JP5429399B2 - Driving assistance device - Google Patents

Driving assistance device Download PDF

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JP5429399B2
JP5429399B2 JP2012540570A JP2012540570A JP5429399B2 JP 5429399 B2 JP5429399 B2 JP 5429399B2 JP 2012540570 A JP2012540570 A JP 2012540570A JP 2012540570 A JP2012540570 A JP 2012540570A JP 5429399 B2 JP5429399 B2 JP 5429399B2
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vehicle
image
driving assistance
camera
guideline
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JPWO2012056528A1 (en
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五朗 浅井
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Toyota Motor Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
    • B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Closed-Circuit Television Systems (AREA)

Description

本発明は、車両周辺の画像を表示することにより運転者の運転を補助する運転補助装置に関する。   The present invention relates to a driving assistance device that assists the driving of a driver by displaying an image around the vehicle.

従来より、車両に周辺の画像を取得するカメラ（撮像装置）を配置し、その取得画像を車室内に配置したモニタ（表示装置）に表示することで、運転者や他の乗員などのユーザの利便性を高める技術がある。さらに、取得した生の画像を表示するのではなく、複数のカメラで取得した画像に基づいて画像処理によって車両の上から見た俯瞰画像に変換して表示する手法が知られている（例えば、特許文献１、２参照）。   Conventionally, a camera (imaging device) that acquires a surrounding image is arranged on a vehicle, and the acquired image is displayed on a monitor (display device) that is arranged in the passenger compartment. There are technologies that enhance convenience. Furthermore, a technique is known in which an acquired raw image is not displayed, but is converted into an overhead image viewed from above the vehicle by image processing based on images acquired by a plurality of cameras (for example, (See Patent Documents 1 and 2).

特開２００６−３４１６４１号公報JP 2006-341441 A 特開２００９−２３９６７４号公報JP 2009-239664 A

こうした俯瞰画像の生成に使われるカメラには、画角の広い超広角レンズや魚眼レンズが用いられている。しかしながら、車両においてはカメラの設置可能位置が限定されること、車両の前後には、緩衝用のバンパーが張り出していることなどから、車両周辺にカメラから見ることのできない死角が生じるのは避けられず、画像処理により生成された俯瞰画像と車両との間に撮像されない空白領域が生じてしまう。そのため、こうした俯瞰画像を利用しても、車室内から車両端部位置等を把握しづらいという問題があった。   A camera used to generate such a bird's-eye view image uses a super wide-angle lens or a fish-eye lens with a wide angle of view. However, in a vehicle, the position where the camera can be installed is limited, and shock absorber bumpers overhang around the vehicle, so that it is unavoidable that blind spots that cannot be seen from the camera are generated around the vehicle. In other words, a blank area that is not captured is generated between the overhead image generated by the image processing and the vehicle. For this reason, there is a problem in that it is difficult to grasp the position of the vehicle end from the passenger compartment even if such a bird's-eye view image is used.

そこで本発明は、ユーザが車室内から車両端部位置等をより直感的に把握することを可能とした運転補助装置を提供することを課題とする。   Then, this invention makes it a subject to provide the driving assistance device which enabled the user to grasp | ascertain a vehicle edge part position etc. more intuitively from a vehicle interior.

上記課題を解決するため、本発明にかかる運転補助装置は、車室内に備えられた表示装置に、車両に備えた撮像装置により取得した車両周辺画像と自車両の占める領域とを表示することにより運転者の運転操作を補助する運転補助装置において、この画像中の車両周辺画像と自車両領域との間の領域上に、運転支援のガイドを重畳表示するものである。   In order to solve the above problems, a driving assistance device according to the present invention displays a vehicle peripheral image acquired by an imaging device provided in a vehicle and a region occupied by the host vehicle on a display device provided in the vehicle interior. In a driving assistance device that assists the driving operation of the driver, a driving assistance guide is superimposed on an area between the vehicle peripheral image and the host vehicle area in the image.

このガイドは、車両周辺画像と自車両領域との間の領域から車両周辺画像を表示している領域まで延長されて表示されるとよい。このガイドは、車両の端部延長線、または、運転支援中の車両の端部予想軌跡であるとよい。   This guide may be extended and displayed from a region between the vehicle peripheral image and the host vehicle region to a region displaying the vehicle peripheral image. The guide may be an end extension line of the vehicle or an expected end portion trajectory of the vehicle that is driving assistance.

本発明にかかる運転補助装置は、撮像装置で取得した画像と自車両の占める領域とを重ね合わせて表示する。このとき、前述した死角の存在により、俯瞰画像の表示領域と自車両領域との間には空白領域が生じる。この空白領域上に運転支援のガイドを表示することで、ユーザはガイド位置をより直感的に把握することが可能となる。   The driving assistance device according to the present invention displays the image acquired by the imaging device and the area occupied by the host vehicle in a superimposed manner. At this time, due to the presence of the blind spot described above, a blank area is generated between the display area of the overhead image and the own vehicle area. By displaying the driving assistance guide on the blank area, the user can more intuitively grasp the guide position.

特に、ガイドを空白領域内から車両周辺画像中まで延長することで、ユーザから見える領域とガイドとを対応づけることが可能となり、その延長線として空白領域（死角内）のガイド位置を把握することが容易になる。   In particular, by extending the guide from the blank area to the vehicle periphery image, it is possible to associate the area visible to the user with the guide, and grasp the guide position of the blank area (in the blind spot) as the extension line. Becomes easier.

本発明にかかる運転補助装置の実施形態の構成を示すブロック図である。It is a block diagram which shows the structure of embodiment of the driving assistance device concerning this invention. 車両におけるカメラの設置位置およびカメラからの撮像範囲を平面視する模式図である。It is a schematic diagram which planarly views the installation position of the camera in a vehicle and the imaging range from a camera. 車両搭載カメラで撮像した際に発生する死角領域を説明する図である。It is a figure explaining the blind spot area | region which generate | occur | produces when it images with a vehicle mounted camera. 従来の手法による表示例を説明する図である。It is a figure explaining the example of a display by the conventional method. 本発明にかかる運転補助装置による表示の一例を示す図である。It is a figure which shows an example of the display by the driving assistance device concerning this invention. 本発明にかかる運転補助装置による表示の別の一例を示す図である。It is a figure which shows another example of the display by the driving assistance device concerning this invention.

以下、添付図面を参照して本発明の好適な実施の形態について詳細に説明する。説明の理解を容易にするため、各図面において同一の構成要素に対しては可能な限り同一の参照番号を附し、重複する説明は省略する。   DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the accompanying drawings. In order to facilitate the understanding of the description, the same reference numerals are given to the same components in the drawings as much as possible, and duplicate descriptions are omitted.

図１に示すように、本実施形態における画像処理装置１は、撮像装置であるカメラ２Ｆ、２Ｒ、２Ｌ、２Ｂから入力された画像を処理して、所定の画像を表示装置であるモニタ３に出力するものであり、センサ情報取込部１１、前左カメラ処理部１２、前右カメラ処理部１３、後左カメラ処理部１４、後右カメラ処理部１５、俯瞰図作成部１６、およびガイドライン生成部１７を備えている。さらに画像処理装置１には、駐車支援装置などの運転支援ＥＣＵ５の出力が入力されており、運転支援ＥＣＵ５には、車速や舵角等の各種の車両状態量を検出する車両センサ６の出力が入力されている。   As shown in FIG. 1, an image processing apparatus 1 according to the present embodiment processes images input from cameras 2F, 2R, 2L, and 2B that are imaging apparatuses, and sends a predetermined image to a monitor 3 that is a display apparatus. Output, sensor information capture unit 11, front left camera processing unit 12, front right camera processing unit 13, rear left camera processing unit 14, rear right camera processing unit 15, overhead view creation unit 16, and guideline generation A portion 17 is provided. Furthermore, the output of the driving assistance ECU 5 such as a parking assistance device is input to the image processing apparatus 1, and the output of the vehicle sensor 6 that detects various vehicle state quantities such as the vehicle speed and the steering angle is input to the driving assistance ECU 5. Have been entered.

前方カメラ２Ｆは、図２に示すように、車両Ｍの前方中央のフロントグリル部分に取り付けられており、車両Ｍの前方を撮像している。また、右方カメラ２Ｒは、車両Ｍの右ドア位置、左方カメラ２Ｌは車両Ｍの左ドア、後方カメラ２Ｂは車両Ｍのリアトランクカバーにそれぞれ取り付けられて、車両Ｍの右方、左方、および後方をそれぞれ撮像している。カメラ２Ｆ、２Ｒ、２Ｌ、２Ｂは、それぞれいわゆる魚眼カメラなどの広視野カメラからなり、それぞれのカメラ２Ｆ、２Ｒ、２Ｌ、２Ｂで撮像領域ＥＦ、ＥＲ、ＥＬ、ＥＢを撮像可能なように配置されている。カメラ２Ｆ、２Ｒ、２Ｌ、２Ｂは、それぞれ撮像して得られた画像を画像処理装置１におけるセンサ情報取込部１１に出力する。   As shown in FIG. 2, the front camera 2 </ b> F is attached to a front grill portion at the front center of the vehicle M, and images the front of the vehicle M. The right camera 2R is attached to the right door position of the vehicle M, the left camera 2L is attached to the left door of the vehicle M, and the rear camera 2B is attached to the rear trunk cover of the vehicle M. , And the rear are respectively imaged. The cameras 2F, 2R, 2L, and 2B are each composed of a wide-field camera such as a so-called fisheye camera, and are arranged so that the imaging areas EF, ER, EL, and EB can be imaged by the respective cameras 2F, 2R, 2L, and 2B. Has been. The cameras 2F, 2R, 2L, and 2B output images obtained by capturing images to the sensor information capturing unit 11 in the image processing apparatus 1, respectively.

例えば、前方カメラ２Ｆの場合、車両前部には前輪ＷＦの前方にバンパーＢが存在し、その上のフロントグリル部ＦＧに配置されることになるが、車両の意匠上、フロントグリル部ＦＧからの突出量には制約がある。このため、画角αの広いカメラを用いた場合でも、車両に近い部分は、カメラの死角となってしまう。図中ａＤで示される領域が、地面Ｇ上における死角領域である。For example, when the front camera 2F, bumper B is present in front of the front wheel W F is in the front part of the vehicle, but would be placed in the front grille FG thereon, design on the front grille portion FG of the vehicle There is a limit to the amount of protrusion from. For this reason, even when a camera with a wide angle of view α is used, a portion close to the vehicle becomes a blind spot of the camera. An area indicated by a D in the figure is a blind spot area on the ground G.

画像処理装置１におけるセンサ情報取込部１１では、カメラ２Ｆ、２Ｒ、２Ｌ、２Ｂから出力された画像（車両周辺画像）を取り込む。このうちの前方カメラ２Ｆおよび左方カメラ２Ｌから出力された前方画像および左方画像を前左カメラ処理部１２に出力する。また、前方カメラ２Ｆおよび右方カメラ２Ｒから出力された前方画像および右方画像を前右カメラ処理部１３に出力する。さらに、後方カメラ２Ｂおよび左方カメラ２Ｌから出力された後方画像および左方画像を後左カメラ処理部１４に出力する。そして、後方カメラ２Ｂおよび右方カメラ２Ｒから出力された前方画像および左方画像を後右カメラ処理部１５に出力する。   The sensor information capturing unit 11 in the image processing apparatus 1 captures images (vehicle peripheral images) output from the cameras 2F, 2R, 2L, and 2B. Among these, the front image and the left image output from the front camera 2F and the left camera 2L are output to the front left camera processing unit 12. In addition, the front image and the right image output from the front camera 2F and the right camera 2R are output to the front right camera processing unit 13. Further, the rear image and the left image output from the rear camera 2B and the left camera 2L are output to the rear left camera processing unit 14. Then, the front image and the left image output from the rear camera 2B and the right camera 2R are output to the rear right camera processing unit 15.

各カメラ処理部１２〜１５は、隣接する２つのカメラ（例えば前方カメラ２Ｆおよび左方カメラ２Ｌ）から出力された各画像に基づいて共通する画像の被写***置を求め、俯瞰図作成部１６に出力する。運転支援ＥＣＵ５は、車両センサ６の出力に基づいて必要な運転支援操作情報をガイドライン生成部１７へと出力する。俯瞰図作成部１６は、入力した情報に基づいて車両周辺画像を俯瞰図へと変換し、これに車両位置情報、ガイドライン情報を重ね合わせてモニタ３に出力する。切替スイッチ４はモニタ３における表示内容を切り換える機能を有している。   Each camera processing unit 12 to 15 obtains a subject position of a common image based on each image output from two adjacent cameras (for example, the front camera 2F and the left camera 2L), and outputs it to the overhead view creation unit 16 To do. The driving assistance ECU 5 outputs necessary driving assistance operation information to the guideline generation unit 17 based on the output of the vehicle sensor 6. The overhead view creation unit 16 converts the vehicle periphery image into an overhead view based on the input information, and superimposes the vehicle position information and guideline information on this, and outputs it to the monitor 3. The changeover switch 4 has a function of switching display contents on the monitor 3.

次に、この装置による表示例を例示して説明する。図４は、従来の手法による表示例である。左側には、生成された俯瞰図上に、自車両像ＩＭが表示される。この自車両像ＩＭは予め自車両と同一または類似する車種画像を上面から撮影した画像データを画像処理装置１内または、それに接続された記憶装置内に格納しておいて、これを俯瞰図上に重ね合わせて表示することにより、自車両が占める領域を表示するものである。あるいは、自車両が占める領域に、自車両をモデル化したアイコンを表示してもよい。自車両像ＩＭの周囲の図３に示される死角領域ａＤに対応する部分が死角領域像ＩＤとして表示される。死角領域像ＩＤは、俯瞰図画像と自車両像ＩＭとの間の領域に表示される。画像の右側には、カメラ取得画像から歪みを除去して展開して合成した画像が表示されている。Next, a display example using this apparatus will be described as an example. FIG. 4 is a display example using a conventional method. On the left side, the host vehicle image IM is displayed on the generated overhead view. The vehicle image I M in advance the vehicle the same or similar image processing apparatus 1 image data obtained by photographing the vehicle type image from the top to within or, in advance and stored in the connected in storage to, overhead view this The area occupied by the host vehicle is displayed by superimposing it on the display. Or you may display the icon which modeled the own vehicle in the area | region which the own vehicle occupies. Portion corresponding to the blind spot region a D shown in Figure 3 around the own vehicle image I M is displayed as a blind area image I D. Blind spot image I D is displayed in an area between the overhead view image vehicle image I M. On the right side of the image, an image obtained by removing distortion from the camera-acquired image and developing and synthesizing the image is displayed.

図５は、駐車支援時や駐車位置から出て発進する場合の支援処理の場合の画像表示例を示している。ここでは、左方向にハンドルを切って後退もしくは前進する場合の運転支援を例示する。運転支援ＥＣＵ５は、車両センサ６で取得した車両状態量や運転者が図示していない入力装置等で設定した目標駐車位置、目標発進方向等から支援軌跡を算出する。この支援軌跡は、例えば、走行距離に対するそのときの舵角として設定される。ガイドライン生成部１７は、受信した支援軌跡に基づいて、例えば、車両左前端部の予想移動軌跡Ｌ１を算出して俯瞰図作成部１６に通知する。俯瞰図作成部１６は、上述した自車両像ＩＭ、死角領域像ＩＤが俯瞰図上に表示されている画面上にこのガイドラインＬ１を重畳表示する。このとき、ガイドラインＬ１は、死角領域像ＩＤ部分を含み、その外側の俯瞰図画像まで延長されて表示されていることが好ましい。FIG. 5 shows an image display example in the case of assistance processing at the time of parking assistance or when leaving the parking position and starting. Here, driving assistance in the case where the steering wheel is turned leftward to move backward or forward is illustrated. The driving support ECU 5 calculates a support locus from the vehicle state quantity acquired by the vehicle sensor 6, the target parking position set by the input device (not shown), the target start direction, and the like. This support locus is set as the steering angle at that time with respect to the travel distance, for example. Guidelines generator 17, based on the received assistance trajectory, for example, to notify the overhead view creation unit 16 calculates the expected movement locus L 1 of the vehicle front left corner. Overhead view creation unit 16, the vehicle image I M described above, on the screen of the blind spot image I D is displayed in the diagram overhead superimpose the guideline L 1. At this time, guidelines L 1 comprises a blind area image I D portion, it is preferable that the display is extended to overhead view image of that outside.

このように、俯瞰図画像部分までガイドラインＬ１が表示されていることで、運転者は目視している周辺物体と俯瞰図画像とを対応づけることにより、ガイドラインＬ１の延長方向を直感的に把握することができ、その結果、俯瞰図画像中でも死角となってしまう死角領域像ＩＤ部分におけるガイドラインＬ１位置を容易に推定することができる。In this manner, the guidelines L 1 to overhead view image portion is being displayed, the driver by associating the overhead view image and the surrounding objects that are visually intuitively the direction of extension of the guidelines L 1 can be grasped, the result, the guidelines L 1 position in the blind spot image I D portion becomes a blind spot even in overhead view image can be easily estimated.

図６は、例えば、縦列駐車時の支援処理における画像表示例を示している。ここでは、前方車両との近接判断を容易にするため、車両前端部を表すガイドラインＬ２を自車両像ＩＭ、死角領域像ＩＤが俯瞰図上に表示されている画面上に重畳表示している。ここで、ガイドラインＬ２は、上述したガイドラインＬ１と同様に、死角領域像ＩＤ部分を含み、その外側の俯瞰図画像まで延長されて表示されていることが好ましい。FIG. 6 shows an example of image display in the support process during parallel parking, for example. Here, in order to facilitate the proximity determination to the preceding vehicle, superimposed to the guidelines L 2 representing the vehicle front end portion on the screen where the vehicle image I M, the blind spot image I D is displayed in the diagram overhead ing. Here, guidelines L 2, as a guideline L 1 described above, comprises a blind area image I D portion, it is preferable that the display is extended to overhead view image of that outside.

この場合も、ガイドラインＬ２の死角領域像ＩＤ部分における位置を容易に把握することができるため、車室内からは把握の難しい車両前端位置を把握して、前方車両との接触を防ぐことができる。In this case, it is possible to easily grasp the position in the blind spot image I D portion of the guidelines L 2, and grasp the hard vehicle front end position of the grasped from the passenger compartment, to prevent contact between the vehicle ahead it can.

本発明によれば、ガイドライン表示から死角領域における車両位置や死角領域を含めた車両挙動を直感的に把握することができるので、各種の運転支援を効果的に行うことができる。   According to the present invention, since the vehicle behavior including the vehicle position and the blind spot area in the blind spot area can be intuitively grasped from the guideline display, various driving support can be effectively performed.

以上の説明では、カメラで取得した画像を画像処理して車両を上から見た俯瞰図画像に変換して表示する場合を例に説明してきたが、カメラで取得した生の画像やその歪みを除去した画像に対して、自車両を示す領域や死角領域、ガイドラインを表示するようにしてもよい。特定の方向、例えば、後方や側方のみについて他車両や障害物との接近状況を把握する場合には、俯瞰図画像よりも、その方向のカメラ画像のみを拡大して表示するほうが効果的に把握できる場合がある。また、ガイドとしてはガイドラインを表示する例を説明したが、ガイドとしてはライン以外に、領域等を表示してもよい。   In the above description, the case where the image acquired by the camera is image-processed and converted to an overhead view image obtained by viewing the vehicle from the top has been described as an example, but the raw image acquired by the camera and its distortion have been described. You may make it display the area | region which shows the own vehicle, a blind spot area | region, and a guideline with respect to the removed image. When grasping the approach situation with other vehicles and obstacles only in a specific direction, for example, rear or side, it is more effective to display only the camera image in that direction enlarged than the overhead view image. Sometimes it is possible to grasp. Moreover, although the example which displays a guideline as a guide was demonstrated, you may display an area | region etc. besides a line as a guide.

さらに他の車両や障害物との余裕距離を考慮してその分外側にガイドラインを表示するようにしてもよい。このようにガイドライン自体が余裕距離を含んだ表示となっていると、死角領域におけるガイドラインの位置を精度よく推定することができなくても他車両や障害物との距離を保つことができるので、ユーザが負担を感じることがなく、支援の際の安心感が向上する。   Further, the guideline may be displayed on the outer side in consideration of a margin distance with other vehicles and obstacles. In this way, if the guideline itself is displayed including a marginal distance, even if it is not possible to accurately estimate the position of the guideline in the blind spot area, it is possible to maintain the distance to other vehicles and obstacles, There is no burden on the user, and the sense of security during support is improved.

本発明は、乗用車のほか、各種の車両の運転支援に好適に適用できる。   The present invention can be suitably applied to driving assistance for various vehicles in addition to passenger cars.

１…画像処理装置、２Ｂ…後方カメラ、２Ｆ…前方カメラ、２Ｌ…左方カメラ、２Ｒ…右方カメラ、３…モニタ、４…切替スイッチ、５…運転支援ＥＣＵ、６…車両センサ、１１…センサ情報取込部、１２…前左カメラ処理部、１３…前右カメラ処理部、１４…後左カメラ処理部、１５…後右カメラ処理部、１６…俯瞰図作成部、１７…ガイドライン生成部、ａＤ…死角領域、Ｂ…バンパー、ＥＦ…撮像領域、ＦＧ…フロントグリル部、Ｇ…地面、ＩＤ…死角領域像、ＩＭ…自車両像、Ｌ１、Ｌ２…ガイドライン、Ｍ…車両、ＷＦ…前輪。DESCRIPTION OF SYMBOLS 1 ... Image processing apparatus, 2B ... Rear camera, 2F ... Front camera, 2L ... Left camera, 2R ... Right camera, 3 ... Monitor, 4 ... Changeover switch, 5 ... Driving assistance ECU, 6 ... Vehicle sensor, 11 ... Sensor information fetching unit, 12 ... front left camera processing unit, 13 ... front right camera processing unit, 14 ... rear left camera processing unit, 15 ... rear right camera processing unit, 16 ... overhead view creation unit, 17 ... guideline generation unit , A D ... blind spot area, B ... bumper, EF ... imaging area, FG ... front grill, G ... ground, ID ... blind spot area image, I M ... own vehicle image, L 1 , L 2 ... guideline, M ... vehicle, W F ... the front wheels.

Claims (3)

車室内に備えられた表示装置に、車両に備えた撮像装置により取得した車両周辺画像と自車両の占める領域とを表示することにより運転者の運転操作を補助する運転補助装置において、
前記撮像装置により取得した車両周辺画像を俯瞰図へと変換し、これに、自車両および自車両周囲の前記撮像装置の死角領域像を重ね合わせた俯瞰図画像を作成する俯瞰図作成部と、
前記俯瞰図画像に重畳表示するガイドラインを作成するガイドライン作成部と、を備え、
前記ガイドラインは、少なくとも前記俯瞰図中の前記死角領域から前記撮像装置で取得した車両周辺画像に基づく画像領域まで延長されて表示されている運転補助装置。 In the driving assistance device that assists the driving operation of the driver by displaying the vehicle peripheral image acquired by the imaging device provided in the vehicle and the area occupied by the own vehicle on the display device provided in the vehicle interior,
An overhead view creation unit for creating a bird's eye view image in which a vehicle periphery image acquired by the imaging device is converted into an overhead view, and a blind spot area image of the imaging device around the host vehicle and the vehicle is superimposed on the overhead view image;
A guideline creation unit for creating a guideline to be superimposed on the overhead view image,
The guideline is a driving assistance device that is displayed at least extending from the blind spot region in the overhead view to an image region based on a vehicle peripheral image acquired by the imaging device. 前記ガイドラインは、車両の端部延長線である請求項１に記載の運転補助装置。 The driving assistance device according to claim 1, wherein the guideline is an end extension line of a vehicle. 前記ガイドラインは、運転支援中の車両の端部予想軌跡である請求項１に記載の運転補助装置。 The driving assistance device according to claim 1, wherein the guideline is a predicted end portion trajectory of the vehicle that is driving assistance.
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