JP7228614B2 - 画像表示システム - Google Patents
画像表示システム Download PDFInfo
- Publication number
- JP7228614B2 JP7228614B2 JP2021049646A JP2021049646A JP7228614B2 JP 7228614 B2 JP7228614 B2 JP 7228614B2 JP 2021049646 A JP2021049646 A JP 2021049646A JP 2021049646 A JP2021049646 A JP 2021049646A JP 7228614 B2 JP7228614 B2 JP 7228614B2
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- image
- virtual viewpoint
- vehicle
- display
- viewpoint
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Images
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Closed-Circuit Television Systems (AREA)
- Traffic Control Systems (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Description
行動計画部43は、乗員(ユーザの一例)によるシフトレバー25に対する操作に応じてシフトアクチュエータ17を作動させ、少なくとも前進レンジと後進レンジと中立レンジと駐車レンジとの間で車両Vのシフトレンジを切り替える。前進レンジは、車両Vを前進させるシフトレンジである。後進レンジは、車両Vを後進させるシフトレンジである。中立レンジは、車輪が回転可能で、且つ、推進装置4の駆動力が車輪に伝達されないシフトレンジである。駐車レンジは、車輪の回転が規制され、且つ、推進装置4の駆動力が車輪に伝達されないシフトレンジである。
以下、図4~図6を参照しつつ、仮想視点画像51及び後方反転画像52(いずれも周辺画像の一例)について説明する。図4、図5の直線L1は車両Vの前後中心線L1(車両Vの前後方向中央を通過して左右方向に延びる直線)を示し、図4、図5の直線L2は車両Vの左右中心線L2(車両Vの左右方向中央を通過して前後方向に延びる直線)を示している。以下、画像上の左右関係と実際の空間上の左右関係が一致する画像のことを「正像」と称し、画像上の左右関係が実際の空間上の左右関係に対して反転する画像のことを「鏡像」と称する。
行動計画部43は、車両Vの駐車位置Xを探索する探索処理を実行可能に設けられている。探索処理は、前述の自動入庫処理における取得処理、軌道算出処理、及び目標駐車位置受付処理に相当する処理である。以下、車両Vの前方の鳥瞰画像48(図3(A)参照)のことを「前方鳥瞰画像48」と称する。以下、探索処理の実行中にタッチパネル32の左半分に表示される画像についてのみ説明を行い、探索処理の実行中にタッチパネル32の右半分に表示される画像(即ち、俯瞰画像47)については説明を省略する。
上記のように、乗員が駐車位置Xを選択しておらず、且つ、タッチパネル32が仮想視点画像51を表示している状態で、車両Vのシフトレンジが前進レンジから後進レンジに切り替わると、表示制御部45は、仮想視点画像51を後方反転画像52に切り替える。以下、このような仮想視点画像51から後方反転画像52への切り替えに伴って生じる課題について説明する。
上記実施形態では、タッチパネル32を表示装置及び入力装置の一例としている。一方で、他の実施形態では、車両Vと通信可能に設けられた通信機器(例えば、スマートフォン、タブレットPC、携帯電話、PDA等)を表示装置及び入力装置の一例としても良い。つまり、表示装置及び入力装置は必ずしも車両Vに搭載されていなくても良い。また、上記実施形態では、タッチパネル32が表示装置と入力装置を兼ねている。一方で、他の実施形態では、別々の構成要素によって表示装置と入力装置が構成されていても良い。
15 :制御装置
19 :車外カメラ(外界情報取得装置の一例)
32 :タッチパネル(表示装置及び入力装置の一例)
51 :仮想視点画像
52 :後方反転画像
A :仮想視点
B :軌道
C :制限領域
V :車両(移動体の一例)
Va :車両の前端部
X :駐車位置(停止位置の一例)
Y :物標
Claims (8)
- 画像表示システムであって、
移動体の周囲の外界情報を取得する外界情報取得装置と、
前記外界情報取得装置が取得した前記外界情報を表示する表示装置と、
前記表示装置による前記外界情報の表示を制御する制御装置と、を備え、
前記制御装置は、
前記移動体と前記移動体の周囲の物標とを仮想視点から見た仮想視点画像を生成して前記表示装置に表示させ、
前記移動体の周りに設定された軌道に沿って前記仮想視点を移動させ、
前記軌道のうちの平面視で前記移動体の前方に位置する部分に制限領域を設定し、
前記制限領域内にある前記仮想視点から見た前記仮想視点画像の表示を制限する視点制限制御を実行可能に設けられており、
前記視点制限制御の実行中に、前記制御装置は、前記仮想視点が前記制限領域に進入するのを許容することを特徴とする画像表示システム。 - 画像表示システムであって、
移動体の周囲の外界情報を取得する外界情報取得装置と、
前記外界情報取得装置が取得した前記外界情報を表示する表示装置と、
前記表示装置による前記外界情報の表示を制御する制御装置と、を備え、
前記制御装置は、
前記移動体と前記移動体の周囲の物標とを仮想視点から見た仮想視点画像を生成して前記表示装置に表示させ、
前記移動体の周りに設定された軌道に沿って前記仮想視点を移動させ、
前記軌道のうちの平面視で前記移動体の前方に位置する部分に制限領域を設定し、
前記制限領域内にある前記仮想視点から見た前記仮想視点画像の表示を制限する視点制限制御を実行可能に設けられており、
前記移動体のシフトレンジは、前記移動体を前進させる前進レンジと、前記移動体を後進させる後進レンジと、を含む複数のレンジの間で切り替え可能に設けられ、
前記制御装置は、前記移動体の前記シフトレンジが前記前進レンジであるときに、前記視点制限制御を実行することを特徴とする画像表示システム。 - 前記制御装置は、前記移動体の前記シフトレンジが前記後進レンジであるときに、前記視点制限制御を実行しないことを特徴とする請求項2に記載の画像表示システム。
- 前記制御装置は、前記移動体から後方を見た画像を左右に反転させた後方反転画像を生成し、前記移動体の前記シフトレンジが前記後進レンジであるときに、前記後方反転画像を前記表示装置に表示させることを特徴とする請求項3に記載の画像表示システム。
- 前記表示装置が前記仮想視点画像を表示している状態で前記移動体の前記シフトレンジが前記前進レンジから前記後進レンジに切り替わった場合に、前記制御装置は、前記仮想視点画像を前記後方反転画像に切り替えることを特徴とする請求項4に記載の画像表示システム。
- 画像表示システムであって、
移動体の周囲の外界情報を取得する外界情報取得装置と、
前記外界情報取得装置が取得した前記外界情報を表示する表示装置と、
前記表示装置による前記外界情報の表示を制御する制御装置と、を備え、
前記制御装置は、
前記移動体と前記移動体の周囲の物標とを仮想視点から見た仮想視点画像を生成して前記表示装置に表示させ、
前記移動体の周りに設定された軌道に沿って前記仮想視点を移動させ、
前記軌道のうちの平面視で前記移動体の前方に位置する部分に制限領域を設定し、
前記制限領域内にある前記仮想視点から見た前記仮想視点画像の表示を制限する視点制限制御を実行可能に設けられており、
前記制御装置は、前記移動体の停止位置を探索する探索処理を実行可能に設けられ、前記探索処理の実行中に前記視点制限制御を実行することを特徴とする画像表示システム。 - 前記視点制限制御の実行中に、前記制御装置は、前記仮想視点が前記制限領域内にある間は前記仮想視点画像の表示を制限することを特徴とする請求項1に記載の画像表示システム。
- 前記視点制限制御の実行中に、前記制御装置は、前記仮想視点が前記制限領域に進入するのを制限することを特徴とする請求項2~6のいずれか1項に記載の画像表示システム。
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