JPWO2019239725A1 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- 230000009118 appropriate response Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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- 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
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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- G—PHYSICS
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- 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
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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
- B60R1/31—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 providing stereoscopic vision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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-
- 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
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- 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
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
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- 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
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Signal Processing (AREA)
- Transportation (AREA)
- Electromagnetism (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Closed-Circuit Television Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Abstract
Description
本発明に関連する更なる特徴は、本明細書の記述、添付図面から明らかになるものである。また、上記した以外の、課題、構成及び効果は、以下の実施形態の説明により明らかにされる。
図1は、本発明の一実施形態の車両制御装置の全体構成図、図2は、車両制御装置を搭載した車両の概略構成図である。
図3は、車両制御装置10の機能構成を示すブロック図であり、車両制御装置10の具体的な内部構造を示している。車両制御装置10は、マイクロコンピュータで構成しても良い。以下に説明する車両制御装置10の動作は、コンピュータプログラムで実現することも可能である。
衝突判定部1052は、判定結果を障害物検出データD1052として、表示映像切替部1043に供給する。
表示映像切替部1043は、障害物B2を囲む枠線I4を警報映像D3に表示させる処理と、枠線I4で囲まれた領域内の色を通常時の色とは別の特別色に切り替えて警報映像D3に表示させる処理を行ってもよい。図8に示す第四の例では、走行経路I1内に移動する障害物B2を検出した場合に、警報映像として、検出した障害物B2の周囲を矩形の枠線I4で囲み、枠線I4で囲まれた領域内の色を特別色に切り替えて原画像の上に重畳して表示している。運転者は、警報映像D3に表示される枠線I4で囲まれた領域内の色の変化によって、障害物B2の存在を容易に確認することができる。
Claims (13)
- 車両の外界を撮像する複数の撮像部と、
該複数の撮像部で撮像された複数の撮像画像を合成して周辺映像を生成する周辺映像合成部と、
前記車両の走行経路上に障害物が存在するか否かを判定する衝突判定部と、
前記複数の撮像部で撮像された複数の撮像画像の中から前記障害物が撮像されている撮像画像を選択し、該選択された撮像画像を含む警報映像を生成する警報映像生成部と、
該衝突判定部により前記障害物が存在しないと判定された場合に前記周辺映像を表示させ、前記障害物が存在すると判定された場合に前記警報映像を表示させる処理を行う表示映像切替部と、
を備えることを特徴とする車両制御装置。 - 前記警報映像生成部は、前記障害物が検知された領域を撮像した撮像画像を、前記障害物が撮像されている撮像画像として選択することを特徴とする請求項1に記載の車両制御装置。
- 前記警報映像生成部は、複数のセンサによって同一の障害物を検知した場合に、前記複数のセンサの中で最も検知精度の高いセンサが検知する領域を撮像した撮像画像を、前記障害物が撮像されている撮像画像として選択することを特徴とする請求項2に記載の車両制御装置。
- 前記警報映像生成部は、複数のセンサによって同一の障害物を検知した場合に、前記複数のセンサが検知する領域をそれぞれ撮像した複数の撮像画像を、前記障害物が撮像されている撮像画像として選択することを特徴とする請求項2に記載の車両制御装置。
- 前記表示映像切替部は、前記障害物が前記走行経路から経路外に移動した場合に、前記警報映像の表示を停止し、前記周辺映像を表示させる処理を行うことを特徴とする請求項1に記載の車両制御装置。
- 前記表示映像切替部は、前記障害物の移動方向を前記警報映像に表示させる処理を行うことを特徴とする請求項1に記載の車両制御装置。
- 前記表示映像切替部は、前記障害物を囲む枠線を前記警報映像に表示させる処理を行うことを特徴とする請求項1に記載の車両制御装置。
- 前記表示映像切替部は、前記枠線で囲まれた領域内の色を通常時の色とは別の特別色に切り替えて前記警報映像に表示させる処理を行うことを特徴とする請求項7に記載の車両制御装置。
- 前記表示映像切替部は、前記走行経路上に前記障害物を検知した場合、前記車両の走行領域の色を切り替えて前記警報映像に表示させる処理を行うことを特徴とする請求項1に記載の車両制御装置。
- 前記表示映像切替部は、前記走行経路上に前記障害物を検知した場合、報知音を吹鳴させる処理を行うことを特徴とする請求項1に記載の車両制御装置。
- 前記表示映像切替部は、前記障害物との距離に応じて前記報知音の吹鳴間隔を変えることを特徴とする請求項10に記載の車両制御装置。
- 前記表示映像切替部は、前記障害物との距離に応じて前記報知音の音量を変えることを特徴とする請求項10に記載の車両制御装置。
- 前記表示映像切替部は、前記障害物との距離に応じて前記報知音の周波数を変えることを特徴とする請求項10に記載の車両制御装置。
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PCT/JP2019/017124 WO2019239725A1 (ja) | 2018-06-14 | 2019-04-23 | 車両制御装置 |
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WO2021199098A1 (ja) * | 2020-03-30 | 2021-10-07 | 三菱電機株式会社 | 駐車支援装置 |
JP7507194B2 (ja) | 2022-03-28 | 2024-06-27 | 本田技研工業株式会社 | 鞍乗り型車両、及び発音装置 |
CN116968638B (zh) * | 2023-07-31 | 2024-04-09 | 广州博太电子有限公司 | 一种车辆行驶预警方法、***、介质及计算机 |
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