JP7030501B2 - Display control device and display system - Google Patents

Description

The present invention relates to a display control device and a display system.

Conventionally, there has been known a technique of superimposing a pseudo image of an obstacle on a camera image obtained by photographing the periphery of a vehicle with a camera and displaying it on a display unit to notify the driver of the presence of an obstacle such as a moving object. (For example, see Patent Document 1).

Japanese Patent No. 4720386

In the technique disclosed in Patent Document 1, only the presence of a moving object that may collide with the vehicle, that is, a moving object at a short distance from the vehicle is notified to the driver, and the moving object at a long distance from the vehicle or the like. The presence of the background is not notified to the driver.

However, when the vehicle tilts with respect to the road due to changes in the loading condition of the vehicle such as the number of passengers, the place to sit, and the loading condition of luggage, the appearance of the camera image may change. Since a specific area of the camera image is preset for the area at a short distance from the vehicle described above, when the camera image changes due to a change in the posture of the vehicle, the positional relationship between the set area and the vehicle changes. It ends up. In this case, it is possible that the driver is notified of an obstacle that should not be notified, that is, a moving object or a background that is far away from the vehicle. On the contrary, it is possible that the driver is not notified of the existence of an obstacle that should be notified, that is, a moving object at a short distance from the vehicle.

The present invention has been made in view of the above problems, and is a display control device and a display capable of accurately recognizing the existence of an obstacle to the driver of the vehicle even when the vehicle is tilted with respect to the road. The purpose is to provide a system.

The display control device according to the present invention includes a display control unit that captures an image of the traveling direction of the vehicle with a camera attached to the vehicle and displays an image obtained on the display unit, and a region of the image to be notified. The notification area setting unit that sets a certain notification area, the vehicle inclination angle detection unit that detects the vehicle inclination angle that is the inclination angle of the vehicle with respect to the road surface, and the signal obtained from the vehicle inclination angle detection unit of the notification area. It is characterized by having a notification area adjusting unit for adjusting the traveling direction side.

The display system according to the present invention detects the display control device according to the present invention, the display unit, the camera attached to the vehicle, and the vehicle inclination angle which is the inclination angle of the vehicle with respect to the road surface of the road. It is characterized by having an angle detecting unit, an acceleration sensor that detects the acceleration of the vehicle, and a gyro sensor that detects an absolute vehicle tilt angle that is an absolute tilt angle of the vehicle with respect to the horizontal plane.

According to the display control device and the display system according to the present invention configured in this way, even when the vehicle is tilted with respect to the road, the driver of the vehicle can accurately recognize the existence of an obstacle. can.

It is a hardware block diagram which shows the hardware element which constitutes the display system to which the display control device which concerns on Embodiment 1 is applied. It is a figure which shows the state of the vehicle running on the flat road surface which does not change the inclination. It is a figure which shows the camera image obtained by taking an image of the front in the traveling direction of a vehicle by the front camera in the scene shown in FIG. It is a figure which shows the positional relationship between a front camera and a notification area. It is a figure which shows the relationship between the appearance of the camera image displayed on the display device, and the notification area. It is a flowchart which shows the flow of the adjustment process of the notification area performed by the display control apparatus which concerns on Example 1. FIG. It is a figure which shows the state which the front part of a vehicle is tilted upward. It is a figure which shows the state which the notification area expanded to the side away from a vehicle in the traveling direction of a vehicle. It is a figure which shows the state which the notification area is narrowed to the side which approaches a vehicle in the traveling direction of a vehicle. It is explanatory drawing which shows the calculation example of the amount which the notification area expanded to the side away from a vehicle. It is explanatory drawing which shows the calculation example of the amount which the notification area narrowed toward the side approaching a vehicle. It is a figure which shows the state which adjusted to narrow the notification area to the side which approaches a vehicle in the traveling direction of a vehicle. It is a figure which shows the state after the other vehicle and the pedestrian are adjusted to be located outside the range of the notification area. It is a flowchart which shows the flow of the adjustment process of the notification area performed by the display control apparatus which concerns on Example 2. FIG. It is a time chart which shows the change of the wheel speed (vehicle speed) with a certain accelerator opening. It is explanatory drawing which shows the calculation example of the vehicle inclination angle which is the inclination angle with respect to the road surface of the road of a vehicle. It is a figure which shows the state which the notification area expanded to the side away from a vehicle in the traveling direction of a vehicle. It is a figure which shows the state which adjusted to narrow the notification area toward the side approaching a vehicle in the traveling direction of a vehicle (the 1). It is a figure which shows the state which adjusted to narrow the notification area toward the side approaching a vehicle in the traveling direction of a vehicle (the 2). It is a flowchart which shows the flow of the adjustment process of the notification area performed by the display control apparatus which concerns on Example 3. FIG. It is a figure which shows the scene which a vehicle travels on a flat road following a downhill slope. It is a figure explaining the state of the road on which a vehicle travels. It is explanatory drawing explaining the scene which performs the adjustment which expands the notification area to the side away from a vehicle in the traveling direction of a vehicle (the 1). It is explanatory drawing explaining the scene which performs the adjustment which expands the notification area to the side away from a vehicle in the traveling direction of a vehicle (the 2). It is explanatory drawing explaining the scene where the slope change occurs in the road surface in the notification area. It is a figure which shows the camera image obtained by taking an image of the front in the traveling direction of a vehicle by the front camera in the scene where the inclination change occurs in the road surface in the notification area. It is a figure which shows the positional relationship between a front camera and a notification area. It is a figure which shows the relationship between the appearance of the camera image displayed on the display device, and the notification area. It is explanatory drawing explaining the scene where a gradual slope change occurs from the middle of a road surface in a notification area. It is a figure which shows the camera image obtained by taking an image of the front in the traveling direction of a vehicle by the front camera in the scene where the gradual inclination change occurs from the middle of the road surface in the notification area. It is a figure which shows the positional relationship between the front camera attached to the vehicle located on the slope inclined with respect to the horizontal plane, and the notification area. It is a figure which shows the relationship between the appearance of the camera image displayed on the display device, and the notification area.

Hereinafter, specific embodiments of the display control device and the display system according to the present invention will be described with reference to the drawings.

The display control device and the display system in the first embodiment are applied to a vehicle traveling on a flat road surface having no slope.

(Explanation of system configuration to which display control device is applied)
FIG. 1 is a hardware block diagram showing hardware elements constituting the display system 10 to which the display control device 100 is applied. First, a system configuration to which the display control device is applied will be described with reference to FIG.

The display system 10 is mounted on the vehicle 1 shown in FIG. The display system 10 includes a front camera 20a, a rear camera 20b, a left side camera 20c, a right side camera 20d, a display device 30 (display unit), a gyro sensor 40, a vehicle height sensor 50, an acceleration sensor 60, and wheels. It has a speed sensor 70, a control stop buzzer 80, and a display control device 100.

The front camera 20a is attached to the front portion of the vehicle 1 toward the front of the vehicle 1. The rear camera 20b is attached to the rear part of the vehicle 1 toward the rear of the vehicle 1. The left side camera 20c is attached to the left side portion of the vehicle 1 toward the left side of the vehicle 1. The right-side camera 20d is attached to the right side of the vehicle 1 toward the right side of the vehicle 1. A wide-angle lens and a fisheye lens are mounted on the front camera 20a, the rear camera 20b, the left side camera 20c, and the right side camera 20d, respectively, and the four cameras 20a, 20b, 20c, and 20d can be used to view the road surface around the vehicle 1. The area including it can be observed without omission. In the following, when the front camera 20a, the rear camera 20b, the left side camera 20c, and the right side camera 20d are not particularly distinguished, they are simply referred to as the camera 20.

The display device 30 is, for example, a flat panel display (liquid crystal display, organic EL, plasma, etc.) and is arranged at a position where the driver of the vehicle 1 can see it. The display device 30 has a touch panel function, and the driver can input the pressed position coordinates by pressing a predetermined position of the display device 30.

The gyro sensor 40 detects the absolute vehicle tilt angle, which is the absolute tilt angle of the vehicle 1 with respect to the horizontal plane. The information detected by the gyro sensor 40 is output to the display control device 100 and used in the arithmetic processing in the display control device 100.

The vehicle height sensor 50 includes a vehicle height sensor 50f and a vehicle height sensor 50r. The vehicle height sensor 50f is mounted on the front portion of the vehicle 1 and detects the vehicle height in the front portion. The vehicle height sensor 50r is mounted on the rear portion of the vehicle 1 and detects the vehicle height at the rear portion. When the vehicle 1 is tilted due to, for example, the front portion being lifted and the rear portion being sunk due to the loading state of the vehicle 1, the vehicle height sensor 50 is inclined with respect to the road surface of the vehicle 1 based on the inclination. The vehicle inclination angle, which is an angle, is detected.

The acceleration sensor 60 detects the acceleration of the vehicle 1. Specifically, the acceleration sensor 60 detects the acceleration in the inclination direction of the road surface with respect to the horizontal plane. The information detected by the acceleration sensor 60 is output to the display control device 100 and used in the arithmetic processing in the display control device 100.

The wheel speed sensor 70 detects the wheel speed of the vehicle 1. The information detected by the wheel speed sensor 70 is output to the display control device 100 and used in the arithmetic processing in the display control device 100.

The control stop buzzer 80 is provided at a position where the driver of the vehicle 1 can easily operate the buzzer 80. The control stop buzzer 80 is provided to output a notification sound to the driver of the vehicle 1 when an obstacle enters the notification area.

(Explanation of the configuration of the display control device)
The display control device 100 includes an obstacle detection unit 101, a display control unit 102 (vehicle inclination angle detection unit), a notification area setting unit 103, a notification area adjustment unit 104, a road surface inclination angle calculation unit 105, and an absolute vehicle. It has an inclination angle acquisition unit 106, a vehicle inclination angle calculation unit 107, a white line detection unit 108, and a storage unit 109.

Inside the display control device 100, for example, a microprocessor and a program including peripheral devices, a CPU (Central Processing Unit) for executing necessary processing, a RAM (Random Access Memory), a ROM (Read Only Memory), and image processing. And modules such as a dedicated ASIC (Application Specific Integrated Circuit) that performs signal processing are mounted.

The obstacle detection unit 101 detects an obstacle based on a camera image obtained by capturing the traveling direction of the vehicle 1 with the camera 20. Here, the obstacle means an object that may collide with the vehicle 1, for example, a stationary object such as a building, a pillar, a wall, a protrusion, a rock, a stopped vehicle, a pedestrian, or an animal. , Means a moving object such as a moving vehicle. Specifically, the obstacle detection unit 101 detects the type of obstacle (for example, a protrusion, a pedestrian, etc.) by a method such as pattern matching. When the obstacle is a moving object, the obstacle detection unit 101 also detects the moving direction and the moving speed of the moving body by a method such as optical flow.

The display control unit 102 displays the camera image obtained by capturing the traveling direction of the vehicle 1 by the camera 20 attached to the vehicle 1 on the display device 30.

The notification area setting unit 103 sets the notification area NA, which is an area for notifying the driver of the vehicle 1 of the presence or absence of an obstacle in the camera image obtained by capturing the traveling direction of the vehicle 1 with the camera 20. ..

When the front end of the vehicle 1 is relatively raised with respect to the rear end by the signal obtained from the vehicle height sensor 50, the notification area adjusting unit 104 advances the notification area NA to the vehicle 1 as the vehicle tilt angle increases. When the vehicle is narrowed toward the vehicle 1 in the direction and the front end of the vehicle 1 is relatively lowered with respect to the rear end, the notification region NA is moved away from the vehicle 1 in the traveling direction of the vehicle 1 as the vehicle tilt angle increases. Spread to.

The storage unit 109 stores an application (obstacle detection application) that provides an obstacle detection function, a display control program that can be executed by the display control device 100, and the like.

Details of the display control unit 102, the notification area setting unit 103, the notification area adjustment unit 104, the road surface inclination angle calculation unit 105, the absolute vehicle inclination angle acquisition unit 106, the vehicle inclination angle calculation unit 107, and the white line detection unit 108 will be described later.

(Explanation of how to specify the notification area NA)
Next, a method of designating the notification area NA when the display system 10 is started will be described with reference to FIGS. 2 and 3. FIG. 2 is a diagram showing a state of the vehicle 1 traveling on a flat road surface RS having no change in inclination. FIG. 3A is a diagram showing a camera image obtained by photographing the front of the vehicle 1 in the traveling direction with the front camera 20a in the scene shown in FIG. FIG. 3B is a diagram showing the positional relationship between the front camera 20a and the notification area NA. FIG. 3C is a diagram showing the relationship between the appearance of the camera image displayed on the display device 30 and the notification area NA.

As shown in FIGS. 2 and 3A, in the space in front of the vehicle 1 in the traveling direction, another vehicle 2 traveling on the intersection of the road surface RS and a pedestrian 3 walking on the road surface RS exist. ..

The apex a of the right triangle shown in FIG. 3B indicates the mounting position of the front camera 20a, and the apex b indicates the position where the mounting position a is projected onto the road surface directly below. The opposite side ab in FIG. 3B indicates the mounting height H of the front camera 20a from the ground, and the adjacent side bc indicates the length X (design value) of the notification region NA in the height direction. The angle γ indicates the angle formed by the opposite side ab and the hypotenuse ac of the right triangle.

The point O shown in FIG. 3C indicates a viewpoint for projecting the notification area NA onto the screen displayed on the display device 30. The dimension of the straight line Oa connecting the point O and the point a is a value predetermined by the display system 10. In order to plot the tip position c located at the tip of the notification area NA on the screen, the intersection c'of the straight line Occ and the straight line ab must be defined. That is, the point obtained by plotting the position c on the screen is the point c1 in which the intersection c'is compared on the screen. Similarly, the point obtained by plotting the position b on the screen is the point b1 in which the point b is compared on the screen.

ここで、式（１）中のα１は、直線ｂ１'ｐと直線ｂ１'ｂ１とがなす角度を示す。本実施例では、白線検出処理で得られた白線の長さＬａと、式（１）で表されるＺ'との比較処理が、表示制御部１０２において行われる。すなわち、道路の路面に傾斜変化が無い場合は、Ｚ'の長さは以下の式（２）で表されるように、Ｌａの長さ以下となり、この場合における報知領域ＮＡの画面上における上下方向の長さはＺに設定される。

The length Z of the straight line b1c1 shown in FIG. 3C is designed in advance as the length of the notification region NA in the vertical direction on the screen. The straight line b1'p shown in FIG. 3C indicates a white line obtained by the white line detection process by the white line detection unit 108. In FIG. 3C, the length of the white line b1'p is La. In FIG. 3C, the position on the white line b1'p that is closer to the point p by the design value of the notification area NA from the point b1'is defined as the point c1'. In FIG. 3C, the length of the straight line b1'c1'is Z'. The length of Z'is expressed by the following equation (1).

Here, α1 in the equation (1) indicates the angle formed by the straight line b1'p and the straight line b1'b1. In this embodiment, the display control unit 102 performs a comparison process between the length La of the white line obtained by the white line detection process and Z'represented by the equation (1). That is, when there is no change in the slope of the road surface, the length of Z'is equal to or less than the length of La as expressed by the following equation (2), and in this case, the upper and lower sides of the notification area NA on the screen. The length in the direction is set to Z.

In the notification area NA, coordinate information on the screen designated based on the design specifications is recorded in advance in the notification area setting unit 103 (FIG. 1).

(Explanation of notification area NA)
Next, the notification region NA will be described with reference to FIGS. 2 and 3A to 3C. In FIG. 2, the notification area NA is displayed with a thickness in order to visually indicate it, but it is actually formed flush with the road surface. Further, in FIG. 3, the notification area NA is shown by hatching with a dot pattern. The notification area NA is designed in advance in anticipation of a range in which a collision with an obstacle at a short distance from the vehicle 1 can be avoided. As shown in FIG. 3, the notification region NA is formed inside the two white lines WL formed on both sides of the vehicle 1. The notification area NA is, for example, a trapezoidal area in which the lower base is in the immediate vicinity of the front end portion of the vehicle 1 (FIG. 3). The length of the trapezoidal notification region NA in the height direction is designed, for example, in the range of about 3 m to 4 m from the front end of the vehicle 1, and the length in the width direction is designed in advance in the range of, for example, about 2 m to 5 m. Will be done.

(Flow of adjustment processing of notification area NA)
Hereinafter, the adjustment process of the notification area NA performed by the display control device 100 (FIG. 1) using the flowchart shown in FIG. 4 and FIGS. 5, 6A and 6B, 7, 8, 9, and 10 Explain the flow of.

The adjustment process of the notification area NA is started when the notification area setting unit 103 (FIG. 1) sets the notification area NA in the camera image. Even while the notification area NA is being adjusted, the obstacle detection unit 101 (FIG. 1) detects obstacles using the camera image at any time. Then, when an obstacle is detected in the notification area NA, the control stop buzzer 80 (FIG. 1) sounds to notify the driver to that effect.

First, in step S1 shown in FIG. 4, the display control unit 102 detects whether or not an execution instruction for an obstacle detection operation has been input. For example, when an execution instruction is input by an operation via the GUI by the driver (YES in step S1), the display control unit 102 activates an application for obstacle detection. After that, the process proceeds to step S2. The process of step S1 repeats the input of the execution instruction of the detection operation until the display control unit 102 detects it.

Next, in step S2, the display control unit 102 determines whether or not the execution instruction whose input is detected in step S1 is the first execution instruction. The flag for determining whether or not it is the first time is stored in advance in, for example, the storage unit 109. Therefore, the display control unit 102 can determine whether or not it is the first execution instruction by referring to the value of the flag.

If the execution instruction is not determined to be the first execution instruction in step S2 (NO in step S2), the process proceeds to step S4. On the other hand, if it is determined to be the first execution instruction (YES in step S2), in step S3, the display control unit 102 executes an initialization process for initializing the internal information of the application for obstacle detection. After executing this initialization process, the process proceeds to step S4.

In step S4, the notification area adjusting unit 104 detects the vehicle inclination angle θV, which is the inclination angle of the vehicle 1 with respect to the road surface, based on the signal obtained from the vehicle height sensor 50. Then, the notification area adjusting unit 104 determines whether or not the vehicle inclination angle θV exceeds a predetermined value designed in advance.

For example, as shown in FIG. 5, when the rear portion of the vehicle 1 sinks downward according to the number of passengers in the rear seats of the vehicle 1, the front portion of the vehicle 1 is relatively lifted. As a result, as the entire vehicle 1 is tilted upward, the direction of the front camera 20a is directed upward from the originally designed position. As shown in FIG. 6A, the notification region NA expands to the side away from the vehicle 1 in the traveling direction of the vehicle 1 as compared with the state before the vehicle 1 tilts by the amount that the front camera 20a faces upward. On the contrary, when the front part of the vehicle 1 sinks downward, the rear part of the vehicle 1 rises relatively. As a result, as the entire vehicle 1 is tilted upward, the direction of the front camera 20a is directed downward from the originally designed position. As shown in FIG. 6B, the notification region NA is narrowed toward the vehicle 1 in the traveling direction of the vehicle 1 as compared with the state before the vehicle 1 is tilted by the amount that the front camera 20a faces downward.

Hereinafter, with reference to FIGS. 7 and 8, the amount of the notification region NA expanding toward the side away from the vehicle 1 or the amount narrowing toward the side approaching the vehicle 1 by tilting the front portion of the vehicle 1 upward or downward is specifically obtained. .. The apex a of the right triangle shown by the solid line in FIGS. 7 and 8 indicates the mounting position of the front camera 20a, and the apex b indicates the position where the mounting position a is projected onto the road surface directly below. The apex c in FIGS. 7 and 8 indicates a position separated from the apex b by a length corresponding to 300 cm in the traveling direction of the vehicle 1. The opposite side ab in FIGS. 7 and 8 indicates the mounting height of the front camera 20a from the ground, and the adjacent side bc indicates the length of the notification area NA in the height direction on the screen.

(Calculation example of the amount that the notification area spreads toward the side away from the vehicle)
First, with reference to FIG. 7, a calculation example of the amount in which the notification region NA spreads toward the side away from the vehicle 1 will be described. In the scene shown in FIG. 7, as values determined based on the rule of thumb, the dimension of the opposite side ab is 70 cm, the angle γ formed by the opposite side ab and the hypotenuse ac is 76.9 degrees, and the vehicle inclination angle θ is 3 degrees. And. That is, in the scene shown in FIG. 7, due to the inclination of the vehicle 1, the direction of the front camera 20a is directed upward by 3 degrees from the originally designed value with respect to the mounting position a.

The apex b affected by the inclination of the vehicle 1 moves to the point b'on the side away from the vehicle 1. Similarly, the vertex c moves to the point c'on the side away from the vehicle 1. That is, the length in the height direction of the notification area NA on the screen after the vehicle 1 is tilted is the dimension of the side b'c'connecting the point b'and the point c'. The process of obtaining the dimensions is shown in the following equations (3) to (6).

As is clear from the equation (6), the dimension (= 386.8 cm) of the length b'c'in the height direction after the vehicle 1 is tilted is the length bc in the height direction before the vehicle 1 is tilted. Compared to the dimension of (= 300 cm), it becomes longer on the side away from the vehicle 1 by 86.8 cm.

(Calculation example of the amount that narrows the notification area toward the vehicle)
Next, a calculation example of the amount in which the notification region NA narrows toward the vehicle 1 will be described with reference to FIG. In the scene shown in FIG. 8, as values determined based on the rule of thumb, the dimension of the opposite side ab is 70 cm, the angle γ formed by the opposite side ab and the hypotenuse ac is 76.9 degrees, and the vehicle inclination angle θ is 7 degrees. And. That is, in the scene shown in FIG. 8, due to the inclination of the vehicle 1, the direction of the front camera 20a is directed downward by 7 degrees from the originally designed value with respect to the mounting position a.

The apex b affected by the inclination of the vehicle 1 moves to the point b'on the side approaching the vehicle 1. Similarly, the vertex c moves to the point c'on the side approaching the vehicle 1. That is, the length in the height direction of the notification area NA on the screen after the vehicle 1 is tilted is the dimension of the side b'c'connecting the point b'and the point c'. The process of obtaining the dimensions is shown in the following equations (7) to (10).

As is clear from the equation (10), the dimension (= 199.9 cm) of the length b'c'in the height direction after the vehicle 1 is tilted is the length bc in the height direction before the vehicle 1 is tilted. Compared to the dimension of (= 300 cm), it is shortened to the side closer to the vehicle 1 by 101.1 cm.

In the display control device 100 of the present embodiment, even if the length of the notification area NA in the height direction on the screen changes due to the front portion of the vehicle 1 being tilted upward or downward, the notification area adjusting unit 104 may be used. The dimension of the length in the height direction on the screen of the notification area NA is adjusted to the dimension before the vehicle 1 is tilted according to the vehicle tilt angle θ.

Specifically, in step S4 shown in FIG. 4, when the notification area adjusting unit 104 determines that the vehicle inclination angle θ is a predetermined value (for example, 2 degrees) or less (NO in step S4), the notification area adjustment unit 104 notifies in step S5. The region NA is maintained as it is. That is, the length dimension in the height direction and the length dimension in the width direction on the screen of the notification area NA are maintained at the default values initially set. Then, the adjustment process of the notification area NA is completed.

On the other hand, if the notification area adjusting unit 104 determines in step S4 that the vehicle inclination angle θ exceeds a predetermined value (for example, 2 degrees) (YES in step S4), the process proceeds to step S6. In step S6, the notification area adjusting unit 104 determines whether the front portion or the rear portion of the vehicle 1 is tilted upward based on the signal obtained from the vehicle height sensor 50. If it is determined that the front portion of the vehicle 1 is tilted upward, the process proceeds to step S7.

In step S7, for example, as shown in FIG. 9, the notification area adjusting unit 104 has a dimension (= 386.) Of the length b'c'in the height direction on the screen of the notification area NA after the vehicle 1 is tilted. 8 cm) is adjusted to be narrowed to the side closer to the vehicle 1 in the traveling direction of the vehicle 1 by 86.8 cm. Along with this adjustment, the other vehicle 2 and the pedestrian 3 that were located within the range of the notification area NA are adjusted to be located outside the range of the notification area NA (FIG. 10). After the adjustment, the adjustment process of the notification area NA is completed.

On the other hand, if it is determined in step S6 that the rear portion of the vehicle 1 is tilted downward, the process proceeds to step S8.

In step S8, for example, as shown in FIG. 9, the notification area adjusting unit 104 has a dimension (= 199.) Of the length b'c'in the height direction on the screen of the notification area NA after the vehicle 1 is tilted. 9 cm) is adjusted to be widened by 101.1 cm toward the side away from the vehicle 1 in the traveling direction of the vehicle 1. Along with this adjustment, the other vehicle 2 and the pedestrian 3 that were located outside the range of the notification area NA are adjusted to be located within the range of the notification area NA (FIG. 10). After the adjustment, the adjustment process of the notification area NA is completed.

According to the display control device and the display system according to the first embodiment configured in this way, the other vehicle 2 and the pedestrian 3 that were located outside the range of the notification area NA before the vehicle 1 tilted with respect to the road , The notification area adjusting unit 104 adjusts the position so that it is located within the range of the notification area NA. On the contrary, the other vehicle 2 and the pedestrian 3 that were located within the range of the notification area NA before the vehicle 1 tilted with respect to the road are located outside the range of the notification area NA by the notification area adjustment unit 104. Is adjusted to.

Therefore, the control stop buzzer 80 (FIG. 1) originally outputs a notification sound to the driver of the vehicle 1 even though it is not necessary to notify the possibility of collision with the other vehicle 2 and the pedestrian 3. It disappears.

Therefore, even when the vehicle 1 is tilted with respect to the road, the driver of the vehicle 1 can accurately recognize the existence of the other vehicle 2 and the pedestrian 3.

Further, the notification area setting unit 103 sets the notification area NA in the camera image displayed on the display device 30, but does not draw the image. That is, since the notification area NA is not visible to the driver, the visibility of the driver does not deteriorate.

Next, the display control device and the display system according to the second embodiment of the present invention will be described with reference to FIGS. 11, 12, 13, 14, 14, 15, and 16. The details of the same elements as those described in the first embodiment will be omitted.

(Flow of adjustment processing of notification area NA)
Hereinafter, the flow of the notification area NA adjustment process performed by the display control device 100 will be described with reference to the flowchart shown in FIG. Note that steps T1, T2, T3, T6, T7, T8, T9, and T10 shown in FIG. 11 are processed in the same manner as steps S1, S2, S3, S4, S5, S6, S7, and S8 shown in FIG. 4, respectively. Therefore, detailed description may be omitted.

In the flowchart shown in FIG. 11, after the processes of steps T1 to T3 are executed, the process proceeds to step T4. In step T4, the display control unit 102 determines whether or not the vehicle 1 is traveling on an uphill slope. If it is determined that the vehicle is traveling uphill (YES in step T4), the process proceeds to step T5-1. On the other hand, when it is determined that the vehicle is not traveling uphill, that is, when it is determined that the vehicle is traveling on a flat road surface (NO in step T4), the process proceeds to step T5-2.

As the information necessary for the determination process in step T4 (change in wheel speed at a certain accelerator opening degree), the information detected by the wheel speed sensor 70 is used as needed. FIG. 12 is a time chart showing a change in wheel speed with a certain accelerator opening.

(Change in wheel speed with a certain accelerator opening)
As shown in FIG. 12, the wheel speed of the vehicle 1 traveling on an uphill slope gradually increases as compared with the wheel speed of the vehicle 1 traveling on a flat road surface. By utilizing the change in the wheel speed, the display control unit 102 can determine whether the vehicle 1 is traveling on an uphill slope or a flat road surface.

In step T5-1, the road surface inclination angle calculation unit 105 uses the signal obtained from the acceleration sensor 60 to determine the road surface inclination angle θR (FIG. 13), which is the inclination angle of the road surface RS (FIG. 13) with respect to the horizontal plane HP (FIG. 13). ) Is calculated. The absolute vehicle tilt angle acquisition unit 106 acquires the absolute vehicle tilt angle θA (FIG. 13), which is the absolute tilt angle of the vehicle 1 with respect to the horizontal plane HP, from the gyro sensor 40. The vehicle inclination angle calculation unit 107 obtains the vehicle inclination angle θV, which is the inclination angle of the vehicle 1 with respect to the road surface, by subtracting the road surface inclination angle θR from the absolute vehicle inclination angle θA. Then, the process proceeds to step T6.

On the other hand, in step T5-2, the notification area adjusting unit 104 detects the vehicle inclination angle θV based on the signal obtained from the vehicle height sensor 50. Then, the process proceeds to step T6.

In step T6, the notification area adjusting unit 104 determines whether or not the vehicle inclination angle θV exceeds a predetermined value designed in advance. When it is determined in step T6 that the vehicle inclination angle θ is equal to or less than a predetermined value (for example, 2 degrees) (NO in step T6), the notification region NA is maintained as it is in step T7. Then, the adjustment process of the notification area NA is completed.

On the other hand, in step T6, when the notification area adjusting unit 104 determines that the vehicle inclination angle θ exceeds a predetermined value (for example, 2 degrees) (YES in step T6), the process proceeds to step T8.

In step T8, the notification area adjusting unit 104 determines whether the front portion or the rear portion of the vehicle 1 is tilted upward based on the signal obtained from the vehicle height sensor 50. When it is determined that the front portion of the vehicle 1 is tilted upward (FIG. 13), the process proceeds to step T9. That is, as shown in FIG. 13, when the front portion of the vehicle 1 is relatively lifted, the direction of the front camera 20a is directed upward as the entire vehicle 1 is tilted upward. The notification area NA expands to the side away from the vehicle 1 in the traveling direction of the vehicle 1 as compared with the state before the vehicle 1 tilts with respect to the road by the amount that the front camera 20a faces upward (FIG. 14). .. As a result, as shown in FIG. 14, the pedestrian 3 that was located outside the range of the notification area NA before the vehicle 1 tilted with respect to the road is located within the range of the notification area NA.

In step T9, the notification area adjusting unit 104 makes adjustments to narrow the length dimension of the notification area NA in the height direction after the vehicle 1 is tilted toward the vehicle 1 in the traveling direction of the vehicle 1 (FIG. 15 and FIG. 15). FIG. 16). Along with this adjustment, the pedestrian 3 (FIGS. 13 and 14) located within the range of the notification area NA is adjusted to be located outside the range of the notification area NA (FIGS. 15 and 16). After the adjustment, the adjustment process of the notification area NA is completed.

On the other hand, if it is determined in step T8 that the rear portion of the vehicle 1 is tilted downward, the process proceeds to step T10. In step T10, the notification area adjusting unit 104 makes adjustments to widen the dimension of the length of the notification area NA in the height direction after the vehicle 1 is tilted toward the side away from the vehicle 1 in the traveling direction of the vehicle 1. After the adjustment, the adjustment process of the notification area NA is completed.

If there is no change in the slope of the road surface RS of the road R and the slope angle of the vehicle 1 with respect to the road surface RS is uniform, there is no change in the notification region NA regardless of whether the road is flat or uphill. However, the notification area adjusting unit 104 cannot determine whether the vehicle 1 is relatively tilted with respect to the road surface RS or absolutely tilted with respect to the horizontal plane based only on the information from the vehicle height sensor 50.

According to the display control device and the display system according to the second embodiment described above, the absolute vehicle inclination angle which is the absolute inclination angle of the vehicle 1 with respect to the horizontal plane, the vehicle inclination angle which is the inclination angle of the vehicle 1 with respect to the road surface, and the horizontal plane. A configuration (number, type, combination of sensors) for obtaining or measuring a road surface inclination angle, which is an inclination angle of the road surface with respect to the vehicle height sensor 50, is realized by using a gyro sensor 40 and an acceleration sensor 60 in addition to the vehicle height sensor 50.

Therefore, the notification area adjusting unit 104 can determine whether the vehicle 1 is tilted relative to the road surface RS or absolutely tilted with respect to the horizontal plane.

Next, the display control device and the display system according to the third embodiment of the present invention will be described with reference to FIGS. 17, 18, 19, 20, 20, 21, and 22. The details of the same elements as those described in the first embodiment will be omitted.

(Flow of adjustment processing of notification area NA)
Hereinafter, the flow of the notification area NA adjustment process performed by the display control device 100 will be described with reference to the flowchart shown in FIG. The steps U1, U2, U3, U4, U5, U6, U7, and U8 shown in FIG. 17 are the same processes as S1, S2, S3, S4, S5, S6, S7, and S8 shown in FIG. 4, respectively. Therefore, detailed explanation may be omitted.

In the flowchart shown in FIG. 17, after the processing of steps U1 to U3 is executed, the processing proceeds to step U4. In step U4, the notification area adjusting unit 104 determines whether or not the vehicle inclination angle θV, which is the inclination angle of the vehicle 1 with respect to the road surface, exceeds a predetermined value designed in advance.

When it is determined in step U4 that the vehicle inclination angle θ is equal to or less than a predetermined value (NO in step U4), the notification region NA is maintained as it is in step U5. Then, the adjustment process of the notification area NA is completed.

On the other hand, if it is determined in step U4 that the vehicle tilt angle θ exceeds a predetermined value (YES in step U4), the process proceeds to step U6.

In step U6, the white line detection unit 108 has two white line WLs formed on both sides of the vehicle 1 along the extending direction of the road based on the camera image obtained by photographing the periphery of the vehicle 1 with the camera 20. (FIG. 19) is detected. That is, as shown in FIG. 19, the white line detection unit 108 detects the white line WL drawn on the road surface RS by utilizing the fact that the white line WL is brightly imaged with respect to the road surface RS. More specifically, the white line detection unit 108 detects a region surrounded by points (pixels) having a positive luminance difference with respect to the road surface RS and having a predetermined width as a white line WL.

FIG. 18 shows a scene in which the vehicle 1 travels on a flat road following a downhill slope. In this scene, as shown in FIG. 19, the road R is divided into a near portion NP and a distant portion DP by a boundary line BL in which the inclination angle θ of the road R with respect to the horizontal plane HP changes. As shown in FIG. 19, the vicinity portion NP is a portion of the road R on the side approaching the vehicle 1 in the traveling direction of the vehicle 1, and two white lines WN are provided. As shown in FIG. 19, the distant portion DP is a portion of the road R on the side away from the vehicle 1 in the traveling direction of the vehicle 1, and is provided with two white lines WD. As shown in FIG. 19, the two white lines WD and the two white lines WN intersect each other on the outside of the two white lines WN.

That is, in step U6, the notification area adjusting unit 104 determines whether the two white line WDs intersect the two white line WNs on the outside or inside of the two white line WNs. If it is determined in step U6 that the two white lines WD intersect the two white lines WN and the outside of the two white lines WN, in step U7, the notification area adjusting unit 104 advances the notification area NA to the vehicle 1. Spread toward the side away from the vehicle 1 in the direction (FIGS. 20 and 21). At this time, the notification area adjusting unit 104 increases the notification area NA as the angles β1 and β2 (FIG. 22A) at which the two white lines WD intersect the two white lines WN and the two white lines WN on the outside of the two white lines WN increase. The amount of spreading toward the side away from the vehicle 1 in the traveling direction of the vehicle 1 is increased.

The angles α1 and α2 in FIG. 22A indicate the angles formed by the horizontal plane HP and the white line WL. That is, in addition to FIG. 22A, FIGS. 22B, 22C and 22D show a scene where the road surface changes in inclination in the notification region NA. FIG. 22B is a diagram showing a camera image obtained by photographing the front of the vehicle 1 in the traveling direction with the front camera 20a in that scene. FIG. 22C is a diagram showing the positional relationship between the front camera 20a and the notification area NA. FIG. 22D is a diagram showing the relationship between the appearance of the camera image displayed on the display device 30 and the notification area NA.

The apex a of the right triangle shown in FIG. 22C indicates the mounting position of the front camera 20a, and the apex b indicates the position where the mounting position a is projected onto the road surface directly below. The opposite side ab in FIG. 22C shows the mounting height H of the front camera 20a from the ground, and the adjacent side bc shows the length X (design value) in the height direction on the screen of the notification area NA. The angle γ indicates the angle formed by the opposite side ab and the hypotenuse ac of the right triangle.

The point O shown on the right side of FIG. 22D indicates a viewpoint for projecting the notification area NA onto the screen displayed on the display device 30. The dimension of the straight line Oa connecting the point O and the point a is a value predetermined by the display system 10. In order to plot the tip position c located at the tip of the notification area NA on the screen, the intersection c'of the straight line Occ and the straight line ab must be defined. That is, the point obtained by plotting the position c on the screen is the point c1 in which the intersection c'is compared on the screen. Similarly, the point obtained by plotting the position b on the screen is the point b1 in which the point b is compared on the screen. Similarly, the point obtained by plotting the position d on the screen is the point d1 in which the point d is compared on the screen.

The points b1', c1', and d1'shown on the left side of FIG. 22D indicate points where the positions of the points b1, c1, and d1 are plotted on the parallel lines. The length Z indicates the length of the straight line b1c1. The length La indicates the length of the white line b1'd1' obtained by the white line detection process. On the extension of the white line b1'd1', a point at a position having a length corresponding to the design value of the notification area NA from the point b1'is defined as a point c1'. In FIG. 22D, the length of the straight line b1'c1'is Z'. The white line obtained by the white line detection process after the slope of the road surface changes becomes the straight line d1'p shown in FIG. 22D. Let β1 be the angle formed by the white line d1'p and the white line b1'd1'before the road surface changes its inclination.

That is, the distance that should be originally set as the notification region NA is the distance to the point f obtained by projecting the distance to the point c onto the slope after the road surface has changed its inclination. As an example, as shown on the left side of FIG. 22D, the point c1'at the tip position of the set value of the notification area NA and the point b1 are connected by a straight line, and the extension line of the straight line c1'b1 and the inclination change. Let f1'be the intersection with the white line d1'p on the road surface after that. Further, the intersection of the extension line of the straight line b1c1 and the parallel line from the point f1'is defined as f1. This intersection point f1 coincides with a point on the screen of the point f shown on the right side of FIG. 22D. At this time, the length of the straight line d1'f1' is Lb. That is, on the screen setting of the notification area NA, the possibility of collision with an obstacle can be notified only up to the position of the point c1. However, originally, the position where the driver wants to be notified is the position of the point f1.

図２２Ｄに示す場面では、一例として、図２２Ｄの左側に示したように、最終的に報知領域として設定されることが望まれる領域Ｚｎは、以下の式（１２）で表される。

ここで、式（１２）中のα１は、直線ｂ１'ｄ１'と直線ｂ１'ｂ１とがなす角度を示す。式（１２）中のβ１は、直線ｄ１'ｃ１'と直線ｄ１'ｆ１'とがなす角度を示す。 In this embodiment, the region that is finally desired to be set as the notification region is designated as Zn shown on the left side of FIG. 22D as an example. Specifically, the display control unit 102 performs a comparison process between the length La of the white line b1'd1' obtained by the white line detection process and the length Z'of the straight line b1'c1'. As shown by the following equation (11), when the length of Z'exceeds the length of La, the display control unit 102 determines that there is a change in the inclination of the road surface.

In the scene shown in FIG. 22D, as an example, as shown on the left side of FIG. 22D, the region Zn that is finally desired to be set as the notification region is represented by the following equation (12).

Here, α1 in the equation (12) indicates the angle formed by the straight line b1'd1'and the straight line b1'b1. Β1 in the formula (12) indicates the angle formed by the straight line d1'c1'and the straight line d1'f1'.

In the scene shown in FIG. 22A, the inclination angle of the road surface RS of the road R with respect to the horizontal plane is increased by the angle β1 and β2 at the boundary line BL in the middle of the road R as compared with the angles α1 and α2. That is, the notification area adjusting unit 104 expands the notification area NA toward the side away from the vehicle 1 in accordance with the increased angles β1 and β2.

On the other hand, if it is determined in step U6 that the two white lines WD intersect the two white lines WN and the inside of the two white lines WN, in step U8, the notification area adjusting unit 104 sets the notification area NA to the vehicle 1. Narrow to the side closer to the vehicle 1 in the traveling direction of. At this time, the notification area adjusting unit 104 increases the notification area NA as the angles β1 and β2 (FIG. 23A) at which the two white lines WD intersect the two white lines WN and the inside of the two white lines WN increase. The amount of narrowing toward the side closer to the vehicle 1 in the traveling direction of the vehicle 1 is increased.

The angles α1 and α2 in FIG. 23 indicate the angles formed by the horizontal plane HP and the white line WL. That is, in addition to FIG. 23A, FIGS. 23B, 23C, and 23D show a scene in which a gentle slope change occurs from the middle of the road surface in the notification area NA. FIG. 23B is a diagram showing a camera image obtained by photographing the front of the vehicle 1 in the traveling direction with the front camera 20a in that scene. FIG. 23C is a diagram showing the positional relationship between the front camera 20a attached to the vehicle 1 located on the slope (uphill) inclined by an angle θ with respect to the horizontal plane and the notification region NA. FIG. 23D is a diagram showing the relationship between the appearance of the camera image displayed on the display device 30 and the notification area NA.

As shown in FIG. 23C, the design value X indicates the length of the straight line bc, but at the point d, the inclination angle of the road surface with respect to the horizontal plane changes by θ. Therefore, the distance of the notification region NA is the distance X'to the point e where the road surface and the straight line ac intersect. Originally, the distance of the notification region NA for which the driver is desired to notify the possibility of collision with an obstacle is the distance from the point c to the point f where the perpendicular line of the straight line bc and the road surface intersect.

The point O shown on the right side of FIG. 23D indicates a viewpoint for projecting the notification area NA onto the screen displayed on the display device 30. The dimension of the straight line Oa connecting the point O and the point a is a value predetermined by the display system 10. In order to plot the tip position c located at the tip of the notification area NA on the screen, the intersection c'of the straight line Occ and the straight line ab must be defined. That is, the point obtained by plotting the position c on the screen is the point c1 in which the intersection c'is compared on the screen. Similarly, the point obtained by plotting the position b on the screen is the point b1 in which the point b is compared on the screen. Similarly, the point obtained by plotting the position d on the screen is the point d1 in which the point d is compared on the screen.

The points b1', c1', and d1'shown on the left side of FIG. 23D indicate points where the positions of the points b1, c1, and d1 are plotted on the parallel lines. The length Z indicates the length of the straight line b1c1. The length La indicates the length of the white line b1'd1' obtained by the white line detection process. On the extension of the white line b1'd1', a point at a position having a length corresponding to the design value of the notification area NA from the point b1'is defined as a point c1'. In FIG. 23D, the length of the straight line b1'c1'is Z'. The white line obtained by the white line detection process after the slope of the road surface changes becomes the straight line d1'p shown in FIG. 23D. Let β1 be the angle formed by the white line d1'p and the white line b1'd1'before the road surface changes its inclination.

That is, the distance that should be originally set as the notification region NA is the distance to the point f obtained by projecting the distance to the point c onto the slope after the road surface has changed its inclination. As an example, as shown on the left side of FIG. 23D, the point c1'at the tip position of the set value of the notification area NA and the point b1 are connected by a straight line, and the extension line of the straight line c1'b1 and the inclination change. Let f1'be the intersection with the white line d1'p on the road surface after that. Further, the intersection of the extension line of the straight line b1c1 and the parallel line from the point f1'is defined as f1. This intersection point f1 coincides with a point on the screen of the point f shown on the right side of FIG. 23D. At this time, the length of the straight line d1'f1' is Lb. That is, on the screen setting of the notification area NA, it is possible to set notification of the possibility of collision with an obstacle up to the position of point c1. However, originally, the position where the driver wants to be notified is the position of the point f1.

In this embodiment, the region that is finally desired to be set as the notification region is designated as Zn shown on the left side of FIG. 23D as an example. Specifically, the display control unit 102 performs a comparison process between the length La of the white line b1'd1' obtained by the white line detection process and the length Z'of the straight line b1'c1'. As shown by the above equation (11), when the length of Z'exceeds the length of La, the display control unit 102 determines that there is a change in the inclination of the road surface.

ここで、式（１３）中のα１は、直線ｂ１'ｄ１'と直線ｂ１'ｂ１とがなす角度を示す。式（１３）中のβ１は、直線ｄ１'ｃ１'と直線ｄ１'ｆ１'とがなす角度を示す。 In the scene shown in FIG. 23D, as an example, as shown on the left side of FIG. 23D, the region Zn that is finally desired to be set as the notification region is represented by the following equation (13).

Here, α1 in the equation (13) indicates the angle formed by the straight line b1'd1'and the straight line b1'b1. Β1 in the formula (13) indicates the angle formed by the straight line d1'c1'and the straight line d1'f1'.

In the scene shown in FIG. 23A, the inclination angle of the road surface RS of the road R with respect to the horizontal plane is reduced by the angle β1 and β2 at the boundary line BL in the middle of the road R as compared with the angles α1 and α2. That is, the notification area adjustment unit 104 narrows the notification area NA toward the vehicle 1 in accordance with the reduced angles β1 and β2.

According to the display control device and the display system according to the third embodiment described above, when the inclination angle of the road surface RS of the road R with respect to the horizontal plane increases in the middle of the road R, the notification area adjusting unit 104 increases the angle β1, The notification area NA is expanded to the side away from the vehicle 1 according to the amount of β2. On the other hand, when the inclination angle of the road surface RS of the road R with respect to the horizontal plane decreases in the middle of the road R, the notification area adjusting unit 104 approaches the notification area NA to the vehicle 1 according to the reduced angles β1 and β2. Narrow to the side.

The notification area adjusting unit 104 captures a change in the inclination angle of the road surface RS of the road R with respect to the horizontal plane, and expands the notification area NA toward the side away from the vehicle 1 or narrows it toward the side approaching the vehicle 1 according to the change. .. That is, the notification area adjustment unit 104 widens or narrows the notification area NA so as to match the design value according to the change in the inclination angle of the road surface RS of the road R with respect to the horizontal plane. Therefore, the other vehicle 2 and the pedestrian 3 that have been placed at the wrong positions with respect to the notification area NA are adjusted by the notification area adjusting unit 104 so as to be arranged at the correct positions with respect to the notification area NA. ..

Therefore, the control stop buzzer 80 (FIG. 1) originally outputs a notification sound to the driver of the vehicle 1 even though it is not necessary to notify the possibility of collision with the other vehicle 2 and the pedestrian 3. It disappears.

Although the embodiments of the present invention have been described in detail with reference to the drawings, the present invention is not limited to the configuration of the embodiments because the embodiments are merely examples of the present invention. It goes without saying that even if there is a design change or the like within a range that does not deviate from the gist, it is included in the present invention.

In the above-mentioned Examples 1 to 3, the notification area NA shows an example in which the coordinate information on the screen specified based on the design specifications is recorded in the notification area setting unit 103 in advance. However, it is not limited to this. For example, the driver may specify the notification area NA by tracing the camera image displayed on the display device 30 with his / her finger. Further, two points may be touched on the touch panel to specify the notification area NA, or three or more points may be touched to specify the notification area NA.

In Examples 1 to 3 described above, an example in which the notification region NA is a trapezoidal region is shown. However, it is not limited to this. For example, it may be formed into a quadrangular shape in a plane, and other than this, it can be formed into various shapes such as a polygonal shape such as a triangle shape, a circular shape, and an elliptical shape.

In Example 1 described above, an example is shown in which the display control device and the display system in Example 1 are applied to a vehicle traveling on a flat road surface without a slope. However, it is not limited to this. For example, the display control device and the display system according to the first embodiment may be applied to a vehicle traveling on an uphill or downhill slope.

In the second embodiment described above, the display control unit 102 has shown an example of determining whether the vehicle 1 is traveling on an uphill slope or a flat road surface. However, it is not limited to this. For example, the display control unit 102 may determine whether the vehicle 1 is traveling on a downhill slope or a flat road surface, and determines whether the vehicle 1 is traveling on an uphill slope or a downhill slope. Is also good.

In Examples 1 to 3 described above, the obstacle detection unit 101 shows an example of detecting the moving direction and the moving speed of the moving body by a method such as optical flow. However, it is not limited to this. The obstacle detection unit 101 may detect the moving direction and the moving speed of the moving body by using any method generally used these days. For example, the obstacle detection unit 101 determines the moving direction and moving speed of the moving body by comparing the position of the moving body in the current captured image with the position of the moving body in the captured image before or after a predetermined time. It may be detected.

In Examples 1 to 3 described above, an example is shown in which the absolute vehicle tilt angle, which is the absolute tilt angle of the vehicle 1 with respect to the horizontal plane, is detected by using the gyro sensor 40. However, it is not limited to this. The absolute vehicle tilt angle may be detected by using any sensor other than the gyro sensor that is generally used these days. For example, the absolute vehicle tilt angle can be detected by geocoding using GPS (Global Positioning System) or the like. The absolute vehicle tilt angle is obtained by a known technique, and the configuration (number, type, combination of sensors) for obtaining or measuring the absolute vehicle tilt angle is not particularly limited.

In Examples 1 to 3 described above, an example is shown in which the vehicle inclination angle, which is the inclination angle of the vehicle 1 with respect to the road surface, is detected by using the vehicle height sensor 50. However, it is not limited to this. The vehicle tilt angle may be detected by using a sensor other than the vehicle height sensor. The vehicle tilt angle is obtained by a known technique, and the configuration (number, type, combination of sensors) for obtaining or measuring the vehicle tilt angle is not particularly limited.

1 ... Vehicle 10 ... Display system 20 ... Camera 20a ... Front camera 20b ... Rear camera 20c ... Left side camera 20d ... Right side camera 30 ... Display device (display) Department)
40 ... Gyro sensor 50, 50f, 50r ... Vehicle height sensor 60 ... Accelerometer 100 ... Display control device 102 ... Display control unit (vehicle tilt angle detection unit)
103 ... Notification area setting unit 104 ... Notification area adjustment unit 105 ... Road surface inclination angle calculation unit 106 ... Absolute vehicle inclination angle acquisition unit 107 ... Vehicle inclination angle calculation unit 108 ... White line detection Part BL ... Boundary line DP ... Far part HP ... Horizontal plane NA ... Notification area NP ... Near part R ... Road RS ... Road surface WL, WD, WN ... White line α1 , Α2, β1, β2 ... Angle θ ... Vehicle tilt angle θA ... Absolute vehicle tilt angle θR ... Road surface tilt angle θV ... Vehicle tilt angle

Claims (5)

A display control unit that captures the traveling direction of the vehicle with a camera attached to the vehicle and displays an image obtained on the display unit.
In the image, a notification area setting unit that sets a notification area, which is an area to be notified, and a notification area setting unit.
A vehicle tilt angle detection unit that detects a vehicle tilt angle, which is a tilt angle of the vehicle with respect to the road surface, and a vehicle tilt angle detection unit.
It has a notification area adjusting unit that adjusts the traveling direction side of the notification area by a signal obtained from the vehicle tilt angle detection unit.
The notification area setting unit is
As the notification area, a range in which a collision with an obstacle at a short distance from the vehicle can be avoided is set.
The notification area adjustment unit is
When the front end of the vehicle rises relative to the rear end, the notification area is narrowed toward the vehicle in the traveling direction as the vehicle tilt angle increases, and the front end of the vehicle becomes the rear end. On the other hand, the display control device is characterized in that the notification area is expanded to the side away from the vehicle in the traveling direction as the vehicle inclination angle becomes larger when the vehicle is relatively lowered. In the display control device according to claim 1,
A road surface inclination angle calculation unit that calculates a road surface inclination angle that is an inclination angle of the road surface with respect to a horizontal plane based on a signal obtained from an acceleration sensor that detects the acceleration of the vehicle.
An absolute vehicle tilt angle acquisition unit that acquires the absolute vehicle tilt angle from a gyro sensor that detects an absolute vehicle tilt angle that is an absolute tilt angle of the vehicle with respect to the horizontal plane.
It has a vehicle inclination angle calculation unit for obtaining the vehicle inclination angle by subtracting the road surface inclination angle from the absolute vehicle inclination angle.
When the front end of the vehicle rises relative to the rear end based on the vehicle tilt angle calculated by the vehicle tilt angle calculation unit, the notification area adjusting unit increases as the vehicle tilt angle increases. When the notification area is narrowed toward the vehicle in the traveling direction and the front end of the vehicle is relatively lowered with respect to the rear end, the notification area is set in the traveling direction as the vehicle tilt angle increases. A display control device characterized in that it is expanded toward a side away from the vehicle. In the display control device according to claim 1 or 2.
It has a white line detection unit that detects two white lines formed on both sides of the vehicle along the extending direction of the road surface .
The road surface is divided into a near portion on the side approaching the vehicle in the traveling direction and a distant portion on the side away from the vehicle in the traveling direction by a boundary line at which the inclination angle of the road surface changes with respect to the horizontal plane . ,
The notification area adjustment unit is
When the two white lines provided in the distant portion intersect with the two white lines provided in the vicinity portion inside the two white lines, the notification area is set to the side closer to the vehicle in the traveling direction. Narrow,
When the two white lines provided in the distant portion intersect with the two white lines provided in the vicinity portion outside the two white lines, the notification area is set to the side away from the vehicle in the traveling direction. A display control device characterized by expanding. In the display control device according to claim 3,
The notification area adjustment unit is
When the two white lines provided in the distant portion intersect with the two white lines provided in the vicinity portion inside the two white lines, the notification area is divided as the crossing angle increases. Increase the amount of narrowing toward the side approaching the vehicle in the direction of travel,
When the two white lines provided in the distant portion intersect with the two white lines provided in the vicinity portion outside the two white lines, the notification area is divided as the crossing angle increases. A display control device characterized in that the amount of expansion toward the side away from the vehicle in the traveling direction is increased. The display control device according to any one of claims 1 to 4.
With the display unit
With the camera attached to the vehicle
A vehicle tilt angle detection unit that detects a vehicle tilt angle, which is a tilt angle of the vehicle with respect to the road surface , and a vehicle tilt angle detection unit.
An acceleration sensor that detects the acceleration of the vehicle and
A display system comprising a gyro sensor for detecting an absolute vehicle tilt angle, which is an absolute tilt angle with respect to the horizontal plane of the vehicle.

Images