JPH10257482A - Vehicle periphery status display device - Google Patents

Abstract

(57) [Summary] [Problem] To provide a vehicle surrounding situation display device that simultaneously displays left and right and rear images on a liquid crystal panel, to obtain instantaneous left and right and rear road conditions as continuous information to prevent danger in advance. Providing technologies that have been facilitated. SOLUTION: C mounted near right and left door mirrors.
In a vehicle peripheral situation display device that displays on a liquid crystal panel installed on an instrument panel, a left and right side image of a vehicle taken by a CD camera and a vehicle rear image taken by a CCD camera attached to a rear portion, One infinity point 6 is provided by combining the infinity points of the three rear images, and the left, right, side, and rear images are image-combined as viewed from one virtual viewpoint.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for displaying the surroundings of a vehicle, and more particularly to a vehicle surroundings displaying device for displaying left, right and rear images on a liquid crystal panel simultaneously.

[0002]

2. Description of the Related Art As a method for grasping a situation outside a vehicle, a rear view mirror is used in the rear and a door mirror or a fender mirror is used in a side.
Other than that, the display of images on a liquid crystal panel of an instrument panel by a CCD camera has been partially commercialized or released as a prototype. For example, the one that displays images of the left, right, side and back taken by the CCD camera at the boundary between the windshield and the upper surface of the instrument panel, and the one that displays the image of the approaching car with a warning when the car approaches. is there.

[0003]

However, in the above-described conventional display, the left, right, left and rear images are independently displayed, and the driver needs to view each image by one image in order to grasp all surrounding conditions. It takes time because we have to recognize each one. Regarding the above-mentioned conventional example, in which the left and right side and rear images taken by the CCD camera are displayed, the respective screens are separated from each other, close to the function of the room mirror and the door mirror, and each screen is viewed. We have to go. When it comes to the image of the car approaching with the warning, only the side or rear screen is displayed, and the whole is hard to grasp. SUMMARY OF THE INVENTION The present invention has been made in view of the conventional problems, and an object of the present invention is to instantly obtain left and right and rear road conditions as continuous information, thereby facilitating the understanding of the entire road.

[0004]

Means for Solving the Problems In order to achieve the above object, the present invention combines the infinity points of at least three images on the left, right, right and left sides and, as viewed from one virtual viewpoint, The rear image is composed of images, and the vertical width of the rear image is made smaller than the vertical width of the left and right images so that the left and right side images and the rear image have the same image size. When it is small, it is large when driving at high speeds, the image displayed on the panel is shifted to the image in the direction of turning as soon as the turn signal is released, and the sensor detects the displacement of the vehicle body during traveling due to unevenness of the road surface In addition, the present invention provides a vehicle surroundings state display device that removes image shaking due to displacement of a vehicle body.

[0005]

According to the present invention having the above-described structure, the left and right and rear images are simultaneously displayed as viewed from one viewpoint, so that the movement of the vehicle traveling right and left and the rear can be grasped at a glance. It is easy to avoid in advance. For example, even if the vehicle behind changes the lane and enters the left or right lane of the own vehicle, after grasping the presence of the vehicle by looking at the left or right screen, the driver changes the lane by looking at the rear screen There is no need to perform a two-stage operation such as recognizing the vehicle, so that the movement of the vehicle can be continuously grasped, and the time for grasping the surrounding road conditions is short. Also, by making the vertical width of the rear image smaller than the vertical width of the left and right side images so that the sizes of the left and right side images and the rear image are matched, the left and right images are viewed from near the virtual viewpoint. And the rear image appears to be far away from the virtual viewpoint. Thereby, a sense of perspective is expressed. The difference in vertical width between the left and right screens and the rear screen is
Expresses the front-back length of the vehicle. By displaying the rear end of the trunk in the rear image and the outer ends of the left and right doors in the left and right side images, it is easy to grasp the sense of distance to the surroundings. When the image size is small at low speeds and large at high speeds, the viewing angle on the side of the vehicle is widened at low speeds, making it easier to see in the lateral direction, making it easier to grasp crowded roads such as urban areas, and During traveling, the viewing angle on the side of the vehicle becomes narrower, but it is easier to grasp the sense of distance to the vehicle behind. Also, when the display image shows a turn signal when changing lanes or turning left or right at an intersection, the display image can be projected more horizontally by shifting to the image in the traveling direction of the own vehicle, and It becomes easier to prevent the involvement of a motorcycle or the like in advance. In addition, a displacement of the vehicle body due to unevenness of the road surface is detected by an acceleration sensor, and the detected displacement is fed back to a display image to remove a shaking of the image, so that a clean image around the vehicle can always be seen.

[0006]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a schematic diagram showing an assembling situation of a vehicle surrounding situation display device according to an embodiment of the present invention. Basically, the liquid crystal panel 2 is embedded in the meter cluster 1 in front of the driver, and the surroundings of the vehicle are displayed on the liquid crystal panel 2. The liquid crystal panel 2 can display various information such as a vehicle speed and an engine speed in addition to the surroundings of the vehicle. FIG. 2 shows a vehicle surroundings status display of the present invention displayed on the liquid crystal panel 2, and the display screen includes a left screen 3, a right screen 4, and a rear screen 5. The images displayed on each screen are captured by a CCD camera mounted on the vehicle body.

FIG. 3 shows an example of a camera installation position. Two CCD cameras 31 and 32 are installed on the left and right door mirrors, and one CCD camera 33 is installed near the trunk. CCD
The camera 31 captures the left image at a viewing angle 34, the CCD camera 32 captures the right image at a viewing angle 35, and the CCD camera 33 captures the rear image at a viewing angle 36. Here, in the conventional method, as shown in FIG. 17, one infinity point 107 exists in the image on the left screen 103, and one infinity point 109 also exists in the image on the right screen 104. Exists, and one infinity point 108 also exists in the image of the rear screen 105. That is, the three images each have an infinite point, and the images on the three screens are not continuous. Therefore,
In order to grasp the surrounding road conditions, the left, right, and rear images must be individually recognized one by one, which takes time. In the drawing, 128 is a left door outer, 129 is a right door outer, and 130 is a rear end of the trunk. Also, 116 and 117 are white lines on the road surface in the image of the left screen 103, 122, 123 and 124 are white lines and the horizon on the road surface in the image of the right screen 104, and 118, 119, 120 and 121 are the rear screen 10
5 is a white line on the road surface in the image No. 5.

As a countermeasure, the display of the present invention shown in FIG. 2 shows the conventional infinity points 107 and 108 shown in FIG.
109 into one infinity point 6 and one virtual viewpoint 3
7 (see FIG. 3), the images of the three screens 3, 4, and 5 were synthesized. For example, the white line 1 on the road in FIG.
The white line 16 and the white line 118 become the white line 10 in FIG. 2, and the white lines 117 and 119 become the white line 11 in FIG. Similarly, the white line 123 and the white line 121 become the white line 14, and the white line 122 and the white line 120.
Is a white line 13. 15 is a horizontal line.

Accordingly, by displaying the left, right, and rear images as viewed from one viewpoint 37 as described above,
It is possible to quickly grasp the road conditions around the vehicle and to avoid danger in advance.

The image captured by the CCD camera is 3: 4 horizontally long, and is considered to be displayed on the liquid crystal panel as large as possible, so that the horizontal direction is cut off from the actual imaging range of the left and right side images and displayed. In FIG. 4, the actual imaging range on the left side is the frame 38, but the display unit has the size shown on the left screen 3. Similarly, on the right side, the actual imaging range 39 has the size shown on the right side screen 4. The rear actual imaging range 40 is not largely cut, and an almost captured image is reduced as it is and displayed in the size shown on the rear screen 5.

Next, one procedure of the synthesis will be described.
If the left and right and the rear of the vehicle are photographed by the CCD cameras having the same viewing angle, the left and right images 41 and 43 are slightly smaller than the rear image of the vehicle 46 at a certain position as shown in FIG. At 42, it looks large. This is because the distance from the camera to the vehicle is different. Since the objects at the same position must be the same size to be displayed as viewed from one viewpoint 37 (see FIG. 3), the size of the image 46 shown in the rear image 42 is
The rear image 42 is reduced so as to meet the images 44 and 45 shown in 1, 43. The image synthesizing process for this is shown in FIGS.
In order to describe the horizontal image as wide as possible, the vertical direction of the left and right side images is laid out to the maximum width 47 of the liquid crystal panel 2 in the vertical direction. In consideration of the shape of the meter cluster 1, the left and right side images cannot be completely fitted, and the outside 48 is cut. Then, a part 49 of the left and right side images overlapping with the rear image 42 is cut, and the infinity point 7,
Image processing is performed so that 8 and 9 are matched to create a one-viewpoint image as shown in FIG.

At this time, the left and right side images show the end portions 25 and 26 of the door outer, and the rear image shows the rear end 2 of the trunk.
So that 7 appears. This makes it easier to grasp the sense of distance from another vehicle. The difference between the vertical widths of the left and right side screens 3 and 4 and the rear screen 5 indicates the front-back length of the vehicle body, and expresses perspective. As shown in FIG.
It can also be expressed by 50.

(Other Embodiments) Hereinafter, other embodiments will be described. The same components as those in the above-described embodiments are denoted by the same reference numerals, and description thereof will be omitted.

FIG. 11 shows a synthesis procedure (a) and (b) as another embodiment. The deformation of the screen on the side is reduced. FIGS. 12A and 12B show display screens when the vehicle speed is low / medium speed and when the vehicle speed is high. Low and medium speeds are mainly for city driving. In such a relatively congested situation, another vehicle is often running beside the vehicle when changing lanes. Therefore, it is necessary to know the road conditions next to the own vehicle as wide as possible. So at low and medium speeds,
As shown in (a), a reduced screen 51 in which the image size is reduced within a range in which the rear image can be recognized is set. Conversely, since the vehicle speed is high during high-speed driving, it is important to grasp the sense of distance from other vehicles when changing lanes, but it is difficult to grasp the sense of distance when the size of the car being reflected is small. Therefore, as shown in (b), it is better to display the rear image as an enlarged screen 52 even if some horizontal information is deleted.

When the normal display is as shown in FIG. 13 and the turn signal is turned on when changing lanes or turning right or left at an intersection, the image of the direction in which the own vehicle enters as shown in FIG. , The image in the lateral direction can be confirmed, and it is easy to avoid contact with another vehicle, involvement of a motorcycle, and the like. Originally, as shown in FIG. 4, the actual imaging range 38 is wider than the display area (screen) 3, so that a horizontal image can be displayed by shifting.

In order to always show the above display clearly, the following system is used so that the screen does not shake even when the vehicle runs on an uneven road surface. FIG.
As shown in (a) and (b), vibration from the road surface is detected by an acceleration sensor 53 attached to a suspension or the like. Thereafter, as shown in FIG. 16, when a vibration of an amplitude and a frequency of a certain area α is detected for a certain time t seconds, a command for correcting the screen shake is issued from a control unit (not shown). The correction command is mapped according to the detected amplitude and frequency, and the corresponding correction is performed. However, when a state where there is no amplitude and no frequency in a certain area α is detected for s seconds, the correction control stops. Note that the actual imaging ranges 38, 39, and 40 are larger than the display areas (screens) 3, 4, and 5, and are used as correction allowances.

[0017]

As described above, according to the vehicle surrounding situation display device of the present invention, the left, right, and rear images are simultaneously displayed as viewed from one viewpoint, so that the vehicle traveling right, left, and rear can be displayed. The movement can be grasped at a glance, and danger can be easily avoided in advance. For example, even if the rear vehicle changes lanes and enters the left or right lane of the own vehicle, after grasping the existence of the vehicle by looking at the left or right screen, changing the lane by looking at the rear screen There is no need to perform a two-stage operation such as recognizing the vehicle, and the movement of the vehicle can be continuously grasped, and the time for grasping the surrounding road conditions can be shortened. In addition, the left and right images are viewed from near the virtual viewpoint by making the vertical width of the rear image smaller than the vertical width of the left and right side images so that the sizes of the left and right side images and the rear image are matched. And the rear image appears to be far away from the virtual viewpoint. Thereby, a sense of perspective is expressed. The difference between the vertical widths of the left-right screen and the rear screen expresses the front-rear length of the vehicle. The rear end of the trunk is shown in the rear image,
By displaying the left and right door-out edges in the left and right images, the sense of distance to the surroundings can be easily grasped. When the image size is small at low speeds and large at high speeds, the viewing angle on the side of the vehicle is widened at low speeds, making it easier to see in the lateral direction, making it easier to grasp crowded roads such as urban areas, and During traveling, the viewing angle on the side of the vehicle becomes narrower, but it is easier to grasp the sense of distance to the vehicle behind. Also, when the display image shows a turn signal when changing lanes or turning left or right at an intersection, the display image can be shifted to the image in the traveling direction of the own vehicle, so that the image can be projected more horizontally, and contact with other vehicles and It becomes easier to prevent the involvement of a motorcycle or the like in advance.

Further, a displacement of the vehicle body due to unevenness of the road surface is detected by an acceleration sensor, and the detected image is fed back to a display image to remove the shaking of the image.

[Brief description of the drawings]

FIG. 1 is a diagram showing an assembled state of a vehicle peripheral situation display device of the present invention.

FIG. 2 is a diagram showing a vehicle surrounding situation display of the present invention.

FIG. 3 is a diagram showing a camera installation position.

FIG. 4 is a diagram showing an actual imaging range by a CCD camera.

FIG. 5 is a diagram showing a procedure for synthesizing left, right, and rear images.

FIG. 6 is a diagram illustrating a procedure of synthesizing left, right, and rear images.

FIG. 7 is a diagram showing a procedure for synthesizing left, right, and rear images.

FIG. 8 is a diagram showing a procedure for synthesizing left, right, and rear images.

FIG. 9 is a diagram showing a procedure for synthesizing left, right, and rear images.

FIG. 10 is a diagram showing a self-vehicle display state.

FIG. 11 is a diagram showing a synthesis procedure 2;

FIG. 12 is a diagram showing a display during low-medium-speed and high-speed running.

FIG. 13 is a diagram showing a screen before a blinker is displayed.

FIG. 14 is a diagram showing a screen after a blinker is displayed.

FIG. 15 is a diagram showing a schematic view of mounting an acceleration sensor.

FIG. 16 is a diagram showing a flowchart of screen shake correction.

FIG. 17 is a diagram showing a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Meter cluster 2 LCD panel 3 Left screen 4 Right screen 5 Back screen 6 Infinity point 7 Infinity point 9 Infinity point 10 White line 11 White line 13 White line 14 White line 15 Horizon 25 Left door out end 26 Right door out end 27 Trunk end 31 Left CCD camera 32 Right CCD camera 33 Rear CCD camera 34 View angle of camera 31 35 View angle of camera 32 View angle of camera 33 Virtual viewpoint 38 Actual view range of camera 31 39 Actual view of camera 32 Image capturing range 40 Actual image capturing range of camera 33 41 Left image 42 Rear image 43 Right image 44 Rear vehicle image 45 Rear vehicle image 46 Vehicle image 47 Left right image vertical dimension 48 Image cut area 49 Image double area 50 Own vehicle display 51 Reduced image size 52 Enlarged image size 53 Accelerometer

Claims (5)

[Claims] 1. A C mounted near left and right door mirrors.
In a vehicle surroundings status display device, a left and right side image of a vehicle taken by a CD camera and a rear image of a vehicle taken by a CCD camera attached to a rear portion are displayed on a liquid crystal panel installed on an instrument panel. A vehicle surrounding situation display device, wherein at least three images at the rear are combined at infinity points and left and right side and rear images are image-combined as viewed from one virtual viewpoint. 2. The vertical width of the rear image is made smaller than the vertical width of the left and right side images so that the sizes of the left and right side images and the rear image are matched on the screen displaying the three images. The vehicle surrounding situation display device according to claim 1, wherein: 3. The vehicle peripheral situation display device according to claim 1, wherein the image size is reduced when the vehicle is traveling at low to medium speeds, and the image size is enlarged when traveling at high speeds. 4. An apparatus according to claim 1, wherein an image displayed on the panel shifts to an image in the vehicle traveling direction at the same time as when the turn signal is released. 5. The vehicle according to claim 1, wherein a displacement of the vehicle body during traveling due to unevenness of the road surface is detected by a sensor, and a shaking of an image accompanying the displacement of the vehicle body is removed. Peripheral situation display device.