JP4598011B2 - Vehicle display device - Google Patents

Description

  The present invention relates to a vehicle display device.

2. Description of the Related Art Conventionally, for example, a vehicle display device that changes the angle of view of a camera that captures the external environment of the host vehicle in accordance with the traveling environment ahead of the host vehicle is known (see, for example, Patent Document 1).
JP 2005-81610 A

By the way, in the vehicular display device according to the above prior art, only the angle of view of the camera is changed according to, for example, the distance between the preceding vehicle and the speed of the own vehicle as the traveling environment ahead of the own vehicle. For example, when the angle of view is changed to the wide angle side, the amount of information in the captured image increases. However, simply increasing the amount of information in the captured image may distract attention to each piece of information in the captured image.
The present invention has been made in view of the above circumstances, and an object thereof is to provide a vehicle display device capable of recognizing appropriate information from an image obtained by imaging with a camera.

  In order to solve the above-described problems and achieve the object, the vehicle display device according to the first aspect of the present invention includes an imaging unit that images the front of the host vehicle in the traveling direction (for example, the visible camera 11a in the embodiment, A vehicle display device including an infrared camera 12a) and a display unit (for example, the display unit 14 in the embodiment) that displays at least a part of an image captured by the imaging unit. Other vehicle detection means for detecting another vehicle present in the image captured by the means (for example, the other vehicle detection unit 21 in the embodiment), and the own vehicle for the other vehicle detected by the other vehicle detection means Vehicle state detection means for detecting the relative vehicle state of the vehicle (for example, the vehicle state sensor 15 in the embodiment) and the image picked up by the image pickup means in accordance with the detection result by the vehicle state detection means. Display means Comprising an image display area setting means for setting an image display area to be displayed (for example, the display area setting unit 26 in the embodiment) and a.

Further , the vehicle state detection means includes distance detection means (for example, a distance sensor or a distance acquisition unit 22 in the embodiment) that detects a distance in real space to the other vehicle detected by the other vehicle detection means. And the image display area setting means, when the distance detected by the distance calculation means is less than or equal to a predetermined distance, at least another vehicle detected by the other vehicle detection means among the areas in the image A region other than is set as the image display region.

Furthermore, in the vehicle display device according to the second aspect of the present invention, the vehicle state detection means includes speed detection means for detecting at least the speed of the host vehicle (for example, a vehicle speed sensor and a vehicle speed calculation unit 23 in the embodiment). The image display area setting means, when the distance detected by the distance calculation means is less than a predetermined distance, and at least the speed of the host vehicle detected by the speed detection means is less than a predetermined speed, Of the regions in the image, at least a region other than the other vehicle detected by the other vehicle detection means is set as an image display region.

Moreover, the display apparatus for vehicles which concerns on the 3rd aspect of this invention is the imaging means (for example, visible camera 11a, infrared camera 12a in embodiment) and the said imaging means which image the front of the advancing direction of the own vehicle. A display device for a vehicle that includes display means (for example, the display unit 14 in the embodiment) that displays at least a part of a captured image, and is present in the image captured by the imaging means. Other vehicle detection means for detecting the vehicle (for example, the other vehicle detection unit 21 in the embodiment) and the other vehicle detected by the other vehicle detection means among the regions in the image captured by the imaging means. The luminance detection means (for example, the first luminance calculation unit 24 and the second luminance calculation unit 25 in the embodiment) for detecting the luminance of the area related to the area and the luminance detected by the luminance detection means are equal to or higher than a predetermined luminance. If out of the area in the image And an image display area setting means for setting at least the other vehicle area other than another vehicle which is detected by the detecting means as an image display area (e.g., displayed in an embodiment the area setting unit 26).

Furthermore, in the vehicle display device according to the fourth aspect of the present invention, the image display area is a left and right area of the other vehicle detected by the other vehicle detection means.

Furthermore, in the vehicle display device according to the fifth aspect of the present invention, the display means enlarges and displays the image display area.

Furthermore, in the vehicle display device according to the sixth aspect of the present invention, the imaging means includes a visible camera (for example, the visible camera 11a in the embodiment) and an infrared camera (for example, the infrared camera 12a in the embodiment). The image display area setting means displays the superimposed image on the superimposed image obtained by superimposing the visible image captured by the visible camera and the infrared image captured by the infrared camera on the display unit. Set the image display area.

  According to the vehicle display device of the first aspect of the present invention, the image display area to be displayed on the display unit is set from the image captured by the imaging unit in accordance with the detection result by the vehicle state detection unit. An appropriate region can be displayed even when a region including information with relatively high importance varies in the image according to the relative vehicle state of the host vehicle with respect to another vehicle.

Further , when the distance detected by the distance calculating means is equal to or less than the predetermined distance, at least the area other than the other vehicle detected by the other vehicle detecting means is set as the image display area among the areas in the image. For example, the size of the other vehicle such as the preceding vehicle becomes excessively large in the image display area, and other information other than the information indicating the presence of the other vehicle, for example, the front of the own vehicle from the side of the other vehicle. It can be prevented that it is difficult to acquire information indicating the presence of a pedestrian crossing, information indicating the presence of a motorcycle passing over the other vehicle and passing the other vehicle, and the like. .

Furthermore, according to the vehicle display device of the second aspect of the present invention, when the distance detected by the distance calculating means is equal to or less than the predetermined distance, and at least the own vehicle detected by the speed detecting means. When the speed (that is, the speed of the host vehicle and the other vehicle) is equal to or lower than the predetermined speed, at least a region other than the other vehicle detected by the other vehicle detection unit is used as the image display region. For example, when there is a traffic jam, the size of the other vehicle such as the preceding vehicle becomes excessively large in the image display area, and other information other than the information indicating the presence of the other vehicle, for example, the other vehicle It is possible to obtain information indicating the presence of a pedestrian crossing the front in the traveling direction of the host vehicle from the side, information indicating the presence of a motorcycle passing the side of another vehicle and overtaking the other vehicle, etc. Preventing difficulties It can be.

Further, according to the vehicle display device of the third aspect of the present invention, the luminance of the area related to the other vehicle detected by the other vehicle detection means is predetermined among the areas in the image captured by the imaging means. If it is greater than the brightness, at least the area other than the other vehicle is set as the image display area among the areas in the image.For example, in the image display area, it is caused by the width or tail lamp of the other vehicle such as the preceding vehicle. Therefore, it is possible to prevent the visibility from being excessively lowered.

Furthermore, according to the vehicle display device according to the fourth aspect of the present invention, for example, information indicating the presence of a pedestrian crossing the front in the traveling direction of the host vehicle from the side of the other vehicle, for example, passing through the side of the other vehicle. Thus, it is possible to obtain information indicating the existence of a motorcycle that overtakes other vehicles.
Furthermore, according to the vehicle display device of the fifth aspect of the present invention, the visibility of the image display area can be improved.
Furthermore, according to the vehicle display device according to the sixth aspect of the present invention, the visibility of the superimposed image can be improved.

Hereinafter, a display device for a vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings.
As shown in FIG. 1, for example, the vehicle display device 10 according to the present embodiment includes a visible external sensor 11, an infrared external sensor 12, a processing device 13, a display unit 14, and a vehicle state sensor 15. Configured.
Furthermore, the processing device 13 includes, for example, another vehicle detection unit 21, a distance acquisition unit 22, a vehicle speed calculation unit 23, a first luminance calculation unit 24, a second luminance calculation unit 25, a display area setting unit 26, And a superimposed image generation unit 27.

The visible external sensor 11 includes, for example, a visible camera 11a and an image processing unit 11b that can capture an image in the visible light region.
The infrared external sensor 12 includes, for example, an infrared camera 12a and an image processing unit 12b that can capture an image in the infrared region, and the infrared camera 12a is at least a part of an image captured by the visible camera 11a. An area including the image is captured.
Each image processing unit 11b, 12b performs predetermined image processing such as filtering or binarization processing on each image of the external world in the traveling direction of the host vehicle obtained by photographing with each camera 11a, 12a. To generate data of each image composed of pixels of a two-dimensional array and output the data to the processing device 13.

  The vehicle state sensor 15 is, for example, a vehicle speed sensor that detects the speed (vehicle speed) of the host vehicle as a vehicle information of the host vehicle, or a distance to an external object (for example, a preceding vehicle) of the host vehicle using, for example, a millimeter wave radar. And a distance sensor for detecting

The other vehicle detection unit 21 of the processing device 13 detects another vehicle (for example, a preceding vehicle) existing in the visible image by a predetermined image recognition process or the like for the visible image output from the visible external sensor 11.
The distance acquisition unit 22 is based on the detected value of the distance from the distance sensor of the vehicle state sensor 15 to the object outside the host vehicle and the detection result of the other vehicle by the other vehicle detection unit 21. Get the distance between the vehicle and the actual vehicle.
The vehicle speed calculation unit 23 acquires the vehicle speed of the host vehicle that is output from the vehicle speed sensor of the vehicle state sensor 15, and the detection value of the distance to the object outside the host vehicle that is output from the distance sensor of the vehicle state sensor 15. The speed of the other vehicle is calculated based on the change over time.

  Based on the luminance of each pixel of the visible image output from the visible external sensor 11, the first luminance calculating unit 24 is a predetermined value set in advance in the visible image, for example, as a predetermined region α shown in FIG. A luminance level including the average luminance of the area is calculated.

  The second luminance calculation unit 25 calculates a luminance level composed of, for example, the average luminance of a predetermined area set in advance in the infrared image, based on the luminance of each pixel of the infrared image output from the infrared external sensor 12. To do.

For example, the display area setting unit 26 outputs the detection result of the other vehicle by the other vehicle detection unit 21, the actual inter-vehicle distance between the host vehicle and the other vehicle output from the distance acquisition unit 22, and the vehicle speed calculation unit 23. Based on the speeds of the host vehicle and the other vehicles and the luminance levels of the images output from the luminance calculation units 24 and 25, the display area of each image displayed on the display unit 14 is set.
The display area setting unit 26 displays a predetermined area preset in each image, for example, as shown in FIG. 2B, such as a predetermined area α in the visible image shown in FIG. The display area is set as a display area to be displayed on the unit 14, and the predetermined area is an area mainly including, for example, a preceding vehicle ahead in the traveling direction of the host vehicle.

  Then, the display area setting unit 26, for example, when the actual inter-vehicle distance output from the distance acquisition unit 22 is less than or equal to a predetermined distance with respect to another vehicle (for example, a preceding vehicle) detected by the other vehicle detection unit 21. Determines that the area of the preceding vehicle is excessively large in a predetermined area set in advance in each image, for example, side areas L, R, etc. set to the left and right of the predetermined area α shown in FIG. As described above, another predetermined area is newly set as a display area to be displayed on the display unit 14. For example, the side areas L and R shown in FIG. 3A mainly include the left and right side areas of the preceding vehicle in a state where the size of the preceding vehicle has reached a predetermined value in a predetermined area α set in advance. It is considered as an area to include.

Further, the display area setting unit 26, for example, with respect to another vehicle (for example, a preceding vehicle) detected by the other vehicle detecting unit 21, the speeds of the host vehicle and the preceding vehicle output from the vehicle speed calculating unit 23 are below a predetermined speed. (For example, when there is a traffic jam), the area of the preceding vehicle becomes excessively large in a predetermined area preset in each image, and the importance of alerting the preceding vehicle becomes relatively low, For example, it is determined that the importance of alerting pedestrians and two-wheeled vehicles in the left and right areas of the preceding vehicle is relatively high, and for example, the side areas set to the left and right of the predetermined area α shown in FIG. Other predetermined areas such as L and R are newly set as display areas to be displayed on the display unit 14.
In addition, the display area setting unit 26, for example, based on the luminance level of each image output from each luminance calculation unit 24, 25, the luminance related to the other vehicle (for example, the preceding vehicle) detected by the other vehicle detection unit 21. Is greater than or equal to a predetermined luminance, it is determined that the visibility is excessively reduced due to the vehicle width lamp, tail lamp, etc. of the preceding vehicle in a predetermined area set in each image. Other predetermined areas are newly set as display areas to be displayed on the display unit 14, such as the side areas L and R set to the left and right of the predetermined area α shown in FIG.

The display area setting unit 26 outputs the display area set for each image to the display unit 14 including the superimposed image generation unit 27 or a monitor.
Note that the display area setting unit 26 replaces the predetermined areas set in advance in each image, such as the side areas L and R set to the left and right of the predetermined area α shown in FIG. When a plurality of other predetermined areas are newly set as display areas, for example, as shown in FIG. 3B, the plurality of other predetermined areas are output in a state where they are appropriately arranged.

The superimposed image generation unit 27 generates a superimposed image by superimposing the display regions of the visible image and the infrared image output from the display region setting unit 26.
Then, the superimposed image generation unit 27 outputs the generated superimposed image to the display unit 14 including a monitor or the like.
The display unit 14 appropriately enlarges and displays the display area of each image input from the display area setting unit 26 or the superimposed image input from the superimposed image generation unit 27.

  The vehicle display device 10 according to the present embodiment has the above-described configuration. Next, the operation of the vehicle display device 10 will be described.

First, in step S01 shown in FIG. 4, a visible image and an infrared image of the external field area ahead of the traveling direction of the host vehicle are acquired.
Next, in step S02, it is determined whether or not a preceding vehicle exists in the visible image or the infrared image.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if the determination is “YES”, the flow proceeds to step S03.

In step S03, the actual inter-vehicle distance of the host vehicle with respect to the preceding vehicle and the speeds of the host vehicle and the preceding vehicle are acquired.
In step S04, it is determined whether the actual inter-vehicle distance is equal to or less than a predetermined distance.
If this determination is “YES”, the flow proceeds to step S 05.
On the other hand, if this determination is “NO”, the flow proceeds to step S 07 described later.

In step S05, it is determined whether or not the speeds of the host vehicle and the preceding vehicle are equal to or lower than a predetermined speed.
If this determination is “YES”, the flow proceeds to step S 08 described later.
On the other hand, if this determination is “NO”, the flow proceeds to step S 06.

In step S06, it is determined whether or not the luminance of the predetermined area including the preceding vehicle in the visible image or the infrared image is equal to or higher than the predetermined luminance.
If this determination is “YES”, the flow proceeds to step S 08 described later.
On the other hand, if this determination is “NO”, the flow proceeds to step S 07.
In step S07, a predetermined area set in advance in each image is set as a display area to be displayed on the display unit 14, this display area is enlarged and displayed on the display unit 14, and the series of processes is terminated. .

  In step S08, another predetermined area is newly set as a display area to be displayed on the display unit 14 instead of the predetermined area preset in each image, and this display area is enlarged by the display unit 14. Display, and the series of processing ends.

As described above, according to the vehicle display device 10 according to the present embodiment, the distance between the actual vehicles output from the distance acquisition unit 22 with respect to another vehicle (for example, a preceding vehicle) detected by the other vehicle detection unit 21. When the distance is equal to or smaller than the predetermined distance, and when the speed of the host vehicle and the preceding vehicle output from the vehicle speed calculation unit 23 is equal to or smaller than the predetermined speed, at least a region other than the preceding vehicle ( For example, since the side areas L and R set to the left and right of the predetermined area α set in advance are set as the display area, the size of other vehicles such as the preceding vehicle becomes excessively large in the display area, for example, Information other than the information indicating the presence of the other vehicle, for example, information indicating the presence of a pedestrian crossing the front of the host vehicle from the side of the other vehicle, or the other vehicle passing through the side of the other vehicle, for example. Overtake Can be acquired information indicating the presence of such two-wheeled vehicle prevented from becoming difficult, it is possible to perform appropriate caution against the vehicle occupant.
Moreover, when the brightness | luminance which concerns on the other vehicles (for example, preceding vehicle etc.) detected by the other vehicle detection part 21 is more than predetermined brightness, at least area | regions (for example, other than a preceding vehicle) among the area | regions in each image. Since the side areas L, R set to the left and right of the predetermined area α set in advance are set as the display areas, for example, the predetermined area α is caused by a vehicle width lamp, a tail lamp, or the like of the preceding vehicle. Therefore, it is possible to prevent the visibility from being excessively lowered.

  In the above-described embodiment, the distance acquisition unit 22 acquires the actual inter-vehicle distance based on the detection value output from the distance sensor of the vehicle state sensor 15. However, the present invention is not limited to this. When the infrared camera 12a of the sensor 12 is a stereo camera, or when the infrared camera 12 is configured to include a plurality of cameras, an object outside the host vehicle can be obtained by triangulation based on a plurality of image data. May be calculated.

In the above-described embodiment, in step S05 shown in FIG. 4, it may be simply determined whether or not the speed of the host vehicle is equal to or lower than a predetermined speed.
In the above-described embodiment, step S06 shown in FIG. 4 may be omitted.
In the embodiment described above, step S05 and step S06 shown in FIG. 4 may be omitted. In this case, if the determination result in step S04 shown in FIG. 4 is “YES”, the process proceeds to step S08. On the other hand, if the determination result in step S04 is “NO”, the process proceeds to step S07. .
In the embodiment described above, step S04 and step S05 shown in FIG. 4 may be omitted.

1 is a configuration diagram of a vehicle display device according to an embodiment of the present invention. It is a figure which shows the predetermined area | region (alpha) preset in the visible image which concerns on embodiment of this invention. It is a figure which shows the side area | regions L and R set to the right and left of the predetermined area | region (alpha) preset in the visible image which concerns on embodiment of this invention. It is a flowchart which shows operation | movement of the display apparatus for vehicles which concerns on embodiment of this invention.

Explanation of symbols

10. Vehicle display device 11a Visible camera (imaging means)
12a Infrared camera (imaging means)
14 Display section (display means)
15 Vehicle state sensor (vehicle state detection means, distance detection means, speed detection means)
21 Other vehicle detection unit (Other vehicle detection means)
23 Vehicle speed calculation unit (speed detection means)
22 Distance acquisition unit (distance detection means)
24 1st brightness | luminance calculation part (luminance detection means)
25 Second luminance calculation unit (luminance detection means)
26 display area setting section (image display area setting means)
27 Superimposed image generator (superimposing means)

Claims (6)

Imaging means for imaging the forward direction of the host vehicle;
A vehicle display device comprising: display means for displaying at least a part of an image taken by the imaging means;
Other vehicle detection means for detecting another vehicle present in the image captured by the imaging means;
Vehicle state detection means for detecting a relative vehicle state of the host vehicle with respect to the other vehicle detected by the other vehicle detection means;
An image display area setting means for setting an image display area to be displayed on the display means from an image picked up by the image pickup means in accordance with a detection result by the vehicle state detection means ,
The vehicle state detection means includes a distance detection means for detecting a distance in real space to the other vehicle detected by the other vehicle detection means,
When the distance detected by the distance calculation means is equal to or less than a predetermined distance, the image display area setting means is at least one of the areas in the image other than the other vehicle detected by the other vehicle detection means. vehicle display device which is characterized that you set the region as the image display area. The vehicle state detection means includes at least speed detection means for detecting the speed of the host vehicle,
When the distance detected by the distance calculating means is a predetermined distance or less and at least the speed of the host vehicle detected by the speed detecting means is a predetermined speed or less, the image display area setting means 2. The vehicle display device according to claim 1, wherein at least a region other than the other vehicle detected by the other vehicle detection unit is set as an image display region among the inner regions . Imaging means for imaging the forward direction of the host vehicle;
A vehicle display device comprising: display means for displaying at least a part of an image taken by the imaging means;
Other vehicle detection means for detecting another vehicle present in the image captured by the imaging means;
A luminance detecting means for detecting the luminance of the area related to the other vehicle detected by the other vehicle detecting means among the areas in the image taken by the imaging means;
When the brightness detected by the brightness detection means is equal to or higher than a predetermined brightness, at least an area other than the other vehicle detected by the other vehicle detection means is set as an image display area among the areas in the image. A vehicle display device comprising: an image display area setting unit . The vehicular display device according to any one of claims 1 to 3, wherein the image display area is a left and right area of the other vehicle detected by the other vehicle detection means . The vehicle display device according to claim 1 , wherein the display unit displays the image display area in an enlarged manner . The imaging means comprises a visible camera and an infrared camera,
The image display area setting means displays the image display area displayed on the display means on a superimposed image obtained by superimposing a visible image captured by the visible camera and an infrared image captured by the infrared camera. vehicle display device according to any one of claims 1 to 5, characterized in that the setting.

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