the naked eye is a prerequisite. You can know the vehicles that are coming.
The configuration 2 further includes an intersection determination unit that determines whether or not the current position of the vehicle on which the camera is installed is within the intersection in the configuration 1, and the image recognition unit uses the intersection determination unit to connect the vehicle to the intersection. Since it is a vehicle periphery monitoring device that examines moving objects in each captured image in the left-right direction when it is determined that it is inside, the effect of Configuration 1 can be obtained at the intersection.
Configuration 3 is a vehicle periphery monitoring device further comprising display control means for hiding each captured image in the left-right direction when the intersection determination means determines that the vehicle is in the intersection in Configuration 2. Therefore, in addition to the effect of the configuration 2, there is an effect that the driver does not have to pay attention to the image when passing the intersection at a relatively high speed.
In the configuration 4, in the configuration 2 or 3, the image recognition unit further examines an intersection element in each captured image in the left-right direction, and the intersection determination unit determines the intersection based on the inspection result of the intersection element by the image recognition unit. Since it is a vehicle periphery monitoring device that determines whether or not the vehicle is inside, in addition to the operational effects of the configuration 2, there is an effect that it is possible to provide a specific method of intersection determination.
Configuration 5 further includes position detection means for detecting a current position of a vehicle on which the camera is installed and road information acquisition means for acquiring road information in Configuration 2 or 3, wherein the intersection determination means is Since it is a vehicle periphery monitoring device that determines whether or not it is within an intersection based on the current position of the vehicle detected by the position detection means and the road information acquired by the road information acquisition means, in addition to the operational effects of the configuration 2 This has the effect of providing a specific method for determining the intersection.
The configuration 6 further includes a front camera installed in the vehicle so that the front of the vehicle can be photographed in the configuration 2 or 3, and a front image recognition means for examining an intersection element in the photographed image of the front camera. The intersection determination unit is a vehicle periphery monitoring device that determines whether or not the vehicle is within the intersection based on the inspection result of the intersection element by the front image recognition unit. It is possible to provide an effective method.

  Configuration 7 is a vehicle periphery monitoring device having a function of displaying on a display device a photographed image of a camera installed in a vehicle so that the direction of a blind spot from a driver's seat can be photographed. Speed determining means for determining whether or not the current speed is equal to or higher than a predetermined speed, and when the speed determining means determines that the current speed is equal to or higher than the predetermined speed, the moving object in each captured image in the blind spot direction is examined. Since it is a vehicle periphery monitoring device having image recognition means and warning output means for outputting a warning to that effect when it is determined that there is a moving object in the approaching state based on the determination based on the result of examination by the image recognition means The surroundings using the camera can be appropriately checked according to the vehicle speed. In other words, the camera can be used to monitor the surroundings even at high speeds, which must be monitored with the naked eye. For example, moving objects (eg, pedestrians, bicycles, two-wheeled vehicles) that pop out from the shadows, or suddenly approach from a distance. You can know the vehicles that are coming.

Embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a configuration of a control unit of a vehicle periphery monitoring apparatus according to an embodiment, FIG. 2 is a flowchart showing a blind corner camera image control procedure, and FIG. 3 associates an intersection passage with a usage method of a blind corner camera image. It is explanatory drawing.

  A vehicle periphery monitoring apparatus according to the present embodiment shown in FIG. 1 includes an ECU (Electronic Control Unit) 10 having a known car navigation function, a vehicle control function, and an image recognition function, and a blind corner camera image control function, A display device 11, a speaker 12, and an operation input device 13 connected to the ECU 10 are included. The ECU 10 is connected to a hard disk 15 that stores road information and the like for use in the car navigation function. Instead, a configuration in which road information or the like is stored in a DVD-ROM or the like may be used. In addition to displaying an image for realizing the car navigation function, the display device 11 appropriately displays an image in the left-right direction of the vehicle front as will be described later. The same applies to the speaker 12, and in addition to the sound for realizing the car navigation function, a warning sound or a warning sound when a moving object is detected when an image in the left-right direction of the front part of the vehicle is not displayed is output. The

  The GPS receiver 21 receives a signal from a GPS satellite used by the car navigation function to obtain the current position. The wireless communication device 22 is used when the car navigation function communicates with a known data center so as to update road information as needed. The updated road information is stored in the hard disk 15. Current position information and road information generated by the car navigation function by a known calculation using these pieces of information are appropriately given to the blind corner camera image control function.

  A detection signal from a known vehicle speed sensor 24 is used by the vehicle control function to calculate the vehicle speed. The vehicle speed information generated by the vehicle control function by a known calculation using this information is appropriately given to the blind corner camera image control function. In addition, it can also be configured to provide shift position information and the like.

  The left and right image signals imaged by a known blind corner camera BCC installed at a substantially central portion of the front end of the vehicle are subjected to known image processing by the image processing circuit 16 and input to the ECU 10. The left and right image data generated and input in this way is checked by the image recognition function for the presence or absence of moving objects (eg, pedestrians, bicycles, two-wheeled vehicles, etc.) and the state of the moving objects (approach / separation / speed). The result of the image recognition processing is sent to the blind corner camera image control function. The left and right image data generated and input as described above is controlled to be displayed / hidden as described later by the blind corner camera image control function based on the image recognition result.

  An image signal picked up by a known front camera FC installed in the center above the driver's seat so as to be able to pick up the front of the vehicle is subjected to known image processing by the image processing circuit 16 and is input to the ECU 10. The The image data generated and input in this way is subjected to an image recognition process for checking the presence or absence of an intersection element by the image recognition function, and the result is sent to the blind corner camera image control function. Examples of the intersection element include a pedestrian crossing, a stop line SL, various signs (eg, “stop” sign), and the like.

Hereinafter, the procedure of blind corner camera image processing will be described with reference to FIG.
The blind corner camera image processing is executed at a predetermined time interval (time interval at which captured image display / non-display can be appropriately switched / example: every 50 msec), thereby realizing the following blind corner camera image control function. The

First, current position information and road information in the vicinity of the current position necessary for determining whether or not the vehicle is in an intersection with reference to the current position information are acquired from a known car navigation function (S01). ). It is assumed that the car navigation function calculates the current position based on a signal from the GPS receiver 21.
In step S01, vehicle information including at least vehicle speed information (information on the current speed of the vehicle) is acquired from a known vehicle control function (S01). It is assumed that the vehicle control function calculates the current speed of the vehicle based on the detection signal of the vehicle speed sensor 24.

In step S03, it is determined whether or not the current speed of the vehicle acquired in step S01 is equal to or less than a predetermined threshold value a [km / hour] (example: 6 [km / hour]). The processing in step S03 corresponds to speed determination means.
When the vehicle speed is equal to or less than the predetermined value a [km / hour] (YES in S03), if the blind corner camera BCC is in the off state (YES in S11), the blind corner camera BCC is activated (S13). The captured image of the blind corner camera BCC is displayed on the display device 11 (S15). That is, when the current speed of the vehicle is relatively low, the captured image of the blind corner camera BCC is displayed on the display device 11.

On the other hand, if it is determined in step S03 that the current speed of the vehicle exceeds the predetermined value a [km / h] (NO in S03), it is determined whether or not the vehicle is in the intersection (S05). The process of step S05 corresponds to an intersection determination unit.
For this determination, the current position information and road information acquired from the car navigation function in step S01 can be used, but instead of this information or together with this information, the front camera FC and / or the blind corner camera BCC. Detection states of intersection elements (eg, pedestrian crossings, stop lines SL, various signs (eg, “stop” signs), etc.) examined by the image recognition function based on the captured image can be used, for example, the presence or absence of them. .
As a result of the determination in step S05, if the current position of the vehicle is not within the intersection (NO in S05), the process proceeds to step S07, and the state of the blind corner camera BCC is checked. If the blind corner camera BCC is turned on (YES in S07), the blind corner camera BCC is turned off (S09).

On the other hand, as a result of the determination in step S05, if the current position of the vehicle is within the intersection (YES in S05), the process proceeds to step S21 to check the state of the blind corner camera BCC.
If the blind corner camera BCC is turned off (YES in S21), the blind corner camera BCC is activated (S23), and the process proceeds to step S25.
If the blind corner camera BCC is already turned on (NO in S21), the process skips step S23 and proceeds to step S25.

  In step S25, the image captured by the blind corner camera BCC is set not to be displayed, and moving objects (eg, pedestrians, bicycles, two-wheeled vehicles, etc.) in the image captured by the blind corner camera BCC are checked by the image recognition function.

  As a result of examining the moving object by the image recognition function, if an approaching moving object is recognized (YES in S27), a warning to that effect is output (S31). This warning can be performed by outputting a warning sound or a warning message from the speaker 12. In addition, when an emergency is required, such as when the approaching speed is high or when a pedestrian jumps out, the steering wheel is forcibly vibrated instead of the warning sound or warning message or together with the warning sound or warning message. You may make it warn strongly. Further, a predetermined warning message may be displayed on the display device 11 together. If a warning is already being output (YES in S29), step S31 jumps.

The urgency level of the warning can be determined based on the state of the moving object to be examined by the image recognition process (eg, approach speed, pop-out speed, etc.).
For image recognition processing for detecting moving objects (eg, pedestrians, bicycles, two-wheeled vehicles, etc.) without outputting the captured image of the blind corner camera BCC to the display device 11 or passing to the display device 11 when passing the intersection. FIG. 3 (b) shows the case classification of whether to provide.

  In the above, the case where the blind corner camera BCC is installed at the center of the front end of the vehicle and detects the left-right direction of the front of the vehicle has been described, but instead of this position or together with this position, the side of the vehicle, etc. The blind corner camera (side camera) that captures the blind spot direction can be processed in the same manner as described above.

The block diagram which shows the structure of the control part of the vehicle periphery monitoring apparatus of embodiment. The flowchart which shows a blind corner camera image control procedure. Explanatory drawing which matches an intersection passage and the usage method of a blind corner camera image.

Explanation of symbols

BCC Blind corner camera FC Front camera C Vehicle SL Stop line

Claims (7)

A vehicle periphery monitoring device having a function of displaying on a display device each captured image of a camera installed in the vehicle so that the left and right direction of the front portion of the vehicle can be photographed,
Speed determining means for determining whether or not the current speed of the vehicle in which the camera is installed is equal to or higher than a predetermined speed;
Image recognition means for examining each moving object in each captured image in the left-right direction when the speed determination means determines that the current speed is greater than or equal to a predetermined speed;
Warning output means for outputting a warning to that effect when it is determined that there is a moving object in the approaching state based on the determination based on the result of the examination by the image recognition means;
A vehicle periphery monitoring device comprising: In claim 1,
An intersection determination means for determining whether or not the current position of the vehicle where the camera is installed is within the intersection;
The image recognizing means examines the moving object in each captured image in the left-right direction when the intersection determining means determines that the vehicle is in the intersection;
The vehicle periphery monitoring apparatus characterized by the above-mentioned. In claim 2,
When the intersection determination means determines that the vehicle is in the intersection, the vehicle further includes display control means for hiding each captured image in the left-right direction.
The vehicle periphery monitoring apparatus characterized by the above-mentioned. In claim 2 or claim 3,
The image recognition means further examines an intersection element in each captured image in the left-right direction,
The intersection determination means determines whether or not the vehicle is within an intersection based on the inspection result of the intersection element by the image recognition means;
The vehicle periphery monitoring apparatus characterized by the above-mentioned. In claim 2 or claim 3,
Position detection means for detecting the current position of the vehicle in which the camera is installed;
Road information acquisition means for acquiring road information;
Further comprising
The intersection determination means determines whether or not the vehicle is within an intersection based on the current position of the vehicle detected by the position detection means and the road information acquired by the road information acquisition means;
The vehicle periphery monitoring apparatus characterized by the above-mentioned. In claim 2 or claim 3,
A front camera installed in the vehicle so that the front of the vehicle can be photographed;
Front image recognition means for examining an intersection element in a photographed image of the front camera;
Further comprising
The intersection determination means determines whether or not the vehicle is within an intersection based on the inspection result of the intersection element by the front image recognition means.
The vehicle periphery monitoring apparatus characterized by the above-mentioned. A vehicle periphery monitoring device having a function of displaying on a display device a photographed image of a camera installed in a vehicle so as to be able to photograph a blind spot direction from a driver's seat,
Speed determining means for determining whether or not the current speed of the vehicle in which the camera is installed is equal to or higher than a predetermined speed;
Image recognition means for examining each moving object in each captured image in the blind spot direction when the speed determination means determines that the current speed is equal to or higher than a predetermined speed;
Warning output means for outputting a warning to that effect when it is determined that there is a moving object in the approaching state based on the determination based on the result of the examination by the image recognition means;
A vehicle periphery monitoring device comprising:

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