JP6793193B2 - 物体検出表示装置、移動体及び物体検出表示方法 - Google Patents
物体検出表示装置、移動体及び物体検出表示方法 Download PDFInfo
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Description
図1に示すように、本開示の物体検出表示装置1は車両に搭載され、遠赤外線カメラ10、装置本体20、表示装置30を含んで構成される。車両は、移動体に含まれる。本開示の「車両」は、道路上を走行する車両を含み、特に、乗用車、トラック、バス、二輪車、及びトロリーバス等を含む。また、「車両」は、道路上を走行するブルドーザー、クレーン車、ショベルカー等の工事用車両及びトラクターなどの農業用車両等も含む。図1のヘッドライト制御装置40は、車両のヘッドライトを制御する制御装置である。
表示装置30は、表示素子32に表示される画像の虚像を投影するヘッドアップディスプレイである。このため、表示装置30から画像を投影できるフロントウィンドシールド50上の領域は、投影部34から投影された光が、フロントウィンドシールド50に反射して運転者3の眼球に入射する条件を満たす範囲に限られる。フロントウィンドシールド50での反射が正反射のとき、このような領域はフロントウィンドシールド50の上の限られた領域となる。
図12に示す第2実施形態に係る物体検出表示装置101では、第1実施形態に係る物体検出表示装置1において、遠赤外線カメラ10に代えて、第1遠赤外線カメラ111及び第2遠赤外線カメラ112を設けたものである。図12において、第1実施形態と同一または対応する構成要素には、図1で示した第1実施形態の参照符号に100を加えた参照符号を付している。第1実施形態の同一または対応する各構成要素と、構成または作用において特段の差異がない場合は、説明を省略する。図12に含まれない構成要素について言及するときは、第1実施形態と同じ参照符号を用いて説明する。
図13に示す第3実施形態に係る物体検出表示装置201では、第1実施形態に係る物体検出表示装置1に、距離センサ213を加えたものである。図13において、第1実施形態と同一または対応する構成要素には、図1で示した第1実施形態の参照符号に200を加えた参照符号を付している。第1実施形態の同一または対応する各構成要素と、構成または作用において特段の差異がない場合は、説明を省略する。図13に含まれない構成要素に言及するときは、第1実施形態と同じ参照符号を用いて説明する。
図14に示す第4実施形態に係る物体検出表示装置301では、第1実施形態に係る物体検出表示装置1に、可視光カメラ314を加えたものである。本願では、可視光波長領域の光に感度を有するカメラを可視光カメラとよび、可視光カメラで撮像して得られる画像を可視光画像とよぶ。可視光画像は、第2画像とも呼ぶ。図14において、第1実施形態と同一または対応する構成要素には、図1で示した第1実施形態の参照符号に300を加えた参照符号を付している。第1実施形態の同一または対応する各構成要素と、構成または作用において特段の差異がない場合は、説明を省略する。図14に含まれない構成要素は、第1実施形態と同じ参照符号を用いて説明する。
図19に示す第5実施形態に係る物体検出表示装置401は、第1実施形態に係る物体検出表示装置1において、表示装置30に代えて、フラットパネルディスプレイの表示部435を有する表示装置430を採用したものである。図19において、第1実施形態と同一または対応する構成要素には、図1で示した第1実施形態の参照符号に400を加えた参照符号を付している。第1実施形態の同一または対応する各構成要素と、構成または作用において特段の差異がない場合は、説明を省略する。図19に含まれない構成要素に言及するときは、第1実施形態と同じ参照符号を用いて説明する。
2 車両
3 運転者
5 ヘッドライト
10,210,310,410 遠赤外線カメラ
20,120,220,320,420 装置本体
21,121,221,321,421 入力部
22,122,222,322,422 制御部(プロセッサ)
23,123,223,323,423 メモリ
24,124,224,324,424 出力部
25,125,225,325 位置センサ
26,126,226,326,426 物体検出部
27,127,227,327,427 第1判別部
28,128,228,328,428 第2判別部
29,129,229,329,429 表示処理部
30,130,230,330,430 表示装置
31,131,231,331,431 制御部
32,132,232,332,432 表示素子
33,133,233,333 光学系
34 投影部
40,140,240,340,440 ヘッドライト制御装置
50 フロントウィンドシールド
51 バックミラー
52 路面
53 照明非到達領域
54 車両アイコン(画像要素)
55 人アイコン(画像要素)
56 第1投影領域
57 第2投影領域
61,62,63,64 アイコン
111 第1遠赤外線カメラ
112 第2遠赤外線カメラ
213 距離センサ
314,450 可視光カメラ
435 表示部
O,O1,O2 物体像
l1 ロービーム到達距離
l2 ハイビーム到達距離
l3 遠赤外線検出距離
w1 幅
Claims (12)
- 移動体に搭載され、
遠赤外線カメラと、
表示装置と、
前記遠赤外線カメラにより出力される第1画像のみから、
前記移動体のヘッドライトからの光が到達する第1距離以上離れた表示対象物体の像を検出し、
前記第1画像のみから前記表示対象物体の種別を複数種別から判定し、
前記第1画像上での前記表示対象物体の像の位置及び種別に基づいて、前記表示装置に前記表示対象物体に対応する画像要素を表示させるプロセッサと
を備える物体検出表示装置。 - 前記プロセッサは、前記第1画像上での前記表示対象物体の種別に基づいて前記表示対象物体までの距離を推定する請求項1に記載の物体検出装置。
- 前記プロセッサは、前記表示装置に表示する前記画像要素を前記種別に応じたアイコンとして表示させる請求項1または2に記載の物体検出表示装置。
- 前記プロセッサは、前記第1画像から物体の像を検出し、前記移動体から前記物体までの第2距離が前記第1距離以上のときは、前記物体の像を前記表示対象物体の像として検出し、前記移動体から前記物体までの第2距離が前記第1距離よりも短いときは、前記表示装置に前記物体に対応する画像要素を表示させない請求項1から3の何れか一項に記載の物体検出表示装置。
- 前記第1画像に含まれる物体までの第2距離を測定するセンサをさらに備え、前記プロセッサは前記移動体から前記物体までの前記第2距離を前記センサから取得して、該取得した第2距離が前記第1距離よりも長い場合に、前記物体を表示対象物体とする請求項1から4の何れか一項に記載の物体検出表示装置。
- 前記プロセッサは、前記移動体から前記第1画像に含まれる物体までの第2距離を前記物体の像の大きさに基づいて判定し、該判定した距離が前記第1距離よりも長い場合に、前記物体を表示対象物体とする請求項1から4の何れか一項に記載の物体検出表示装置。
- 前記プロセッサは、前記ヘッドライトにおける前記第1距離の異なる複数のモードのうち、選択されたモードの選択情報を取得し、該選択情報に応じて定まる前記第1距離に基づいて前記表示対象物体を検出する請求項1から6の何れか一項に記載の物体検出表示装置。
- 前記表示装置は、表示素子と、該表示素子に表示された画像の虚像を使用者の視野内へ視認可能に投影する光学系とを備えるヘッドアップディスプレイを含む請求項1から7の何れか一項に記載の物体検出表示装置。
- 前記プロセッサは、前記第1画像上での前記表示対象物体の像の位置に基づいて、前記使用者の前記視野内における前記表示対象物体の位置を特定し、前記画像要素を、前記表示素子上の前記表示対象物体が投影される位置に表示する請求項8に記載の物体検出表示装置。
- 前記光学系は、前記表示素子から射出された光の少なくとも一部を、使用者の視野内に向けて正反射とは異なる角度で反射させる反射角度制御部材を備える請求項8または9に記載の物体検出表示装置。
- 遠赤外線カメラ、表示装置、及び、前記遠赤外線カメラにより出力される第1画像のみから、ヘッドライトからの光が到達する第1距離以上離れた表示対象物体の像を検出し、前記像に対して前記表示対象物体の種別を複数種別から判定し、前記第1画像上での前記表示対象物体の像の位置及び種別に基づいて、前記表示装置に前記表示対象物体に対応する画像要素を表示させるプロセッサを含む物体検出表示装置を備える移動体。
- 遠赤外線により撮像された第1画像を取得し、
前記第1画像のみから、移動体のヘッドライトからの光が到達する距離である第1距離以上離れた表示対象物体の像を検出し、
前記表示対象物体の種別を複数種別から判定し、
前記第1画像上での前記表示対象物体の像の位置及び種別に基づいて、前記表示対象物体に対応する画像要素を表示させる
物体検出表示方法。
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