JP2001076298A - On-vehicle display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an on-vehicle display device facilitating the recognition of the existence of an obstacle to which a driver has to pay attention among plural obstacles. SOLUTION: When an automatic mode is selected, an obstacle nearest to its own vehicle is judged based on data expressing the output signal of an obstacle sensor, the judged obstacle is related with a radiant heat source (a group of pixels) included in the photographic image of an infrared camera, and a display displays only a picture equivalent to an obstacle nearest to its own vehicle (S5 to S7).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a display device for a vehicle, and more particularly to a display device suitable for being mounted on a typical vehicle such as an automobile.

[0002]

2. Description of the Related Art Conventionally, in order to assist a driver in a driving environment where visibility is poor such as at night or in dense fog, an image taken in front of a vehicle using infrared rays is displayed on a display provided in front of a driver's seat. For example, Japanese Patent Application Laid-Open No. 60-231193 and Japanese Patent Application Laid-Open No.
No. 84 or Japanese Patent Application Laid-Open No. 10-230805.

[0003]

According to the display devices proposed in these conventional examples, it is possible to effectively assist the driver's vision. However, when a plurality of obstacles are included in a captured infrared image, Since it is difficult to grasp the sense of distance between each obstacle and the host vehicle, it is difficult to determine which obstacle should be paid the most attention, and it is expected that the driver's driving operation may be adversely affected.

Accordingly, an object of the present invention is to provide a display device for a vehicle that easily displays an obstacle to which a driver should pay attention among a plurality of obstacles.

[0005]

In order to achieve the above object, a vehicle display device according to the present invention has the following configuration.

That is, a photographing device provided in a vehicle for photographing the front of the vehicle using infrared rays, a display for displaying an image photographed by the photographing device in front of a driver's seat of the vehicle, A display device for a vehicle, comprising: a detection unit configured to detect an obstacle existing in front of a vehicle and a distance between the obstacle and the vehicle, wherein a plurality of obstacles are detected by the detection unit. Sometimes, an obstacle located closer to the vehicle is determined based on the distance between the obstacle and the vehicle, and the obstacle closer to the vehicle is highlighted according to the determination result. And a display control means for controlling the display device (at this time, only the closest obstacle may be highlighted, or only a human may be highlighted).

A display device having another configuration to achieve the above object has the following configuration.

That is, a photographing device provided in a vehicle for photographing the front of the vehicle using infrared rays, a display for displaying an image photographed by the photographing device in front of a driver's seat of the vehicle, A display device for a vehicle, comprising: a detection unit configured to detect an obstacle existing in front of a vehicle and a distance between the obstacle and the vehicle, wherein a plurality of obstacles are detected by the detection unit. Sometimes, an obstacle (or a person) closest to the vehicle is determined based on a distance between the obstacle and the vehicle, and information on a distance between the determined obstacle and the vehicle is determined by the photographing. The image processing apparatus further includes a display control unit that controls the display so that the image captured by the device is overwritten and displayed.

[0009]

According to the present invention described above, it is possible to provide a display device for a vehicle that easily displays the presence of an obstacle to which a driver should pay attention among a plurality of obstacles.

That is, according to the first and fourth aspects of the present invention, even when there are a plurality of obstacles in front of the host vehicle, the obstacles to which the host vehicle should pay attention when driving the host vehicle. The presence can be easily recognized by the driver.

According to the second aspect of the present invention, when there are a plurality of obstacles in front of the host vehicle, the driver can easily be notified of the presence of the obstacle that requires the most attention in driving the host vehicle. Can be recognized.

According to the third and fifth aspects of the present invention, the driver can easily recognize the presence of a person who must pay the most attention when driving the own vehicle and who needs to be protected.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a vehicle display device according to the present invention will be described in detail with reference to the drawings as an embodiment in which the display device is applied to a typical automobile.

FIG. 1 shows a first embodiment of the present invention.
It is a block configuration diagram of a display device of a vehicle in the embodiment.

In FIG. 1, reference numeral 2 denotes a CCD (Charge Coup) for detecting the distance to an obstacle in front of the host vehicle by a general method.
led Device) An obstacle sensor such as a camera, a laser radar, or a millimeter-wave radar. Reference numeral 3 denotes an infrared (infrared) camera that captures an environment in front of the host vehicle using infrared light.

Reference numeral 4 denotes a GPS sensor that receives a GPS (global positioning system) signal used when calculating the current position of the vehicle from the outside. Reference numeral 5 denotes an outside air temperature sensor that detects the outside air temperature of the host vehicle. 6
Is a map database from which data such as road map information can be read.

Reference numeral 8 denotes a display such as a liquid crystal display or a head-up display for displaying an image photographed by the infrared light camera 3 (hereinafter, photographed image). Here, the display 8 is located at a position in front of the driver's seat of the own vehicle where the driver can easily view the captured image without making a large line-of-sight movement when the driver stares ahead (in the vicinity of the center position of the dashboard. May be arranged).

Reference numeral 11 denotes a mode changeover switch which allows the operator to change the display mode of the captured image on the display 8. The display mode selectable by this switch includes an infrared camera 3 on the display 8 while the operator turns on the manual on / off switch 13.
And an auto mode in which an image processed by a display control process, which will be described later, is displayed on the display 8 when the auto mode is selected by the mode changeover switch 11. is there. Reference numeral 12 denotes a power switch that allows an operator to turn on and off power supply to the display control device 1.

The manual on / off switch 13 processes an image captured by the infrared light camera 3 while the operator is in the on state when the manual mode is selected by the mode changeover switch 11. This is a switch that is displayed on the display 8 without being changed.

Then, the display control device 1 controls the display 8 by the infrared camera 3 on the display 8 based on the output signals (data corresponding to the output signals) of the respective sensors and the detected operation states of the respective operation switches. The display of the captured image is controlled (details will be described later). The display control process by the display control device 1 is executed by the CPU 101 according to software stored in the ROM 103 or the like in advance while using the RAM 102 as a work area.

Next, in this embodiment, the display control device 1
Will be described with reference to FIGS. 2 to 5.

FIG. 2 is a flowchart of a display control process performed by the display device of the vehicle according to the first embodiment. The CPU 101 operates while the ignition key switch of the host vehicle is on and the power switch 11 is on. The procedure of the software to be executed is shown.

In FIG. 2, step S1: it is determined whether or not the manual mode is selected by detecting the operation state of the mode changeover switch 11. If the determination is YES (manual mode), the process proceeds to step S2. , NO (auto mode), the process proceeds to step S5.

Steps S2 to S4: In the current state where the manual mode is selected, it is determined whether or not the manual on / off switch 13 is set to on. ), The display of the captured image on the display 8 is stopped (step S3), and YES (the switch 13:
When it is ON, start or continue displaying the image photographed by the infrared light camera 3 (that is, an infrared image that has not been processed in the auto mode to be described later: see the display example in FIG. 3) on the display 8. (Step S
4).

Step S5: Since the auto mode is selected, first, in this step, data corresponding to the output signal of the obstacle sensor 2 is read.

Step S6: Based on the data corresponding to the output signal of the obstacle sensor 2 read in Step S5 and the image captured by the infrared light camera 3, the obstacle located closest to the host vehicle is determined. I do.

Here, a specific method for detecting the nearest obstacle in step S6 will be described.

FIG. 4 is a view showing the detection range of the obstacle sensor 2 as viewed from above. The detection range corresponding to the image captured by the infrared light camera 3 shown in FIG. , An obstacle A (preceding other vehicle) and an obstacle B (pedestrian) are included.

In the present embodiment, the detection result of the obstacle A and the obstacle B by the obstacle sensor 2 is based on the distance Da between the host vehicle and the obstacle A and the angle θa (≒ 0) formed by the center axis,
And the distance Db between the host vehicle and the obstacle B and the angle θb with the center axis.

Therefore, if the positional relationship between the center axis in the detection range of the obstacle sensor 2 and the coordinate axis of the imaging plane (angle of view) of the infrared light camera 3 is made to correspond in advance, the obstacle sensor 2
As shown in FIG. 3, the distance D and the angle θ to the obstacle output from are counted as the number of lines (the number of pixels) from the lower side of the imaging surface, as shown in FIG.
The angle θ is counted as the number of pixels from the left and right center lines of the imaging surface, so that the radiant heat source including the position (pixel) in the imaging surface specified by the count is:
It can be determined that it corresponds to the entire shape of the obstacle detected by the obstacle sensor 2. Therefore, if such processing is performed in step S6, the display control device 1 can recognize the obstacle included in the image captured by the infrared light camera 3 and the distance D to the obstacle in association with each other. .

Step S7: Only the image of the obstacle located at the closest position (closest position) to the host vehicle detected in step S6 (for example, with respect to the image captured by the infrared camera 2 shown in FIG. 3) As shown in the display example of FIG.

As a specific process in this step, in one frame of the image signal including the image of the obstacle located closest to the own vehicle, the surrounding pixels other than the image corresponding to the obstacle are included. Is converted to, for example, black (however, expressed in white in FIG. 5) and then displayed. At this time, as a method of identifying a pixel group forming an obstacle detected in step S6 from a plurality of pixels (pixel values) forming an image signal for one frame, the infrared camera 3 The detected radiant heat source corresponding to the obstacle (corresponding to the person on the near side in FIG. 3) generally has a higher temperature than the ambient temperature of the obstacle, and the temperature difference in the radiant heat source is the radiant heat source. Since the temperature difference is small as compared with the temperature difference from the surroundings of the source, if this temperature difference is detected, the pixel group (radiation heat source) constituting the obstacle (the obstacle closest to the own vehicle) is moved around the obstacle. Can be easily identified from the pixel group.

As described above, according to the present embodiment, only the obstacle closest to the host vehicle is displayed on the display 8, so that the image taken by the infrared camera 3 actually includes a plurality of obstacles. Even when the vehicle is running, the driver can easily recognize the presence of an obstacle that requires the most attention in driving the host vehicle.

In the present embodiment, the above-described display control is performed in the auto mode. However, the above-described process of highlighting an obstacle located at a position closest to the host vehicle is performed on the display 8 in the manual mode. It may be performed when displaying an image.

[Second Embodiment] Next, a second embodiment based on the vehicle display device according to the first embodiment will be described. In the following description, the same configuration as that of the first embodiment will not be described repeatedly, and the description will focus on the characteristic portions of the present embodiment.

FIG. 6 is a flowchart of a display control process performed by the display device of the vehicle according to the second embodiment, in which the CPU 101 operates while the ignition key switch of the host vehicle is on and the power switch 11 is on. The procedure of the software to be executed is shown.

In the figure, the processing from step S11 to step S15 is the same as the processing from step S1 to step S5 in the first embodiment (FIG. 2).

Step S16: It is determined whether or not the data corresponding to the output signal of the obstacle sensor 2 read in step S5 includes data representing the distance D and the angle θ relating to a plurality of obstacles, and YES In the case of (when there is a plurality), the process proceeds to step S17;
If there is one, the process proceeds to step S19.

Step S17: Since it is determined in step S16 that a plurality of obstacles are present, in this step, of the output signals for the plurality of obstacles detected by the obstacle sensor 2, the distance to the own vehicle is determined. Selects the data corresponding to the shortest output signal, and also corresponds to the data included in the image captured by the infrared light camera 3 as in the process of step S6 in the first embodiment (FIG. 2). An image (pixel group) of the obstacle is associated.

Step S18: Only the image of the obstacle associated in step S17 is highlighted on the display 8 as in the display example of FIG. 7, and the process returns.

As specific modes of the highlighting, it is assumed that the contrast between the obstacle and the surrounding image is changed, the brightness is increased, the display color is changed, or the obstacle is displayed in outline. Is done. In addition, the method of recognizing the associated pixel group forming the nearest obstacle in the captured image may be the same as that in step S7 in the first embodiment (FIG. 2).

Step S19: Since it is determined in step S16 that one obstacle exists, in this step, the image taken by the infrared light camera 3 is displayed on the display 8 as it is, for example, as shown in the display example of FIG. And return.

As described above, according to the present embodiment, the display mode of the obstacle closest to the host vehicle is emphasized and displayed on the display 8. Even when obstacles are included,
It is possible to make the driver easily recognize the presence of an obstacle that requires the most attention when driving the host vehicle.

[Third Embodiment] Next, a third embodiment based on the display device of the vehicle according to the second embodiment will be described. In the following description, the same configuration as that of the second embodiment will not be described repeatedly, and the description will focus on the characteristic portions of the present embodiment.

In this embodiment, the second embodiment (FIG. 6)
Are different in the processing in step S18.

That is, in the present embodiment, a zoom amount capable of displaying the associated nearest obstacle image in the full length or width of the display 8 is calculated, and a partial image corresponding to the zoom amount is calculated. It is extracted from the image captured by the infrared camera 3. Then, an enlarged image obtained by performing a general digital zoom process on the extracted partial image is displayed (for example, the image captured by the infrared camera 2 shown in FIG.
Is displayed on the display 8.

As described above, according to the present embodiment, since the obstacle closest to the host vehicle is enlarged and displayed on the display 8, a plurality of obstacles are actually included in the image captured by the infrared camera 3. Even when it is included, it is possible to make the driver easily recognize the presence of an obstacle that requires the most attention in driving the host vehicle.

[Fourth Embodiment] Next, a fourth embodiment based on the vehicle display device according to the above-described second embodiment will be described. In the following description, the same configuration as that of the second embodiment will not be described repeatedly, and the description will focus on the characteristic portions of the present embodiment.

FIG. 10 is a flowchart showing an excerpt from the flowchart of the display control processing by the display device of the vehicle according to the fourth embodiment, which is different from the second embodiment.

In FIG. 5, step S27: Since it is determined in step S16 that there are a plurality of obstacles, a person is extracted from the obstacles. As a specific method for extracting a human image portion, it is known that the radiant heat of a person captured by an infrared camera is generally within a predetermined temperature range. , A heat source whose detected (photographed) radiation temperature is within a predetermined temperature range may be selected.

Further, the temperature range of general human radiant heat is as follows:
It is known that the temperature shifts to a higher temperature range as the outside air temperature increases. Therefore, in step S27,
As shown in FIG. 11, a plurality of predetermined temperature ranges are prepared in advance, and the detection result of the outside air temperature sensor 5, the display control device 1,
Alternatively, any temperature range may be selected according to calendar information or time information obtained from the outside, and the selected temperature range may be used as a determination target.

Step S28: Of the extracted human image portions, those which are present at the closest distance from the host vehicle are processed in step S17 in the second embodiment (FIG. 6).
That is, the determination is made in the same manner as the processing in step S6 in the first embodiment (FIG. 2).

Step S29: Only the image of the person present at the closest distance from the host vehicle extracted in step S28 is highlighted on the display 8 as shown in the display example of FIG. As a specific mode of the highlight display, as in step S18, it is assumed that the luminance is increased, the display color is changed, or the obstacle is displayed as an outline.

In the present embodiment, only the image of the person present at the closest distance from the host vehicle is highlighted, but in step S28, the distance D to the host vehicle is short based on the detection result of the obstacle sensor 2. 12 is selected in order from the shortest distance human image, and the selected predetermined number of human images are highlighted in step S29, for example, as shown in FIG. As described above, not only the nearest person but also a predetermined number of persons near the person may be highlighted.

As described above, according to the present embodiment, since the person closest to the host vehicle is highlighted on the display 8, the image captured by the infrared light camera 3 actually includes a plurality of obstacles. Even when the driver is present, the driver can easily recognize the presence of a person who must pay the most attention in driving the own vehicle and must protect the driver.

[Fifth Embodiment] Next, a description will be given of a fifth embodiment based on the vehicle display device according to the second and fourth embodiments described above. In the following description, the second
The description of the same configuration as that of the first embodiment will not be repeated, and the description will focus on the characteristic portions of the present embodiment.

FIG. 13 is a flowchart showing an extracted part of the flowchart of the display control process by the display device of the vehicle according to the fifth embodiment, which is different from the second embodiment.

In the figure, step S37: Step S27 in the fourth embodiment (FIG. 10) since it is determined that there are a plurality of obstacles in the determination in step S16.
Similarly, humans are extracted from those obstacles.

Step S38: The fourth embodiment (FIG. 1)
As in step S28 in step (0), a person closest to the host vehicle is determined among the extracted persons. Then, the image captured by the infrared light camera 3 is displayed on the display 8, and is referred to when determining the person near the display position of the person included in the display image and determined to be closest to the own vehicle. By overwriting the numerical value of the distance to the host vehicle as the detection result of the obstacle sensor 2, for example, FIG.
4 is displayed as in the display example shown in FIG.

As described above, according to the present embodiment, the distance to the person closest to the host vehicle is represented as a numerical value on the display 8.
Is displayed on the infrared light camera 3
The driver can easily recognize the presence of a person who must pay the most attention when driving his own vehicle and protect it, even when the captured image actually contains a plurality of obstacles. be able to.

<Modification of Fifth Embodiment> The fifth embodiment described above
In the embodiment, when the image captured by the infrared light camera 3 is displayed on the display 8, the object whose numerical value of the distance should be overwritten is limited to a human. However, in this modification, the object is not limited to a human. And an obstacle located closest to the own vehicle. Therefore, the fifth embodiment is different from the fifth embodiment in that it is not necessary to perform the process of step S37 for extracting a human image portion from the image captured by the infrared camera 3, and that the obstacle closest to the host vehicle in step S38. An object is determined, an image captured by the infrared camera 3 is displayed on the display 8, and an obstacle included in the display image and determined to be closest to the own vehicle is displayed near the display position of the obstacle.
The numerical value of the distance to the host vehicle, which is the detection result of the obstacle sensor 2 referred to when the obstacle is determined, is overwritten, for example, as in the display example shown in FIG. 15A or 15B. Display points are different.

As described above, according to this modification, the distance to the obstacle closest to the host vehicle is displayed as a numerical value on the display 8.
Is displayed on the infrared light camera 3
Even when a plurality of obstacles are actually included in the image captured by the driver, the driver can easily recognize the presence of the obstacle that requires the most attention in driving the host vehicle.

[Brief description of the drawings]

FIG. 1 is a block diagram of a display device of a vehicle according to a first embodiment of the present invention.

FIG. 2 is a flowchart of a display control process by the display device of the vehicle according to the first embodiment.

FIG. 3 is a diagram illustrating an image captured by an infrared light camera (in a case of normal display).

FIG. 4 is a diagram showing a state where the detection range of the obstacle sensor 2 is viewed from above.

FIG. 5 is a diagram illustrating a display example according to the first embodiment.

FIG. 6 is a flowchart of a display control process by a display device of a vehicle according to a second embodiment.

FIG. 7 is a diagram illustrating a display example according to the second embodiment (when there are a plurality of obstacles).

FIG. 8 is a diagram illustrating a display example according to the second embodiment (when there is one obstacle).

FIG. 9 is a diagram illustrating a display example of an obstacle that is enlarged and displayed in the third embodiment.

FIG. 10 is a flowchart showing an extracted part of the flowchart of the display control process by the display device of the vehicle according to the fourth embodiment, which is different from the second embodiment.

FIG. 11 is a diagram showing a range of human radiation temperature to be set in the display control device.

FIG. 12 is a diagram illustrating a display example according to a fourth embodiment.

FIG. 13 is a flowchart showing an extracted part of the flowchart of the display control processing by the display device of the vehicle according to the fifth embodiment, which is different from the second embodiment.

FIG. 14 is a diagram illustrating a display example according to the fifth embodiment.

FIG. 15 is a diagram showing a display example in a modification of the fifth embodiment.

[Explanation of symbols]

 1: display control device, 2: obstacle sensor, 3: infrared camera, 4: GPS sensor, 5: outside air temperature sensor, 6: map database, 8: display, 11: mode switch, 12: power switch, 13: manual on / off switch, 101: CPU, 102: RAM, 103: ROM,

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Hiroki Uemura 3-1 Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda Co., Ltd. (72) Hidekazu Sasaki 3-1 Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda Co., Ltd. F term (reference) 5H180 AA01 CC02 CC04 LL01 LL08 5J070 AB24 AC01 AE09 AF03 BD08 BD10 BF01 BG01 5L096 BA04 CA02 DA04 FA19 FA66 FA67 9A001 HH23 JJ77 KK37

Claims (5)

[Claims] 1. An image capturing device provided in a vehicle for capturing an image of the front of the vehicle using infrared rays, a display for displaying an image captured by the image capturing device in front of a driver's seat of the vehicle, A display device for a vehicle, comprising: a detection unit configured to detect an obstacle existing in front of the vehicle and a distance between the obstacle and the vehicle, wherein a plurality of obstacles are detected by the detection unit. Sometimes, an obstacle located closer to the vehicle is determined based on the distance between the obstacle and the vehicle, and the obstacle closer to the vehicle is highlighted according to the determination result. And a display control means for controlling the display. 2. The display device for a vehicle according to claim 1, wherein the display control means highlights only an obstacle located closest to the vehicle on the display. 3. The display control means detects a person from a plurality of obstacles detected by the detection means, and only a person present at a position closest to the vehicle among the detected persons. 2. The display device for a vehicle according to claim 1, wherein the display device is highlighted on the display device. 4. A photographing device provided in a vehicle for photographing the front of the vehicle using infrared rays, a display for displaying an image photographed by the photographing device in front of a driver's seat of the vehicle, and A display device for a vehicle, comprising: a detection unit configured to detect an obstacle existing in front of the vehicle and a distance between the obstacle and the vehicle, wherein a plurality of obstacles are detected by the detection unit. Sometimes, the obstacle located closest to the vehicle is determined based on the distance between the obstacle and the vehicle, and the information on the distance between the determined obstacle and the vehicle is captured by the image capturing device. A display device for a vehicle, comprising: display control means for controlling the display so that the image is overwritten and displayed. 5. The display control means detects a person from a plurality of obstacles detected by the detection means, and determines a person present at a position closest to the vehicle among the detected persons. The display device for a vehicle according to claim 4, wherein the display device is controlled such that information on a distance from the vehicle is displayed as being overwritten on the image.