JP5196251B2 - Vehicle periphery monitoring device - Google Patents

Description

  The present invention relates to a vehicle periphery monitoring device including a display unit that displays left and right captured images in front of a vehicle.

  There exists patent document 1 shown below as prior art document information relevant to this kind of vehicle periphery monitoring apparatus. In the vehicle periphery monitoring device described in Patent Document 1, an imaging device that captures the situation of the left and right of the vehicle is disposed at the front end of the vehicle. In addition, it is possible to register the points that need to be monitored on the map displayed on the monitor screen in the car by the navigation device. When the vehicle reaches the registered point, the monitor screen automatically switches from the map to the imaged result by the imaging device. It is supposed to be. Therefore, if you register an intersection with bad visibility on the left and right and stop at the intersection where only the imaging device protrudes into the intersecting road, the road you are about to enter will be displayed on the monitor screen displayed in the car automatically It is supposed to be able to confirm the left and right safety.

Japanese Patent Laid-Open No. 08-293098 (Claim 1, paragraph number 0004, FIG. 11, FIG. 13)

  However, even if the left and right images of the front of the vehicle are displayed on the monitor screen, if the amount of protrusion of the front end of the vehicle with respect to the intersecting road is insufficient, the image can be used to confirm the safety of the left and right. Must not. Therefore, in the device described in Patent Document 1, the vehicle is advanced slowly while observing the video on the monitor screen to determine how far the front end of the vehicle can be sufficiently confirmed to confirm the left and right safety. Had to be adjusted. Thus, as a result of having to perform slow driving while gazing at the monitor screen, there is a possibility that the operation of confirming the surroundings with the naked eye of the driver is temporarily insufficient.

  Therefore, in view of the drawbacks of the vehicle periphery monitoring device according to the prior art exemplified above, the object of the present invention is to confirm the periphery with the naked eye of the driver when entering the intersection while referring to the image on the monitor screen. It is in providing the vehicle periphery monitoring apparatus which is easy to maintain.

The first characteristic configuration of the vehicle periphery monitoring device according to the present invention is as follows.
A display unit for displaying the left and right of the front of the vehicle in the vehicle based on a captured image obtained by a camera that images the front of the vehicle attached to the vehicle and the left and right of the front of the vehicle;
An arrival determination unit for determining that the vehicle has reached a predetermined position at which the driver can recognize a situation of an intersection road on which the vehicle is about to enter after the display unit displays the interior; ,
A notification unit for notifying the driver of the determination result of the arrival determination unit;
A stop line detection unit for detecting a stop line drawn in front of the crossing road ,
The arrival determination unit is configured to perform the determination based on a travel length after passing through the stop line detected by the stop line detection unit .

In the vehicle periphery monitoring apparatus according to the first characteristic configuration of the present invention, for example, after stopping at the stop line, if the vehicle advances slowly while gazing at the front through the windshield, the status of the crossing road to be entered is displayed. When a predetermined position that can be recognized by the driver is reached by the unit, the notification unit automatically notifies it. Therefore, it is not necessary to move forward slowly while paying attention to the display content of the display unit. For this reason, it is easy to perform the peripheral confirmation work with the naked eye of the driver.
In addition, since the notification is made after the display by the display unit, it is possible to move forward while confirming the display unit in a timely manner, and various notifications (notice of obstacles, voice guidance by a navigation system) are available in recent vehicles. Among them, there is an advantage that it is easy to understand what the notification means.

  Although the distance from the stop line to the predetermined position varies slightly depending on the camera mounting position, etc., it can generally be considered to be substantially constant for one vehicle. In addition, the stop line can be a target that is easy to detect even from a relatively long distance on the road surface. Therefore, with this configuration, by first detecting a stop line on the road, it is possible to easily and relatively accurately determine the predetermined position at a certain distance from the stop line.

  Another characteristic configuration of the present invention is that the stop line detection unit detects the stop line using imaging information obtained by the own camera attached to the vehicle.

  Such a configuration is advantageous in terms of cost because it is possible to display the front left and right situations with a single camera and to detect a stop line. The stop line is generally composed of a clear white line. Therefore, with this configuration, the predetermined position at a certain distance from the stop line is detected by first detecting the stop line on the road by the camera provided on the vehicle and the image software for detecting the white line from the captured image. Can be easily and accurately determined.

  Another characteristic configuration of the present invention is that the stop line detection unit detects the stop line using road information by a navigation device provided in the own vehicle.

  In general, the stop line is often registered as one of the feature information in the map information for navigation. Therefore, with this configuration, the predetermined position at a certain distance from the stop line can be easily and accurately determined by first detecting the stop line on the road by the navigation device provided in the vehicle. It becomes possible.

  Another characteristic configuration of the present invention is that the notification unit performs notification only when the intersecting road is determined to be an intersection with poor visibility based on road information from a navigation device provided in the vehicle. is there.

  In this configuration, there is no building etc., and the left and right line of sight of the crossing road is very good.For example, when the traffic situation on the left and right of the crossing road can be confirmed with the naked eye even if it is temporarily stopped on the stop line, There is no need to worry about notifications.

  Another characteristic configuration of the present invention is that the notification unit notifies only when the driver performs a braking operation within a certain distance after passing the stop line.

  Even in the case of this configuration, since there is no structure etc. and the left and right line of sight of the crossing road is very good, for example, when the traffic situation on the left and right of the crossing road can be confirmed with the naked eye even during a temporary stop on the stop line There is no need to worry about notifications.

The best mode for carrying out the present invention will be described below with reference to the drawings.
As shown in FIG. 1, a vehicle periphery monitoring device 100 according to the present invention includes a camera 2 disposed at the front end of the vehicle 1 or the like in order to capture a scene spreading in the left and right directions in front of the vehicle. A navigation device 3 is provided on the console 1C of the vehicle 1, and a map image for navigation and an image captured by the camera 2 are selectively displayed to the driver on an image monitor 3m (an example of a display unit). The Since the camera 2 includes a super wide-angle lens such as a fisheye lens, the image captured by the camera 2 can be displayed on the image monitor 3m as a real-time image obtained by capturing the left and right scenes in front of the vehicle at an angle of view of about 190 °. .

  While the vehicle 1 is traveling at a speed exceeding 6 km / h by acceleration from the stop state, a map image for navigation is displayed on the image monitor 3m. Thereafter, when the traveling speed (advance) falls below 6 km / h, the display on the image monitor 3 m is automatically switched to the left and right captured images of the vehicle by the camera 2.

  As shown in FIG. 2, generally, when the vehicle 1 traveling on the road A enters the intersection road B at an intersection where there is no signal, the vehicle 1 is temporarily stopped at the stop line SL drawn before the intersection road B. When the vehicle advances slowly at a certain distance from there, the lens part of the camera 2 provided in the vehicle 1 enters the area of the intersection road B, so that the traffic conditions on the left and right of the intersection road B are displayed on the image monitor 3m. It reaches an approach preparation position SP (an example of a predetermined position) that can be recognized by the driver depending on the display content. As shown in FIG. 3, this approach preparation position SP is generally displayed on the image monitor 3m with the traffic conditions on the left and right of the intersection road B viewed from the road A including the roadway outer line BL and the roadside belt. This is the starting stop position. Here, this position is referred to as an approach preparation position SP. Although the distance from the stop line SL to the approach preparation position SP varies slightly depending on the mounting position of the camera 2 and the like, it can be considered to be substantially constant for one vehicle 1. Therefore, the distance from the stop line SL to the entry preparation position SP is represented by ΔL.

  As shown in FIG. 1, when the vehicle 1 traveling on the road A is about to enter the intersection road B, the control unit 50 of the vehicle periphery monitoring device 100 has the vehicle 1 up to the entry preparation position SP for the intersection road B. An arrival discriminating unit 4 for discriminating that has arrived is provided.

  Furthermore, the control unit 50 of the vehicle periphery monitoring device 100 includes a stop line specifying unit 5 that specifies (an example of detection) the stop line SL drawn before the intersection road B. The arrival determination unit 4 determines that the vehicle has reached the approach preparation position SP by comparing the travel length after the vehicle 1 has passed the stop line SL specified by the stop line specification unit 5 with the distance ΔL.

  Moreover, the control part 50 of the vehicle periphery monitoring apparatus 100 is provided with the alerting | reporting part 6, and if the alerting | reporting part 6 discriminate | determines that the vehicle 1 arrived at approach preparation position SP by the arrival discrimination | determination part 4, the discrimination | determination result will be carried out. It fulfills the function of informing the driver.

  When the notification by the notification unit 6 is performed, the traffic situation of the intersection road B is displayed on the image monitor 3m. Therefore, the driver can determine whether or not the safe approach to the intersection road B is possible based on the traffic situation of the intersection road B displayed on the image monitor 3m.

  As a notification form by the notification unit 6, any notification form that does not require gaze of the image monitor 3 m can be used. For example, notification by sound from the speaker 10 disposed on the door of the vehicle 1, the windshield periphery, etc. Light emission of a specific color by a light source arranged at an appropriate position, a transmissive icon displayed on the windshield surface, driving of a vibrator provided on a part of the steering wheel 11 or the seat 12, etc., and combinations thereof as appropriate Can be applied. In the notification by voice, a voice message such as “right and left safety confirmation by monitor image is possible” or a warning sound such as a specific buzzer sound can be applied.

  The stop line specifying unit 5 is automatically searched and specified based on the position information of the vehicle 1 by the navigation device 3, and the position information (feature information) related to the stop line SL on the map and the imaging obtained by the camera 2. Based on the image, the position of the stop line SL is comprehensively identified from the position information of the stop line SL detected by the image processing unit 7.

  However, it is not essential to install the navigation device 3 on the vehicle 1 provided with the vehicle periphery monitoring device 100 according to the present invention. Even in the vehicle 1 that does not include the navigation device 3, the vehicle periphery monitoring device 100 has the arrival determination unit 4 with a camera. If the approach preparation position SP can be determined using 2 or an ultrasonic sonar described later, this can be implemented.

  The process from the cruise operation to the approach to the intersection road B will be described below along one traveling example. (1) When the driver finds the intersection road B ahead during the normal cruise operation, the driver starts slowing toward stopping near the stop line SL.

(2) When the traveling speed (advance) falls below 6 km / h during the above-mentioned slowing down, the display on the image monitor 3m is automatically switched from the map image for navigation up to that to the left and right captured images by the camera 2 It is done.

(3) While continuing the above slow running, the stop line specifying unit 5 acquires the position information of the stop line SL based on the captured image obtained by the camera 2. The acquired position information of the stop line SL is transferred to the memory 8 of the control unit 50.

(4) After continuing the slow drive, as shown by the solid line vehicle 1 in FIG. 2, the driver temporarily stops with reference to the stop line SL. At the same time, the arrival determination unit 4 temporarily sets the approach preparation position SP based on the position information of the stop line SL stored in the memory 8. Specifically, the vehicle 1 enters by the ECU of the vehicle 1 from the cumulative travel distance M0 at the moment of passing the stop line SL and the general length ΔL from the stop line SL to the entry preparation position SP. The cumulative travel distance predicted value when reaching the preparation position SP: MS (MS = M0 + ΔL) is calculated.

(5) When the vehicle starts slowing down at a speed of less than 6 km per hour from the stop, it is determined by the arrival determining unit 4 that the vehicle has reached the approach preparation position SP during the slowing down. It is now possible to confirm that the left and right safety can be confirmed. The determination by the arrival determination unit 4 is performed based on the cumulative travel distance reaching the cumulative travel distance predicted value MS.

(6) As shown by a broken line vehicle 1 in FIG. 2, when the driver temporarily stops at the approach preparation position SP based on the above notification and looks at the image monitor 3m, as shown in FIG. The traffic situation of the intersection road B is displayed on the monitor 3m. Therefore, the driver determines whether or not the safe approach to the intersection road B is possible based on the left and right traffic conditions displayed on the image monitor 3m. Actually, even if the braking operation by the driver is started at the moment of notification by the notification unit 6, overrun occurs until the vehicle 1 actually stops. Therefore, even if the notification by the notification unit 6 is advanced by a time length corresponding to the distance of the overrun predicted from the average slowing speed so that the stop at the approach preparation position SP is performed in anticipation of the overrun. Good.

(7) The driver continues to enter the intersection road B while confirming the left and right safety based on the real image from the front glass. By this time, the cumulative mileage prediction value: MS is once cleared for entering the next crossing road.

[Another embodiment]
<1> The notification unit 6 may be configured to notify the approach preparation position SP only when the driver performs a braking operation within a certain distance after passing the stop line SL. In this configuration, since there is no building or the like and the left and right line of sight of the intersection road B is very good, for example, even if the traffic situation on the left and right of the intersection road B does not use the image monitor 3m even while temporarily stopping on the stop line SL. When it can be confirmed with the naked eye, it is hard to be bothered by the notification by the notification unit 6.

<2> Configuration in which the notification unit 6 performs notification only when it is determined that the intersection road B to be entered is an intersection with poor visibility based on road information from the navigation device 3 provided in the vehicle 1 It is also possible to do.

<3> The configuration may be such that the arrival preparation position SP is determined not by the travel distance from the stop line SL but by image analysis by the image processing unit 7 of the peripheral image captured by the camera 2.

<4> Ultrasonic sonar is provided on both front sides of the vehicle 1, and the arrival determination unit 4 reaches the approach preparation position SP based on the state in which the left and right wall objects are not detected by the ultrasonic sonar. It is possible to carry out with a configuration for determining that it has been performed.

<5> The stop line specifying unit 5 may determine the approach preparation position SP based on the roadway outer line BL of the intersection road B captured by the camera 2 instead of the stop line SP.

Explanatory drawing of the vehicle periphery monitoring apparatus by this invention Schematic explaining the operation of the vehicle periphery monitoring device An example of display contents on the display section at the approach preparation position

1 Vehicle 2 Camera 3 Navigation Device 3m Image Monitor (Display Unit)
4 arrival determination unit 5 stop line specifying unit 6 notifying unit 7 image processing unit 8 memory 50 control unit 100 vehicle periphery monitoring device A road B traveling road crossing road SL stop line SP entry preparation position

Claims (5)

A display unit that displays in the vehicle the left and right situations in front of the vehicle based on a captured image obtained by a camera that images the vehicle front and the left and right of the vehicle front mounted on the vehicle;
An arrival determination unit for determining that the vehicle has reached a predetermined position at which the driver can recognize a situation of an intersection road on which the vehicle is about to enter after the display unit displays the interior; ,
A notification unit for notifying the driver of the determination result of the arrival determination unit;
A stop line detection unit for detecting a stop line drawn in front of the crossing road ,
The arrival determination unit is a vehicle periphery monitoring device that performs the determination based on a travel length after passing through the stop line detected by the stop line detection unit . The vehicle periphery monitoring device according to claim 1 , wherein the stop line detection unit detects the stop line using information captured by the camera attached to the vehicle. The stop line detection unit, the vehicle surroundings monitoring apparatus according to claim 1 or 2 for detecting the stop line with a road information by the navigation device provided in the vehicle. The notification unit, in any one of claims 1 to 3, only performs notification when it is determined that the poor crossing of sight on the basis of the road information from the navigation device a road is provided in the vehicle crossing The vehicle periphery monitoring device described. The notification unit, the vehicle surroundings monitoring apparatus according to any one of claims 1 to 4, only to notify the time of execution of the braking operation by the driver within a certain distance after passage of the stop line.

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