JP2019068326A - Periphery monitoring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily image a towed vehicle from a display image even when the vehicle length of the towed vehicle cannot be obtained based on the captured image obtained by the image pickup of the imaging unit. SOLUTION: As an example, a peripheral monitoring device of an embodiment is towed on a towing vehicle and a vehicle peripheral image including the surroundings of the towing vehicle based on an captured image obtained by imaging the surroundings of the towing vehicle by an image pickup unit. A display image on which an index indicating a towed vehicle connected to the vehicle is superimposed is displayed on the display device, information on the towed vehicle related to the towed vehicle is acquired, and the display mode of the index is displayed based on the towed vehicle information. It is equipped with a control unit to be changed. [Selection diagram] FIG. 6

Description

  Embodiments of the present invention relate to a perimeter monitoring device.

  There has been developed a technology for displaying on a display device a bird's-eye view of a tow vehicle and a tow vehicle viewed from above based on a captured image obtained by imaging the periphery of the tow vehicle by an imaging unit.

JP, 2008-149764, A

  However, since it is difficult to determine the length of the towed vehicle with high accuracy based on the captured image, the length of the towed vehicle included in the overhead image is reflected on the actual length of the towed vehicle. It is difficult to set the length, and it may be difficult to image the length of the towed vehicle from the overhead image.

  As one example, the periphery monitoring device of the embodiment is connected to the tow vehicle to the tow vehicle and a vehicle periphery image including the tow vehicle periphery based on the captured image obtained by imaging the periphery of the tow vehicle by the imaging unit. Control unit that causes a display device to display a display image on which an indicator indicating the towed vehicle is superimposed, acquires towed vehicle information about the towed vehicle, and changes the display mode of the indicator based on towed vehicle information Equipped with Therefore, as an example, the periphery monitoring device of the present embodiment can make it easy to image the towed vehicle from the display image.

  In the periphery monitoring device of the embodiment, as an example, the control unit changes the length in the vehicle length direction of the towed vehicle indicated by the index based on the towed vehicle information. Therefore, as an example, the periphery monitoring device of the present embodiment can make it easy to image the towed vehicle from the display image.

  In the periphery monitoring device according to the embodiment, as an example, the control unit changes at least one of the size of the wheel of the towed vehicle and the display position of the wheel indicated by the index based on the towed vehicle information. Therefore, the periphery monitoring device of the present embodiment can more easily visualize the towed vehicle from the display image, as an example.

  Further, in the periphery monitoring device of the embodiment, as one example, the index includes a connecting portion that connects the towing vehicle and the towed vehicle, and the control unit determines the length of the connecting portion in the index based on towed vehicle information Change Therefore, as an example, the perimeter monitoring device according to the present embodiment determines the length of the connected part included in the index even if the length of the connected part can not be determined based on the captured image obtained by the imaging of the imaging part. Since the length can be made to reflect the actual length of the connecting portion, the towed vehicle can be easily imaged from the display image.

  Further, in the periphery monitoring device of the embodiment, as an example, the towed vehicle information is information used in processing different from the processing for displaying the display image, and the rear end of the towing vehicle and the axle of the towing vehicle A length obtained by subtracting the length between the connecting position of the tow vehicle and the tow vehicle and the rear end of the tow vehicle. Therefore, the periphery monitoring device of the present embodiment changes the display mode of the index by using the length used in another process such as the process of controlling the turning of the tow vehicle and the tow vehicle, as an example. When displaying the display image, it is possible to reduce the burden on the driver or the like of the tow vehicle due to the operation.

  Further, in the periphery monitoring device of the embodiment, as an example, the control unit displays the display mode from the axle of the towed vehicle to the rear end of the towed vehicle, from the axle of the towed vehicle to the front end of the towed vehicle Different from the display mode. Therefore, as an example, the driver of the towing vehicle sees only the display image and drives the towing vehicle and collides with an obstacle existing around the towed vehicle, as an example. Can be prevented.

FIG. 1 is a side view showing a tow vehicle equipped with the periphery monitoring device of the first embodiment and a tow vehicle to be towed by the tow vehicle. FIG. 2 is a top view of the tow vehicle and the tow vehicle according to the first embodiment. FIG. 3 is a view showing an example of the passenger compartment of the tow vehicle according to the first embodiment. FIG. 4 is a block diagram showing an example of a functional configuration of the vehicle according to the first embodiment. FIG. 5 is a block diagram showing an example of a functional configuration of an ECU of the vehicle according to the first embodiment. FIG. 6 is a flowchart showing an example of the flow of display processing of a display image by the surroundings monitoring system according to the first embodiment. FIG. 7 is a view showing an example of a screen displayed on the display device in the vehicle according to the first embodiment. FIG. 8 is a view showing an example of a display image displayed on the vehicle according to the first embodiment. FIG. 9 is a view showing an example of a display image displayed on the tow vehicle according to the first embodiment. FIG. 10 is a view showing an example of a display image displayed on the tow vehicle according to the first embodiment. FIG. 11 is a view showing an example of a display image displayed on the tow vehicle according to the first embodiment. FIG. 12 is a view showing an example of a display image displayed on the tow vehicle according to the first embodiment. FIG. 13 is a view showing an example of a display image displayed on the tow vehicle according to the first embodiment. FIG. 14 is a view showing an example of a display image displayed on the tow vehicle according to the second embodiment. FIG. 15 is a view showing an example of a display image displayed on the tow vehicle according to the second embodiment.

  In the following, exemplary embodiments of the present invention are disclosed. The configurations of the embodiments shown below, and the operations, results, and effects provided by the configurations are examples. The present invention can be realized by configurations other than those disclosed in the embodiments below, and can obtain at least one of various effects based on the basic configuration and derivative effects.

  The tow vehicle equipped with the periphery monitoring apparatus according to the present embodiment may be an automobile (internal combustion engine automobile) having an internal combustion engine (engine) as a drive source, or an automobile (electricity (motor) having an electric motor (motor) as a drive source. It may be a car, a fuel cell car, etc.), or may be a car (hybrid car) that uses both of them as a drive source. The tow vehicle may be a sport multipurpose vehicle (Sport Utility Vehicle: SUV), or may be a so-called "pickup truck" in which a loading platform is provided on the rear side of the vehicle. Also, the tow vehicle may be a general passenger car. In addition, a tow vehicle can be equipped with various transmission devices, various devices (systems, parts, etc.) necessary for driving an internal combustion engine and an electric motor. In addition, the system, number, layout, and the like of devices related to driving of wheels in a tow vehicle can be set variously.

First Embodiment
FIG. 1 is a side view showing a tow vehicle equipped with the periphery monitoring device of the first embodiment and a tow vehicle to be towed by the tow vehicle. In FIG. 1, the left direction in the drawing is the front (forward travel direction) with respect to the tow vehicle 10, and the right direction in the drawing is the rear (backward movement direction) with the tow vehicle 10 as the reference. FIG. 2 is a top view of the tow vehicle and the tow vehicle according to the first embodiment. FIG. 3 is a view showing an example of the passenger compartment of the tow vehicle according to the first embodiment. FIG. 4 is a block diagram showing an example of a functional configuration of the vehicle according to the first embodiment.

  From the lower part of the central part of the rear bumper 16 of the tow vehicle 10 in the vehicle width direction, a tow device 18 (hitch) for towing the tow vehicle 12 projects. The traction device 18 is fixed to the frame of the tow vehicle 10. The traction device 18 includes, as an example, a hitch ball having a spherical tip end erected in the vertical direction (vertical direction of the traction vehicle 10), and the hitch ball of the connecting member 20 fixed to the towed vehicle 12 A coupler provided at the tip part covers. As a result, the tow vehicle 10 and the tow vehicle 12 are connected, and the tow vehicle 12 can swing (turn) in the vehicle width direction with respect to the tow vehicle 10. That is, the hitch ball transmits the front / rear / left / right motion to the towed vehicle 12 (connection member 20) and receives the power of acceleration or deceleration.

  As shown in FIG. 1, the to-be-towed vehicle 12 may be a box type including at least one of a boarding space, a living space, a storage space, etc., and carries luggage (for example, a container or a boat). It may be a loading type. In addition, the to-be-towed vehicle 12 is provided with a pair of trailer wheels 22 as an example. The driven vehicle 12 is a driven vehicle provided with driven wheels that do not include driving wheels and steering wheels.

  An imaging unit 24 is provided on the lower wall of the rear hatch 10 a on the rear side of the tow vehicle 10. The imaging unit 24 is, for example, a digital camera that incorporates an imaging element such as a CCD (Charge Coupled Device) or a CIS (CMOS Image Sensor), and is provided so as to be capable of imaging the periphery of the tow vehicle 10. The imaging unit 24 outputs moving image data (captured image) at a predetermined frame rate. The imaging unit 24 has a wide-angle lens or a fish-eye lens, and can capture a range of, for example, 140 ° to 220 ° in the horizontal direction. Further, the optical axis of the imaging unit 24 is set obliquely downward. Therefore, the imaging unit 24 sequentially captures an area (for example, a range indicated by a two-dot chain line, see FIG. 1) including the rear end portion of the tow vehicle 10, the connection member 20, and at least the front end portion of the tow vehicle 12. The captured image obtained by the imaging of the imaging unit 24 is used for detection of the connection posture of the tow vehicle 10 and the tow vehicle 12, display of a bird's-eye view of the tow vehicle 10 and the tow vehicle 12 viewed from above. The tow vehicle 10 may include a plurality of imaging units for imaging the side and the front of the tow vehicle 10 in order to recognize the environment around the tow vehicle 10. In addition, an imaging unit may be provided on the side or the rear of the driven vehicle 12. Then, by executing arithmetic processing and image processing based on the captured images obtained by the plurality of imaging units, it is possible to generate a bird's eye view of a wider viewing angle.

  Further, as shown in FIG. 3, a display device 26, an audio output device 28 and the like are provided in the compartment 10 b of the tow vehicle 10. The display device 26 is, for example, an LCD (Liquid Crystal Display), an OELD (Organic Electroluminescent Display), or the like. The audio output device 28 is a speaker as an example. Moreover, in the present embodiment, as an example, the display device 26 is covered with a transparent operation input unit 30 (for example, a touch panel). The driver (user) can visually recognize the video (image) displayed on the screen 26 a of the display device 26 via the operation input unit 30. In addition, the driver touches the operation input unit 30 with a finger or the like at a position corresponding to the image (image) displayed on the screen 26 a of the display device 26 to input an operation input (instruction input). It can be done. Further, in the present embodiment, as an example, the display device 26, the voice output device 28, the operation input unit 30, and the like are provided in the monitor device 32 positioned at the center of the dashboard in the vehicle width direction (left and right direction). ing. The monitor device 32 can have an operation input unit (not shown) such as a switch, a dial, a joystick, or a push button. Further, an audio output device (not shown) can be provided at another position in the vehicle compartment 10b different from the monitor device 32, and audio can be output from the audio output device 28 of the monitor device 32 and another audio output device. It can be output. Further, in the present embodiment, the monitor device 32 is also used as a navigation system or an audio system as an example, but a monitor device for a traction support device may be provided separately from these systems.

  In the passenger compartment 10b, a display device 34 different from the display device 26 may be provided. As illustrated in FIG. 3, the display device 34 is provided, for example, in the dashboard section 36 of the dashboard, and substantially at the center of the dashboard section 36 between the speed display section 36 a and the rotation speed display section 36 b. It is located. The size of the screen 34 a of the display device 34 is smaller than the size of the screen 26 a of the display device 26. The display device 34 can simply show, for example, the turning direction of the towed vehicle 12 with respect to the tow vehicle 10 and a message accompanying the turning. For example, the display device 34 may display an indicator or mark that additionally shows the turning direction of the towed vehicle 12 in the future or the like, an image showing character information, and the like. The amount of information displayed on the display device 34 may be smaller than the amount of information displayed on the display device 26. The display device 34 is, for example, an LCD, an OELD, or the like. Information displayed on the display device 34 may be displayed on the display device 26.

  Further, as illustrated in FIG. 1 and FIG. 2, the tow vehicle 10 is, for example, a four-wheeled vehicle, and has two left and right front wheels 14F and two left and right rear wheels 14R. Any of these four wheels 14 can be configured to be steerable. As illustrated in FIG. 4, the tow vehicle 10 has a steering system 38 that steers at least two wheels 14. The steering system 38 includes an actuator 38a and a torque sensor 38b. The steering system 38 is electrically controlled by an ECU 40 (Electronic Control Unit) or the like to operate the actuator 38 a. The steering system 38 is, for example, an electric power steering system, a steer by wire (SBW) system, or the like. The steering system 38 adds torque, that is, assist torque to the steering unit 42 (steering wheel, see FIG. 3) by the actuator 38a to compensate for the steering force, or steers the wheel 14 by the actuator 38a. In this case, the actuator 38 a may steer one wheel 14 or may steer a plurality of wheels 14. The torque sensor 38 b also detects, for example, the torque that the driver gives to the steering unit 42.

  Further, as illustrated in FIG. 4, in the periphery monitoring system 100 (periphery monitoring device), in addition to the ECU 40, the monitor 32, and the steering system 38, the steering angle sensor 44, the shift sensor 46, the wheel speed sensor 48, etc. , And are electrically connected via an in-vehicle network 50 as a telecommunication line. The in-vehicle network 50 is configured as, for example, a CAN (Controller Area Network). The ECU 40 can control the steering system 38 and the like by transmitting control signals through the in-vehicle network 50. Further, the ECU 40 can receive detection results of the torque sensor 38b, the steering angle sensor 44, the shift sensor 46, the wheel speed sensor 48 and the like, operation signals of the operation input unit 30 and the like, and the like via the in-vehicle network 50.

  The ECU 40 includes, for example, a central processing unit (CPU) 40a, a read only memory (ROM) 40b, a random access memory (RAM) 40c, a solid state drive (SSD) 40d, a display control unit 40e, and an audio control unit 40f. Etc. The CPU 40a executes various arithmetic processing such as image processing related to the image displayed on the display devices 26 and 34, detection processing of the connection posture between the tow vehicle 10 and the towed vehicle 12, and the like. The CPU 40a can read a program installed and stored in a non-volatile storage device such as the ROM 40b, and execute arithmetic processing according to the program. The RAM 40 c temporarily stores various data used in the calculation by the CPU 40 a. In addition, the display control unit 40 e mainly performs, for example, composition of image data displayed by the display devices 26 and 34 in the calculation process of the ECU 40. Further, the voice control unit 40 f mainly performs processing of voice data output from the voice output device 28 among the calculation processing in the ECU 40. The SSD 40d is a rewritable non-volatile storage unit, and can store data even when the power of the ECU 40 is turned off. The CPU 40a, the ROM 40b, the RAM 40c, and the like can be integrated in the same package. Further, the ECU 40 may be configured to use another logical operation processor such as a DSP (Digital Signal Processor) or a logic circuit instead of the CPU 40a. Further, an HDD (Hard Disk Drive) may be provided instead of the SSD 40 d, and the SSD 40 d and the HDD may be provided separately from the ECU 40.

  The steering angle sensor 44 is, for example, a sensor that detects a steering amount of the steering unit 42 such as a steering wheel (a steering angle of the tow vehicle 10). The steering angle sensor 44 is configured using, for example, a Hall element or the like. The ECU 40 acquires the steering amount of the steering unit 42 by the driver, the steering amount of each wheel 14 at the time of automatic steering, and the like from the steering angle sensor 44 and executes various controls. The steering angle sensor 44 detects the rotation angle of the rotating portion included in the steering unit 42.

  The shift sensor 46 is, for example, a sensor that detects the position of the movable portion of the shift operation unit 52 (shift lever, see FIG. 3). The shift sensor 46 can detect the position of a lever, an arm, a button or the like as a movable portion. The shift sensor 46 may include a displacement sensor or may be configured as a switch.

  The wheel speed sensor 48 is a sensor that detects the amount of rotation of the wheel 14 and the number of rotations per unit time. The wheel speed sensor 48 is disposed at each wheel 14 and outputs a wheel speed pulse number indicating the number of rotations detected by each wheel 14 as a sensor value. The wheel speed sensor 48 can be configured, for example, using a Hall element or the like. The ECU 40 calculates the amount of movement of the tow vehicle 10 based on the sensor value acquired from the wheel speed sensor 48, and executes various controls. When calculating the vehicle speed of the tow vehicle 10 based on the sensor value of each wheel speed sensor 48, the CPU 40a determines the vehicle speed of the tow vehicle 10 based on the speed of the wheel 14 with the smallest sensor value among the four wheels, Run. Further, when there is a wheel 14 having a sensor value larger than that of the other wheels 14 among the four wheels, the CPU 40a has, for example, the number of revolutions of a unit period (unit time or unit distance) compared to the other wheels 14 When there are more wheels 14 than the predetermined number, the wheels 14 are considered to be in a slip state (idle state), and various controls are executed. The wheel speed sensor 48 may be provided in a brake system (not shown). In that case, the CPU 40a may acquire the detection result of the wheel speed sensor 48 via the brake system. The configuration, arrangement, electrical connection form and the like of the various sensors and actuators described above are merely examples, and can be set (changed) in various ways.

  FIG. 5 is a block diagram showing an example of a functional configuration of an ECU of the vehicle according to the first embodiment. As shown in FIG. 5, the ECU 40 includes a connection information acquisition unit 501 and an image output control unit 502. For example, when a processor such as the CPU 40a mounted on the circuit board executes a program for monitoring the periphery stored in a storage medium such as the ROM 40b or the SSD 40d, the ECU 40 acquires the connection information acquisition unit 501 and the image output control. The unit 502 is realized. Part or all of the connection information acquisition unit 501 and the image output control unit 502 may be configured by hardware such as a circuit.

  The connection information acquisition unit 501 acquires a connection angle indicating the current connection attitude of the towed vehicle 12 with respect to the tow vehicle 10. In the present embodiment, the connection information acquisition unit 501 analyzes the image of the captured image obtained by the imaging of the imaging unit 24 and acquires the connection angle of the towed vehicle 12.

  The image output control unit 502 outputs a display image to the display device 26 based on a captured image obtained by imaging the rear of the towing vehicle 10 by the imaging unit 24 and displays the display image on the display device 26. Let Here, the display image is an image in which an index (hereinafter referred to as a trailer icon) indicating the towed vehicle 12 is superimposed on the tow vehicle 10 and a vehicle peripheral image that is an image including the surroundings of the tow vehicle 10. . Further, the display image may be an image in which the connecting posture of the tow vehicle 10 and the tow vehicle 12 is a visual recognition mode.

  In the present embodiment, the image output control unit 502 generates a vehicle peripheral image including the tow vehicle image and the surrounding image based on the captured image. Here, the tow vehicle image is an image of the tow vehicle 10. In the present embodiment, the tow vehicle image is an image of the tow vehicle 10 viewed from above. In the present embodiment, an image of the tow vehicle 10 viewed from above is used as the tow vehicle image, but an image (so-called icon) of the three-dimensional model image imitating the tow vehicle 10 viewed from above is used as the tow vehicle image good. The vehicle periphery image is an image of the tow vehicle 10 and its surroundings. In the present embodiment, the vehicle peripheral image is an image of the surroundings of the tow vehicle 10 as viewed from above the tow vehicle 10. Next, the image output control unit 502 causes the display device 26 to display a display image in which the trailer icon is superimposed on the vehicle peripheral image. The trailer icon is an indicator of the towed vehicle 12. In the present embodiment, the trailer icon is an image of a three-dimensional model image imitating the towed vehicle 12 as viewed from above. In the present embodiment, the trailer icon is an image obtained by viewing a three-dimensional model image imitating the towed vehicle 12 from above, but if the image of the towed vehicle 12 can be acquired, the image may be a trailer icon As well. Further, in the present embodiment, when superimposing the trailer icon on the vehicle peripheral image, the image output control unit 502 connects the trailer icon at the connection angle acquired by the connection information acquisition unit 501 to the tow vehicle image. Do. In addition, for example, the trailer icon includes a portion indicating the body of the towed vehicle 12, a portion indicating the wheels of the towed vehicle 12, and a portion indicating a connecting portion connecting the towing vehicle 10 and the towed vehicle 12 Including. In the present embodiment, the image output control unit 502 superimposes the trailer icon on the vehicle periphery image, which is a bird's-eye image of the tow vehicle 10 and the periphery of the tow vehicle 10 as viewed from above the tow vehicle 10. An image in which a trailer icon is superimposed on a tow vehicle 10 and a vehicle peripheral image including the periphery of the tow vehicle 10 is displayed on the display device 26 as a display image, although the image is displayed on the display device 26 as a display image. If it does, it will not limit to this. For example, the image output control unit 502 is for displaying an image in which a trailer icon is superimposed on a vehicle periphery image which is a side view of the tow vehicle 10 and the periphery of the tow vehicle 10 as viewed from the side of the tow vehicle 10. It may be displayed on the display device 26 as an image. Further, the image output control unit 502 superimposes, for example, a trailer icon displayed in 3D on a virtual space of the tow vehicle 10 and a 3D model (an example of a vehicle peripheral image) including the surroundings of the tow vehicle 10, In addition, the virtual space in which the trailer icon is superimposed may be displayed on the display device 26 as an image as viewed from a virtual viewpoint. Here, the 3D model is, for example, a projection of a captured image obtained by imaging by the imaging unit 24 on a three-dimensional virtual projection surface (for example, a bowl-shaped projection surface).

  Further, the image output control unit 502 acquires towed vehicle information on the towed vehicle 12. Towed vehicle information is information that enables identification of the length of the towed vehicle 12. In the present embodiment, the image output control unit 502 is used in processing other than the display processing of the display image (for example, processing of controlling the turning of the tow vehicle 10 and the tow vehicle 12) and the length of the tow vehicle 12 The information which makes it possible to estimate is acquired as towed vehicle information. Thus, when the display image is displayed, the display image can be displayed without the driver or the like inputting the information used to display the display image. The burden of operation can be reduced. Then, the image output control unit 502 changes the display mode of the trailer icon based on the acquired towed vehicle information. Specifically, the image output control unit 502 changes the display mode of the trailer icon by changing the shape of the trailer icon based on the towed vehicle information. In the present embodiment, the image output control unit 502 changes the length in the vehicle length direction of the towed vehicle 12 in the trailer icon based on the towed vehicle information. Thus, even if the length of the towed vehicle 12 can not be obtained based on the captured image obtained by the imaging of the imaging unit 24, the length of the trailer icon reflects the actual length of the towed vehicle 12 It can be made to have a length. As a result, the towed vehicle 12 can be easily imaged from the display image. Further, the positional relationship with the towing vehicle 10 and the obstacle existing around the towed vehicle 12 can be easily understood from the display image.

  Next, an example of the flow of display processing of a display image by the periphery monitoring system 100 according to the present embodiment will be described using FIG. 6. FIG. 6 is a flowchart showing an example of the flow of display processing of a display image by the surroundings monitoring system according to the first embodiment.

  In the present embodiment, the connection information acquisition unit 501 acquires a display instruction for instructing display of a display image from the operation input unit 30 or the like (step S601). When the display instruction for the display image is acquired (step S602: Yes), the connection information acquisition unit 501 acquires a captured image obtained by imaging the rear of the tow vehicle 10 from the imaging unit 24. Further, the connection information acquisition unit 501 acquires a connection angle indicating the current connection attitude of the towed vehicle 12 with respect to the tow vehicle 10 based on the acquired captured image (step S603).

  Next, the image output control unit 502 generates a display image in which the trailer icon is superimposed on the vehicle periphery image based on the captured image acquired from the imaging unit 24 (step S604). In the present embodiment, the image output control unit 502 reads a trailer icon from the ROM 40 b. The image output control unit 502 is the rear of the tow vehicle image, centering on the center in the vehicle width direction of the tow vehicle image (in other words, the center axis in the vehicle longitudinal direction, in the present embodiment, the hitch ball), A display image is generated in which a trailer icon is arranged at a position which is swung (turned) in the vehicle width direction of the tow vehicle image by the acquired connection angle. In the present embodiment, the image output control unit 502 generates a display image that looks over the tow vehicle 10 and the tow vehicle 12 from above, but it is possible to visually recognize the connection posture of the tow vehicle 10 and the tow vehicle 12 It is not limited to this as long as it displays an image in any of the display modes. For example, the image output control unit 502 may generate a side view of the tow vehicle 10 and the tow vehicle 12.

  Further, the image output control unit 502 acquires towed vehicle information (step S605). Then, the image output control unit 502 determines whether the vehicle length of the trailer icon included in the display image has a length reflecting the vehicle length of the towed vehicle 12 specified by the acquired towed vehicle information. It judges (step S606). Specifically, the image output control unit 502 obtains a reduced length of the tow vehicle 12 specified by the tow vehicle information at the same scale as the tow vehicle image. Then, when the car length of the trailer icon is the calculated length, the image output control unit 502 determines that the car length of the trailer icon reflects the car length of the towed vehicle 12. to decide. On the other hand, when the vehicle length of the trailer icon does not reach the calculated length, the image output control unit 502 determines that the vehicle length of the trailer icon does not reflect the vehicle length of the towed vehicle 12. to decide.

  If the length of the trailer icon reflects the length of the towed vehicle 12 (step S606: Yes), the image output control unit 502 determines the length of the trailer icon included in the generated display image. Without changing, the display image is output to the display device 26, and the display image is displayed on the display device 26 (step S607). On the other hand, when the length of the trailer icon does not have a length reflecting the length of the towed vehicle 12 (step S606: No), the image output control unit 502 uses the tow display information based on the towed vehicle information. The vehicle length of the included trailer icon is changed (step S608). Specifically, the image output control unit 502 obtains the length obtained by reducing the length of the towed vehicle 12 specified by the towed vehicle information by the scale of the tow vehicle image, and obtains the length of the trailer icon Change the length to

  Thereafter, the image output control unit 502 outputs the display image obtained by changing the vehicle length of the trailer icon to the display device 26, and causes the display device 26 to display the display image (step S607). As a result, even if it is not possible to obtain the vehicle length of the towed vehicle 12 based on the captured image obtained by the imaging of the imaging unit 24, the vehicle length of the trailer icon included in the display image Since the length can be made to reflect the 12 vehicle lengths, the towed vehicle 12 can be easily imaged from the display image. Further, the positional relationship with the towing vehicle 10 and the obstacle existing around the towed vehicle 12 can be easily understood from the display image.

  Next, an example of processing for displaying a display image in the tow vehicle 10 according to the present embodiment will be described using FIGS. 7 and 8. FIG. 7 is a view showing an example of a screen displayed on the display device in the vehicle according to the first embodiment. FIG. 8 is a view showing an example of a display image displayed on the vehicle according to the first embodiment.

  For example, information for specifying the length of the to-be-driven vehicle 12 which is input using a trailer information setting screen displayed on the display device 26 is acquired as to-be-towed vehicle information. Specifically, when controlling the turning of the tow vehicle 10 and the tow vehicle 12, as shown in FIG. 7, the ECU 40 controls the turning of the tow vehicle 12 based on the specification of the tow vehicle 12 or the like. The display device 26 displays a trailer information setting screen G in which a driver or the like can input necessary specifications. The trailer information setting screen G is, as shown in FIG. 7, an input result of a length A (for example, 163 mm) from the rear end of the tow vehicle 10 to the tow unit 18 (a connecting position of the tow vehicle 10 and the tow vehicle). It includes a first input field N1 to be displayed, a plus button B1 capable of instructing to increase the length A, and a minus button B2 capable of instructing to shorten the length A.

  In addition, as shown in FIG. 7, the trailer information setting screen G has a second input field N2 for displaying an input result of length B (for example, 662 mm) from the imaging unit 24 to the pulling device 18, and the length B is long. And a minus button B4 capable of instructing to shorten the length B. Further, as shown in FIG. 7, the trailer information setting screen G displays a third input field N3 displaying an input result of the length C (for example, 3000 mm) from the rear end of the towing vehicle 10 to the axle of the trailer wheel 22, It includes a plus button B5 capable of instructing to increase the length C, and a minus button B6 capable of instructing shortening the length C. Furthermore, as shown in FIG. 7, the trailer information setting screen G is an image that simulates the rear of the tow vehicle 12 and the tow vehicle 12, and includes a model image G1 in which the positions of the lengths A to C can be viewed.

  In the present embodiment, the image output control unit 502 acquires a length obtained by subtracting the length A from the length C as towed vehicle information. Thereby, when the display image is displayed by changing the display mode of the trailer icon I2 using the length used in other processes such as the process of controlling the turning of the tow vehicle 10 and the tow vehicle 12 In addition, the burden of the operation on the driver of the tow vehicle 10 can be reduced. Then, the image output control unit 502 changes the vehicle length of the trailer icon included in the display image based on the acquired towed vehicle information. Specifically, the image output control unit 502 obtains a length obtained by multiplying a value obtained by subtracting the length A from the length C by a preset coefficient (for example, 1.4). Next, the image output control unit 502 reduces the calculated length by the same scale as the scale of the tow vehicle image, and changes the vehicle length of the trailer icon included in the display image so as to be the reduced length. .

  For example, when the length A is 163 mm and the length C is 3000 mm, the image output control unit 502 sets the length: (C−A) × 1.4 = 3971.8 mm, as shown in FIG. The reduced vehicle length at the scale of the tow vehicle image I1 is determined, and the vehicle length of the trailer icon I2 included in the display image Z is changed to the determined length. In the present embodiment, the image output control unit 502 is a vehicle length obtained by reducing a value obtained by subtracting the length A from the length C by a preset coefficient at the scale of the tow vehicle image I1. The vehicle length of the trailer icon I2 is not limited to this as long as the vehicle length of the trailer icon I2 included in the display image Z is changed based on towed vehicle information. For example, the image output control unit 502 may set the vehicle length reflecting the length C (for example, the vehicle length obtained by reducing the length C at the scale of the tow vehicle image I1) as the vehicle length of the trailer icon I2.

  Further, in the present embodiment, the image output control unit 502 can estimate the vehicle length of the towed vehicle 12 which is input on a screen (for example, the trailer information setting screen G) used for processing other than display processing of the display image Z Although the information to be taken is acquired as towed vehicle information, the information input on the screen used for displaying the display image Z may be acquired as towed vehicle information. In that case, the image output control unit 502 inputs information indicating the length of the towed vehicle 12 (that is, a length obtained by subtracting the length A from the length C) on the screen used to display the display image Z. It may be acquired as towed vehicle information. Then, the image output control unit 502 changes the length of the trailer icon I2 so that the length indicated by the acquired towed vehicle information is reduced by the scale of the tow vehicle image I1.

  Further, in the present embodiment, the trailer icon I2 includes a connecting portion that connects the tow vehicle image I1 and the trailer icon I2. And the image output control part 502 changes the length of the said connection part in the trailer icon I2 based on towed vehicle information. Thus, even when the length of the connecting portion can not be determined based on the captured image obtained by the imaging of the imaging unit 24, the length of the connecting portion included in the trailer icon I2 is equal to the actual length of the connecting portion The towed vehicle 12 can be easily imaged from the display image. Specifically, based on the towed vehicle information, the image output control unit 502 changes the length from the connection position of the tow vehicle image I1 to the trailer icon I2 in the trailer icon I2 to the tip of the trailer icon I2. It is also possible. More specifically, the image output control unit 502 obtains a value obtained by multiplying a value obtained by subtracting the length A from the length C by a preset coefficient (for example, 0.4). Then, the image output control unit 502 sets the length from the connection position of the tow vehicle image I1 and the trailer icon I2 to the tip of the trailer icon I2 as a length reflecting the obtained length. For example, when the length A is 163 mm and the length C is 3000 mm, as shown in FIG. 8, the image output control unit 502 generates the trailer icon I2 from the connecting position of the tow vehicle image I1 and the trailer icon I2. The length to the tip is changed to a length reduced by the length: (C−A) × 0.4 = 1134.8 mm at the same scale as the tow vehicle image I1.

  Further, in the present embodiment, the image output control unit 502 changes at least one of the size of the wheel of the trailer icon I2 included in the display image Z and the display position of the wheel according to the towed vehicle information. Thereby, in addition to the trailer icon I2, the wheel of the trailer icon I2 and the display position of the corresponding wheel can be made to reflect the size and the display position of the trailer wheel 22 of the actual towed vehicle I2, so the display image From Z, the towed vehicle I2 can be more easily imaged.

  Specifically, the image output control unit 502 obtains a length obtained by multiplying a value obtained by subtracting the length A from the length C by a preset coefficient (for example, 0.9). Then, the image output control unit 502 moves the front end of the wheel of the trailer icon I2 away from the connection position included in the display image Z by a length reduced by the same scale as the tow vehicle image I1. Change to Further, the image output control unit 502 obtains a length obtained by multiplying a value obtained by subtracting the length A from the length C by a preset coefficient (for example, 1.1). Then, the image output control unit 502 separates the rear end of the wheel of the trailer icon I2 from the connected position included in the display image Z by a length reduced at the same scale as the tow vehicle image I1. Change to position.

  For example, when the length A is 163 mm and the length C is 3000 mm, as shown in FIG. 8, the image output control unit 502 extends from the connection position included in the display image Z to the tip of the wheel of the trailer icon I2. Change the length: Length: (C−A) × 0.9 = 2553.3 mm to a reduced length at the same scale as the tow vehicle image I1. When the length A is 163 mm and the length C is 3000 mm, the image output control unit 502 is from the connection position in the display image Z to the rear end of the wheel of the trailer icon I2, as shown in FIG. Change the length: Length: (C−A) × 1.1 = 3120.7 mm to a reduced length at the same scale as the tow vehicle image I1.

  Next, an example of a display image displayed in the tow vehicle 10 according to the present embodiment will be described using FIGS. FIGS. 9-13 is a figure which shows an example of the image for a display displayed in the tow vehicle concerning 1st Embodiment.

  For example, when the length C from the rear end of the tow vehicle 10 to the axle of the trailer wheel 22 is 1000 mm and the length A from the rear end of the tow vehicle 10 to the towing device 18 is 163 mm, the image output control unit 502 As shown in FIG. 9, the vehicle length of the trailer icon I2 included in the display image Z is reduced by the same scale as the tow vehicle image I1 in length: (C-A) × 1.4 = 1171.8 mm. Change to car director.

  When the length C from the rear end of the tow vehicle 10 to the axle of the trailer wheel 22 is 2000 mm and the length A from the rear end of the tow vehicle 10 to the towing device 18 is 163 mm, the image output control unit 502 As shown in FIG. 10, the vehicle length of the trailer icon I2 included in the display image Z is reduced by the same scale as the tow vehicle image I1 in length: (C-A) × 1.4 = 2571.8 mm. Change to car director.

  When the length C from the rear end of the tow vehicle 10 to the axle of the trailer wheel 22 is 3000 mm and the length A from the rear end of the tow vehicle 10 to the towing device 18 is 163 mm, the image output control unit 502 As shown in FIG. 11, the vehicle length of the trailer icon I2 included in the display image Z is reduced by the same scale as the tow vehicle image I1 in length: (C-A) × 1.4 = 3971.8 mm. Change to car director.

  When the length C from the rear end of the tow vehicle 10 to the axle of the trailer wheel 22 is 4000 mm and the length A from the rear end of the tow vehicle 10 to the towing device 18 is 163 mm, the image output control unit 502 As shown in FIG. 12, the vehicle length of the trailer icon I2 included in the display image Z is reduced by the same scale as the tow vehicle image I1 in length: (CA) × 1.4 = 5371.8 mm. Change to car director.

  When the length C from the rear end of the tow vehicle 10 to the axle of the trailer wheel 22 is 5000 mm and the length A from the rear end of the tow vehicle 10 to the towing device 18 is 163 mm, the image output control unit 502 As shown in FIG. 13, the vehicle length of the trailer icon I2 included in the display image Z is reduced by the same scale as the tow vehicle image I1 in length: (C-A) × 1.4 = 6771.8 mm. Change to car director.

  As described above, according to the surroundings monitoring system 100 according to the first embodiment, even if the vehicle length of the towed vehicle 12 can not be obtained based on the captured image obtained by the imaging of the imaging unit 24, Since the vehicle length of the trailer icon included in the image can be set to a length that reflects the actual vehicle length of the towed vehicle 12, the towed vehicle 12 can be easily imaged from the display image.

Second Embodiment
In this embodiment, in the display image, the display mode from the wheel axle of the trailer icon to the rear end of the trailer icon is different from the display mode from the wheel axle of the trailer icon to the front end of the trailer icon It is. In the following description, descriptions of portions similar to those of the first embodiment will be omitted.

  FIG. 14 and FIG. 15 are diagrams showing an example of a display image displayed on the tow vehicle according to the second embodiment. In the present embodiment, when the vehicle length of the trailer icon I2 included in the display image Z is changed, the image output control unit 502 controls the wheels of the trailer icon I2 in the display image Z, as shown in FIGS. The display mode from the axle of the trailer to the rear end of the trailer icon I2 is different from the display mode from the axle of the wheel of the trailer icon I2 to the front end of the trailer icon I2. Thus, the driver of the tow vehicle 10 can be informed that the vehicle length of the trailer icon I2 included in the display image Z is not accurate. Therefore, the driver or the like of the tow vehicle 10 looks only at the display image Z The tow vehicle 10 can be prevented from colliding with obstacles present around the tow vehicle 12.

  For example, as shown in FIG. 14, in the display image Z, the image output control unit 502 extends in the vehicle width direction of the trailer icon I2 from the axle of the wheel of the trailer icon I2 to the rear end of the trailer icon I2. Include an ellipsis (eg, a wavy line) extending towards it. Alternatively, as shown in FIG. 15, the image output control unit 502 transmits the image transmittance from the axle of the wheel of the trailer icon I2 included in the display image Z to the rear end of the trailer icon I2, and the display image Z The transmittance of the image from the wheel axle of the included trailer icon I2 to the front end of the trailer icon I2 is made higher. Further, as shown in FIG. 15, the image output control unit 502 transmits the transmittance of the image from the wheel axle of the trailer icon I2 included in the display image Z to the rear end of the trailer icon I2 behind the trailer icon I2. It may be higher as it approaches the end. This makes it easy for the driver etc. of the tow vehicle 10 to understand that the vehicle length of the trailer icon I2 included in the display image Z is not accurate, so the driver etc. of the tow vehicle 10 can display the image Z for display Can be prevented from driving the tow vehicle 10.

  As described above, according to the surroundings monitoring system 100 according to the second embodiment, it is possible to notify the driver or the like of the tow vehicle 10 that the vehicle length of the trailer icon included in the display image is not accurate. It is possible to prevent the driver or the like of the vehicle 10 from driving only the display image and driving the tow vehicle 10 and colliding with an obstacle existing around the tow vehicle 12.

DESCRIPTION OF SYMBOLS 10 ... Traction vehicle, 12 ... Traction vehicle, 18 ... Traction apparatus, 22 ... Trailer wheel, 24 ... Imaging part, 26, 34 ... Display apparatus, 40 ... ECU, 40a ... CPU, 40b ... ROM, 40c ... RAM, 40d ... SSD, 40e ... display control unit, 501 ... linked information acquisition unit, 502 ... image output control unit, G ... trailer information setting screen, I1 ... traction vehicle image, I2 ... trailer icon, Z ... display image.

Claims (6)

Based on the captured image obtained by imaging the surroundings of the tow vehicle by the imaging unit, an index indicating the tow vehicle connected to the tow vehicle is superimposed on the tow vehicle and a vehicle peripheral image including the periphery of the tow vehicle Control unit for displaying the displayed image for display on a display device, acquiring towed vehicle information on the towed vehicle, and changing the display mode of the index based on the towed vehicle information,
Peripheral monitoring device provided with   The surrounding area monitoring device according to claim 1, wherein the control unit changes a length in a vehicle length direction of the towed vehicle in the index based on the towed vehicle information.   The surrounding area monitoring device according to claim 1 or 2, wherein the control unit changes at least one of the size of the wheel of the towed vehicle and the display position of the wheel in the index based on the towed vehicle information. The index includes a connecting portion that connects the tow vehicle and the tow vehicle,
The surrounding area monitoring device according to any one of claims 1 to 3, wherein the control unit changes the length of the connecting portion in the index based on the towed vehicle information.   The towed vehicle information is information used in a process different from the process of displaying the display image, and the tow vehicle is derived from the length between the rear end of the tow vehicle and the axle of the tow vehicle The perimeter monitoring device according to any one of claims 1 to 4, wherein a length obtained by subtracting a length between the connection position of the towed vehicle and the rear end of the tow vehicle. The control unit causes the display mode from the axle of the towed vehicle to the rear end of the towed vehicle to be different from the display mode from the axle of the towed vehicle to the front end of the towed vehicle. The periphery monitoring device according to any one of 5.

Images