JPWO2020157901A1 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
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- JPWO2020157901A1 JPWO2020157901A1 JP2020569266A JP2020569266A JPWO2020157901A1 JP WO2020157901 A1 JPWO2020157901 A1 JP WO2020157901A1 JP 2020569266 A JP2020569266 A JP 2020569266A JP 2020569266 A JP2020569266 A JP 2020569266A JP WO2020157901 A1 JPWO2020157901 A1 JP WO2020157901A1
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 10
- 238000013459 approach Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 abstract description 24
- 238000000034 method Methods 0.000 description 40
- 238000012545 processing Methods 0.000 description 33
- 238000001514 detection method Methods 0.000 description 21
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- 238000007796 conventional method Methods 0.000 description 1
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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
- B60R1/25—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 to the sides of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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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
- B60R1/26—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 to the rear of the vehicle
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2628—Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
-
- 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
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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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
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera 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
- B60R2300/60—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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- 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
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
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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
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Human Computer Interaction (AREA)
- Closed-Circuit Television Systems (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
図1は、本発明の実施の形態1における運転支援装置を示す構成図である。図2は、本発明の実施の形態1における後側方監視カメラ10および4つの周辺監視カメラ21〜24のそれぞれの自車両への設置位置を示す上面図である。
Claims (8)
- 自車両の後側方を撮影する後側方監視カメラと、
それぞれが前記自車両の周辺を撮影する複数の周辺監視カメラと、
前記後側方監視カメラによって撮影された前記自車両の後側方の画像である後側方画像と、前記複数の周辺監視カメラによって撮影された前記自車両の周辺の画像である周辺画像とを取得する運転支援ECUと、
画像を表示する表示装置と、
を備え、
前記運転支援ECUは、
前記複数の周辺監視カメラから取得した前記周辺画像から、前記自車両の周囲の俯瞰画像を生成し、生成した前記俯瞰画像から、死角範囲を含む切り出し範囲の画像を切り出すことで、切り出し俯瞰画像を生成し、
前記後側方監視カメラから取得した前記後側方画像を、左右を反転させた画像に変換することで、後側方変換画像を生成し、
生成した前記切り出し俯瞰画像と、生成した前記後側方変換画像とを配置した合成画像を生成し、生成した前記合成画像を前記表示装置が表示するように前記表示装置を制御する
運転支援装置。 - 前記運転支援ECUは、生成した前記合成画像内において物体を検知した場合、前記合成画像内の前記物体の存在を示す報知を行う
請求項1に記載に記載の運転支援装置。 - 前記運転支援ECUは、前記報知として、
前記物体の存在を示す印を前記合成画像に描画する
請求項2に記載の運転支援装置。 - 前記運転支援ECUは、さらに前記合成画像内の前記物体が前記自車両に接近してくる場合、前記報知として、
前記自車両に接近してくる前記物体の存在を示す印を前記合成画像に描画する
請求項2または3に記載の運転支援装置。 - 音を発生させる警報装置をさらに備え、
前記運転支援ECUは、前記報知として、
前記物体の存在を示す警告音を前記警報装置が発生させるように前記警報装置を制御する
請求項2から4のいずれか1項に記載の運転支援装置。 - 前記運転支援ECUは、さらに前記合成画像内の前記物体が前記自車両に接近してくる場合、前記報知として、
前記自車両に接近してくる前記物体の存在を示す警告音を前記警報装置が発生させるように前記警報装置を制御する
請求項2から5のいずれか1項に記載の運転支援装置。 - 前記運転支援ECUが前記俯瞰画像を切り出す前記切り出し範囲を変更可能に構成されている
請求項1から6のいずれか1項に記載の運転支援装置。 - 前記運転支援ECUが生成する前記俯瞰画像の視点方向を変更可能に構成されている
請求項1から7のいずれか1項に記載の運転支援装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2019/003339 WO2020157901A1 (ja) | 2019-01-31 | 2019-01-31 | 運転支援装置 |
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JPWO2020157901A1 true JPWO2020157901A1 (ja) | 2021-09-09 |
JP7163418B2 JP7163418B2 (ja) | 2022-10-31 |
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US (1) | US11708032B2 (ja) |
JP (1) | JP7163418B2 (ja) |
CN (1) | CN113329913A (ja) |
DE (1) | DE112019006793T5 (ja) |
WO (1) | WO2020157901A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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US20230415652A1 (en) * | 2020-10-23 | 2023-12-28 | Sony Group Corporation | Camera module, information processing system, information processing method, and information processing apparatus |
WO2022192663A1 (en) * | 2021-03-12 | 2022-09-15 | Stoneridge, Inc. | Vehicle camera mirror system with adjustable video feed |
GB2623296A (en) * | 2022-10-05 | 2024-04-17 | Continental Automotive Tech Gmbh | System and method for evaluation of the driving of a vehicle |
CN116605141B (zh) * | 2023-06-26 | 2024-02-09 | 江苏泽景汽车电子股份有限公司 | 电子后视镜的显示方法、装置、电子设备、存储介质 |
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JP2011030078A (ja) * | 2009-07-28 | 2011-02-10 | Toshiba Alpine Automotive Technology Corp | 車両用画像表示装置 |
JP2012257106A (ja) * | 2011-06-09 | 2012-12-27 | Aisin Seiki Co Ltd | 画像生成装置 |
JP2016168877A (ja) * | 2015-03-11 | 2016-09-23 | 株式会社東海理化電機製作所 | 車両用視認装置 |
JP2018074286A (ja) * | 2016-10-26 | 2018-05-10 | 三菱自動車工業株式会社 | 運転支援装置 |
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JP5031801B2 (ja) * | 2009-07-28 | 2012-09-26 | 日立オートモティブシステムズ株式会社 | 車載用画像表示装置 |
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JP2013100057A (ja) * | 2011-11-09 | 2013-05-23 | Aisin Seiki Co Ltd | 運転支援装置 |
JP6443247B2 (ja) | 2015-07-14 | 2018-12-26 | 株式会社デンソー | 車両用表示装置 |
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JP6859216B2 (ja) * | 2017-07-03 | 2021-04-14 | トヨタ自動車株式会社 | 車両周辺表示装置 |
JP7163732B2 (ja) * | 2018-11-13 | 2022-11-01 | トヨタ自動車株式会社 | 運転支援装置、運転支援システム、運転支援方法およびプログラム |
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2019
- 2019-01-31 JP JP2020569266A patent/JP7163418B2/ja active Active
- 2019-01-31 DE DE112019006793.1T patent/DE112019006793T5/de active Pending
- 2019-01-31 WO PCT/JP2019/003339 patent/WO2020157901A1/ja active Application Filing
- 2019-01-31 US US17/312,473 patent/US11708032B2/en active Active
- 2019-01-31 CN CN201980090174.2A patent/CN113329913A/zh active Pending
Patent Citations (4)
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JP2011030078A (ja) * | 2009-07-28 | 2011-02-10 | Toshiba Alpine Automotive Technology Corp | 車両用画像表示装置 |
JP2012257106A (ja) * | 2011-06-09 | 2012-12-27 | Aisin Seiki Co Ltd | 画像生成装置 |
JP2016168877A (ja) * | 2015-03-11 | 2016-09-23 | 株式会社東海理化電機製作所 | 車両用視認装置 |
JP2018074286A (ja) * | 2016-10-26 | 2018-05-10 | 三菱自動車工業株式会社 | 運転支援装置 |
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US20220111794A1 (en) | 2022-04-14 |
WO2020157901A1 (ja) | 2020-08-06 |
JP7163418B2 (ja) | 2022-10-31 |
US11708032B2 (en) | 2023-07-25 |
DE112019006793T5 (de) | 2021-11-04 |
CN113329913A (zh) | 2021-08-31 |
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