JP3034409B2 - Rear image display device - Google Patents
Rear image display deviceInfo
- Publication number
- JP3034409B2 JP3034409B2 JP24710093A JP24710093A JP3034409B2 JP 3034409 B2 JP3034409 B2 JP 3034409B2 JP 24710093 A JP24710093 A JP 24710093A JP 24710093 A JP24710093 A JP 24710093A JP 3034409 B2 JP3034409 B2 JP 3034409B2
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- JP
- Japan
- Prior art keywords
- vehicle
- display
- image
- image processing
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- Closed-Circuit Television Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Image Processing (AREA)
- Devices For Indicating Variable Information By Combining Individual Elements (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、自動車その他車両の後
方画像を撮像し、その後方画像を運転席に表示して運転
を補助する装置として利用する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used as a device for assisting driving by capturing a rear image of an automobile or other vehicle and displaying the rear image on a driver's seat.
【０００２】[0002]
【従来の技術】自動車の後部に画像信号（例えばテレビ
ジョン信号）を出力するカメラを取付け、その画像信号
を運転席に配置したディスプレイに表示して、後方の状
態を運転者が認識することができるようにする装置が知
られている。この装置は、大型トラックや大型バスな
ど、バックミラーによる後方の視野が限られる狭い車両
では有用な装置である。そして、このような後方画像表
示装置は、単に画像を表示するにとどまらず、運転者が
画像表示を有効に利用できるように画面に補助マーカな
どを表示するものが知られている。2. Description of the Related Art A camera for outputting an image signal (for example, a television signal) is mounted at the rear of an automobile, and the image signal is displayed on a display arranged in a driver's seat so that the driver can recognize the rearward state. Devices that enable this are known. This device is useful for narrow vehicles such as large trucks and large buses, where the rear view of the rearview mirror is limited. Such a rear image display device is not limited to displaying an image, and displays an auxiliary marker or the like on a screen so that a driver can effectively use the image display.
【０００３】例えば、特開昭５９−１１４１３９号公報
あるいは特開平２−４２８４７号公報に開示された装置
では、後方画像表示装置の表示画面に後方障害物の距離
を認識できるマーカを表示するように構成されている。For example, in a device disclosed in JP-A-59-114139 or JP-A-2-42847, a marker for recognizing the distance of a rear obstacle is displayed on a display screen of a rear image display device. It is configured.
【０００４】また特開平１−１６８５３８号公報に開示
された装置は、コンピュータによる演算装置を組合せた
ものであって、車両が後進するときにハンドルの回転角
度から操舵情報を取込み、その表示画面に車両が後進す
る予想軌跡を演算して表示するものである。The apparatus disclosed in Japanese Patent Application Laid-Open No. 1-168538 is a combination of a computer and an arithmetic unit. When a vehicle moves backward, steering information is obtained from the rotation angle of a steering wheel, and the display screen is displayed. The predicted trajectory of the vehicle moving backward is calculated and displayed.
【０００５】一方、路上を走行中の車両から電磁波を発
射し、前方を走行する車両に反射して戻る電磁波を受信
し、その前方を走行する車両との車間距離を演算する車
間距離測定表示装置は、特開昭５８−１９９２３７号公
報に開示されたものをはじめ、多数の技術が開示されて
いる。On the other hand, an inter-vehicle distance measuring and displaying device which emits an electromagnetic wave from a vehicle traveling on a road, receives an electromagnetic wave reflected by a vehicle traveling in front and returns, and calculates an inter-vehicle distance with the vehicle traveling in front of the vehicle. A number of techniques have been disclosed, including that disclosed in Japanese Patent Application Laid-Open No. 58-199237.
【０００６】[0006]
【発明が解決しようとする課題】上述の従来例後方画像
表示装置は、主に車両を後進させるときに利用できるよ
うに設計されたものであって、道路を走行中に有効に利
用できるようには配慮されていない。走行中には運転者
は車両の前方および側部に設けたバックミラーをよく見
ているが、後方画像表示装置はその動作を停止させてい
ることが多く、また、動作させていたとしても連続的に
監視することはできないから、きわめて短時間にその表
示画面を見るにすぎない。したがって、後方から走行す
る車両が自車両を追い越そうとしているなどの動きを短
い時間で認識することができない。The above-mentioned conventional rear image display device is designed so that it can be used mainly when the vehicle is moved backward, so that it can be used effectively while traveling on a road. Is not considered. While driving, the driver often looks at the rearview mirrors provided at the front and side of the vehicle, but the rear image display device often stops its operation, and even if it is operated, Since it is not possible to monitor the information on the screen, the user only looks at the display screen in a very short time. Therefore, it is not possible to recognize in a short time a motion such as a vehicle traveling from behind trying to pass the own vehicle.
【０００７】本発明はこのような背景に行われたもので
あって、車両が路上を順調に走行している場合でも有効
に利用して、運転の安全性を高くすることができる後方
画像表示装置を提供することを目的とする。本発明は、
後方を走行する車両の動きを運転者が認識しやすくした
後方画像表示装置を提供することを目的とする。The present invention has been made in such a background, and a rear image display capable of enhancing driving safety by effectively utilizing even when a vehicle is running smoothly on a road. It is intended to provide a device. The present invention
It is an object of the present invention to provide a rear image display device that makes it easy for a driver to recognize the movement of a vehicle traveling behind.
【０００８】[0008]
【課題を解決するための手段】本発明は、自動車その他
の車両後方画像を撮像し、その後方画像を運転席に表示
して運転を補助する装置であって、車両の後方を撮像し
画像信号を出力するカメラと、その画像信号を処理する
画像処理装置と、その車両の運転席に配置されその画像
処理装置の出力表示信号を表示するディスプレイとを備
えた後方画像表示装置において、その車両の後方を照射
する電磁波を発射しその電磁波の反射波を受信して反射
物体との距離情報を演算するレーダ装置を備え、前記画
像処理装置は、その車両の速度情報を取り込む車速信号
入力端子と、その速度情報および前記距離情報からその
車両の後方を走行する別車両との相対速度情報を演算す
る演算処理回路と、この相対速度情報からその別車両の
前記ディスプレイ内における進行方向の予測を示す予測
情報を演算する予測演算回路と、この予測情報を前記出
力表示信号に重ねる表示制御回路とを備えたことを特徴
とする。SUMMARY OF THE INVENTION The present invention relates to a device for assisting driving by capturing an image behind a vehicle such as an automobile and displaying the image behind the image in a driver's seat. A camera that outputs the image signal, an image processing device that processes the image signal, and a display that is arranged at the driver's seat of the vehicle and that displays an output display signal of the image processing device. A radar device that emits an electromagnetic wave irradiating the rear side, receives a reflected wave of the electromagnetic wave, and calculates distance information with a reflecting object, the image processing device has a vehicle speed signal input terminal that captures speed information of the vehicle, An arithmetic processing circuit for calculating relative speed information with respect to another vehicle traveling behind the vehicle from the speed information and the distance information, and the display of the different vehicle from the relative speed information The prediction calculation circuit for calculating the prediction information indicating a prediction direction of travel in, characterized by comprising a display control circuit for superposing the predicted information to the output display signal.
【０００９】前記画像処理装置は、前記カメラの視野内
の主要な目標について横方向の移動を識別する手段と、
その横方向の移動量が大きいときに前記予測演算回路に
起動信号を与える手段とを含む画像処理回路を備え、前
記予測演算回路は、この起動信号により演算を起動する
手段を含むことが望ましい。[0009] The image processing device includes means for identifying lateral movement for a primary target within the field of view of the camera;
It is preferable that the image processing apparatus further includes an image processing circuit including means for supplying a start signal to the prediction operation circuit when the amount of movement in the lateral direction is large, and the prediction operation circuit includes means for starting operation in response to the start signal.
【００１０】[0010]
【作用】画像処理装置がカメラから車両後方を撮像した
画像信号を入力して画像処理を行い、運転席に配置され
たディスプレイに出力表示信号を送出する際に、レーダ
装置が車両の後方に電磁波を発射しその反射波を受信し
て演算した距離情報および車速信号入力端子から取り込
んだ車速情報から後方を走行する別車両との相対速度を
演算するとともに、その相対速度情報から後方車両の進
行方向の予測を示す予測情報を演算し、この予測情報を
出力表示信号に重ねてディスプレイに出力し表示する。When the image processing device inputs an image signal obtained by capturing an image of the rear of the vehicle from a camera, performs image processing, and transmits an output display signal to a display disposed in a driver's seat, the radar device moves the electromagnetic wave to the rear of the vehicle. And calculates the relative speed with respect to another vehicle traveling backward from the distance information calculated by receiving the reflected wave and the vehicle speed information taken from the vehicle speed signal input terminal, and the traveling direction of the rear vehicle from the relative speed information. Is calculated, and the prediction information is output to a display so as to be superimposed on the output display signal and displayed.
【００１１】これにより、後方から走行する車両がどの
ような状態にあり、どのような動作をしようとしている
のかを運転者に短時間で認識させることができ、運転の
安全性を高めることができる。[0011] This allows the driver to recognize in a short time what kind of state the vehicle traveling from behind is and what kind of operation the vehicle is going to perform, thereby improving driving safety. .
【００１２】[0012]
【実施例】次に、本発明実施例を図面に基づいて説明す
る。図１は本発明実施例の構成を示すブロック図であ
る。Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the embodiment of the present invention.
【００１３】本発明実施例は、車両の後方を撮像し画像
信号を出力するカメラ１と、その画像信号を処理する画
像処理装置２と、その車両の運転席に配置され画像処理
装置２の出力表示信号を表示するディスプレイ３とを備
え、さらに、本発明の特徴として、車両の後方を照射す
る電磁波を発射しその電磁波の反射波を受信して反射物
体との距離情報を演算するレーダ装置４を備え、画像処
理装置２は、車両の速度情報を取り込む車速情報入力端
子５と、その速度情報および前記距離情報から車両の後
方を走行する別車両との相対速度情報を演算する演算処
理回路２ａと、この相対速度情報からその別車両のディ
スプレイ３内における進行方向の予測を示す予測情報を
演算する予測演算回路２ｂと、この予測情報を前記出力
表示信号に重ねる表示制御回路２ｃと、カメラ１の視野
内の主要な目標について横方向の移動を識別する手段、
およびその横方向の移動量が大きいときに予測演算回路
２ｂに起動信号を与える手段を含む画像処理回路２ｄと
を備え、予測演算回路２ｂは、この起動信号により演算
を起動する手段を含む。An embodiment of the present invention comprises a camera 1 for imaging the rear of a vehicle and outputting an image signal, an image processing apparatus 2 for processing the image signal, and an output of the image processing apparatus 2 arranged in a driver's seat of the vehicle. A display device 3 for displaying a display signal; and a feature of the present invention is that the radar device 4 emits an electromagnetic wave for irradiating the rear of the vehicle, receives a reflected wave of the electromagnetic wave, and calculates distance information to a reflecting object. The image processing device 2 includes a vehicle speed information input terminal 5 for capturing speed information of the vehicle, and an arithmetic processing circuit 2a for calculating relative speed information with respect to another vehicle traveling behind the vehicle from the speed information and the distance information. A prediction calculation circuit 2b for calculating prediction information indicating prediction of the traveling direction of the other vehicle in the display 3 from the relative speed information, and superimposing the prediction information on the output display signal. Means for identifying a 示制 control circuit 2c, and lateral movement of the main goals in the field of view of the camera 1,
And an image processing circuit 2d including means for supplying a start signal to the prediction operation circuit 2b when the amount of movement in the horizontal direction is large, and the prediction operation circuit 2b includes means for starting an operation in response to the start signal.
【００１４】次に、このように構成された本発明実施例
の動作について説明する。図２は本発明実施例における
カメラの視野内の目標物の横移動、予測走行ライン、お
よび車間距離を示す図、図３は本発明実施例における画
像処理回路の動作の流れを示すフローチャート、図４は
本発明実施例における演算処理回路の動作の流れを示す
フローチャート、図５は本発明実施例における予測演算
回路の動作の流れを示すフローチャート、図６は本発明
実施例におけるディスプレイの表示例を示す図である。Next, the operation of the embodiment of the present invention configured as described above will be described. FIG. 2 is a diagram showing a lateral movement, a predicted traveling line, and an inter-vehicle distance of a target within a field of view of a camera according to the embodiment of the present invention. FIG. 3 is a flowchart showing an operation flow of an image processing circuit according to the embodiment of the present invention. 4 is a flowchart showing the flow of the operation of the arithmetic processing circuit in the embodiment of the present invention, FIG. 5 is a flowchart showing the flow of the operation of the prediction arithmetic circuit in the embodiment of the present invention, and FIG. 6 is a display example of the display in the embodiment of the present invention. FIG.
【００１５】カメラ１が車両の後方を撮像し画像信号を
画像処理装置２の画像処理回路２ｄに送出する。画像処
理回路２ｄは図３に示すように、この画像信号からカメ
ラ１の視野内の主要な目標を確認し、その目標について
図２に示すような横方向の移動を識別する。目標の横方
向への移動が識別されたときに、その横方向への移動量
があらかじめ定められた距離（例えば１ｍ）よりも大き
いか否かを判断し、大きいときには予測演算回路２ｂに
その移動距離とともに起動信号を送出する。移動距離に
達していないときはカメラ１からの画像信号受信処理に
戻り同様の動作を繰り返す。The camera 1 captures an image of the rear of the vehicle and sends an image signal to an image processing circuit 2d of the image processing device 2. As shown in FIG. 3, the image processing circuit 2d identifies a main target in the field of view of the camera 1 from this image signal, and identifies a lateral movement of the target as shown in FIG. When the movement of the target in the horizontal direction is identified, it is determined whether or not the amount of movement in the horizontal direction is larger than a predetermined distance (for example, 1 m). A start signal is transmitted together with the distance. If the distance has not been reached, the process returns to the process of receiving the image signal from the camera 1 and repeats the same operation.
【００１６】一方、レーダ装置４が車両の後方を照射す
る電磁波を発射し、その電磁波の反射波を受信して反射
物体との距離情報を演算し演算処理回路２ａに送出す
る。演算処理回路２ａは図４に示すように、この距離情
報を入力するとともに、車速情報入力端子５を介して図
外の車速センサから自車両の車速情報を取り込み、後方
車両の走行動作に変化がみられるか否かを判断する。こ
れは１００ｍの走行距離にわたり変化がない、または１
秒間変化がないときには変化なしとする。変化がみられ
ると判断した場合は、前述の距離情報および車速情報か
ら自車両の後方を走行する車両との相対速度と車間距離
を演算し、その値を予測演算回路２ｂに送出する。後方
車両の走行動作に変化がみられない場合はレーダ装置４
からの距離情報入力処理に戻り同様の動作を繰り返す。On the other hand, the radar device 4 emits an electromagnetic wave for irradiating the rear of the vehicle, receives a reflected wave of the electromagnetic wave, calculates distance information with respect to a reflecting object, and sends it to the arithmetic processing circuit 2a. As shown in FIG. 4, the arithmetic processing circuit 2a inputs the distance information and also fetches the vehicle speed information of the own vehicle from a vehicle speed sensor (not shown) via the vehicle speed information input terminal 5, so that a change in the running operation of the rear vehicle is obtained. Determine if it can be seen. This does not change over a distance of 100 m or 1
If there is no change for a second, there is no change. If it is determined that a change has occurred, the relative speed and the inter-vehicle distance with respect to the vehicle running behind the host vehicle are calculated from the distance information and the vehicle speed information, and the values are sent to the prediction calculation circuit 2b. If there is no change in the running behavior of the vehicle behind, the radar device 4
Then, the process returns to the distance information input process, and the same operation is repeated.
【００１７】予測演算回路２ｂは、図５に示すように、
画像処理回路２ｄからの後方車両の横への移動距離、お
よび演算処理回路２ａからの相対速度と車両距離とを入
力し、これらの値に基づき予測情報を演算し、表示制御
回路２ｃに送出する。The prediction operation circuit 2b, as shown in FIG.
The lateral movement distance of the rear vehicle from the image processing circuit 2d, the relative speed and the vehicle distance from the arithmetic processing circuit 2a are input, prediction information is calculated based on these values, and sent to the display control circuit 2c. .
【００１８】表示制御回路２ｃは、この予測情報を出力
表示画像に重ねて画像表示信号としてディスプレイ３に
送出する。これにより、ディスプレイ３の画面には図６
に示すように、後方車両の走行速度（１２０ｋｍ／
ｈ）、自車両との車間距離（１００ｍ）、および後方車
両の予測走行ラインが表示される。運転者は、表示画面
に矢印が出ているときに後続車両に追越動作等の動きが
あることを認識し、表示画面に矢印が出ていないときに
は、後続車両が自車両とほぼ等速度で追従走行している
ものと認識することができる。The display control circuit 2c superimposes this prediction information on the output display image and sends it to the display 3 as an image display signal. Thereby, the screen of the display 3 is shown in FIG.
As shown in the figure, the traveling speed of the following vehicle (120 km /
h), an inter-vehicle distance to the own vehicle (100 m), and a predicted traveling line of the following vehicle are displayed. The driver recognizes that the following vehicle has a movement such as an overtaking operation when the arrow is displayed on the display screen, and when the arrow is not displayed on the display screen, the following vehicle is substantially at the same speed as the own vehicle. It can be recognized that the vehicle is following.
【００１９】[0019]
【発明の効果】以上説明したように本発明によれば、後
方を走行する車両がどのような状態にあり、どのような
動作をしようとしているかを運転者が短時間で認識する
ことができ、運転の安全性を高めることができる効果が
ある。As described above, according to the present invention, the driver can recognize in a short time what kind of state the vehicle traveling behind is and what kind of operation he is going to perform. There is an effect that driving safety can be improved.
【図１】本発明実施例の構成を示すブロック図。FIG. 1 is a block diagram showing a configuration of an embodiment of the present invention.
【図２】本発明実施例におけるカメラの視野内の目標物
の横移動、予測走行ライン、および車間距離を示す図。FIG. 2 is a diagram showing a lateral movement of a target within a field of view of a camera, a predicted traveling line, and a following distance in the embodiment of the present invention.
【図３】本発明実施例における画像処理回路の動作の流
れを示すフローチャート。FIG. 3 is a flowchart showing the flow of the operation of the image processing circuit according to the embodiment of the present invention.
【図４】本発明実施例における演算処理回路の動作の流
れを示すフローチャート。FIG. 4 is a flowchart showing a flow of an operation of the arithmetic processing circuit in the embodiment of the present invention.
【図５】本発明実施例における予測演算回路の動作の流
れを示すフローチャート。FIG. 5 is a flowchart showing the flow of the operation of the prediction operation circuit in the embodiment of the present invention.
【図６】本発明実施例におけるディスプレイの表示例を
示す図。FIG. 6 is a view showing a display example of a display in the embodiment of the present invention.
１ カメラ ２ 画像処理装置 ２ａ 演算処理回路 ２ｂ 予測演算回路 ２ｃ 表示制御回路 ２ｄ 画像処理回路 ３ ディスプレイ ４ レーダ装置 ５ 車速情報入力端子 REFERENCE SIGNS LIST 1 camera 2 image processing device 2a arithmetic processing circuit 2b prediction operation circuit 2c display control circuit 2d image processing circuit 3 display 4 radar device 5 vehicle speed information input terminal
Claims (1)
カメラと、その画像信号を処理する画像処理装置と、そ
の車両の運転席に配置されその画像処理装置の出力表示
信号を表示するディスプレイとを備えた後方画像表示装
置において、 その車両の後方を照射する電磁波を発射しその電磁波の
反射波を受信して反射物体との距離情報を演算するレー
ダ装置を備え、 前記画像処理装置は、前記カメラ内の視野内の主要な目
標について横方向の移動を検出する画像処理回路と、そ
の車両の速度情報を取り込む車速信号入力端子と、その
速度情報および前記距離情報からその車両の後方を走行
する別車両との相対速度情報を演算する演算処理回路
と、この相対速度情報その別車両の前記ディスプレイ内
における進行方向の予測を示す予測情報を演算する予測
演算回路と、この予測情報を矢印として前記出力表示信
号に重ねて表示させる表示制御回路とを備え、 前記画像処理回路は、前記カメラの視野内の主要な目標
の横方向の移動量が所定の値を越えたときに前記予測演
算回路に前記予測情報の演算を開始させる起動信号を与
える手段を含む ことを特徴とする後方画像表示装置。1. An image of the rear of a vehicle is taken and an image signal is output.
A camera, an image processing device for processing the image signal, and
Output display of the image processing device located in the driver's seat of another vehicle
Rear image display device having a display for displaying signals
And emits electromagnetic waves that illuminate the rear of the vehicle,
A radar that receives reflected waves and calculates distance information to the reflecting object
And an image processing device,The primary eye in the field of view in the camera
An image processing circuit for detecting lateral movement of the target,So
Speed signal input terminal that captures vehicle speed information
Driving behind the vehicle from the speed information and the distance information
Processing circuit that calculates relative speed information with respect to another vehicle
And this relative speed information in the display of the other vehicle
That calculates prediction information indicating the prediction of the direction of travel in a vehicle
The arithmetic circuit and this prediction informationAs an arrowThe output display signal
And a display control circuit for superimposed display, The image processing circuit is a main target within the field of view of the camera.
When the amount of lateral movement of the target exceeds a predetermined value,
To the arithmetic circuit to start the operation of the prediction information.
Including means A rear image display device characterized by the above-mentioned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24710093A JP3034409B2 (en) | 1993-10-01 | 1993-10-01 | Rear image display device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP24710093A JP3034409B2 (en) | 1993-10-01 | 1993-10-01 | Rear image display device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07105496A JPH07105496A (en) | 1995-04-21 |
| JP3034409B2 true JP3034409B2 (en) | 2000-04-17 |
Family
ID=17158432
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP24710093A Expired - Fee Related JP3034409B2 (en) | 1993-10-01 | 1993-10-01 | Rear image display device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3034409B2 (en) |
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-
1993
- 1993-10-01 JP JP24710093A patent/JP3034409B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH07105496A (en) | 1995-04-21 |
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