WO2017110069A1 - Drive assist apparatus, drive assist method, and drive assist program - Google Patents

Drive assist apparatus, drive assist method, and drive assist program Download PDF

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Publication number
WO2017110069A1
WO2017110069A1 PCT/JP2016/005152 JP2016005152W WO2017110069A1 WO 2017110069 A1 WO2017110069 A1 WO 2017110069A1 JP 2016005152 W JP2016005152 W JP 2016005152W WO 2017110069 A1 WO2017110069 A1 WO 2017110069A1
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WIPO (PCT)
Prior art keywords
display image
display
image
unit
driving
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PCT/JP2016/005152
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French (fr)
Japanese (ja)
Inventor
雄司 長谷川
百合子 中島
祐次 松本
Original Assignee
パナソニックＩｐマネジメント株式会社
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Publication of WO2017110069A1 publication Critical patent/WO2017110069A1/en

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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
    • 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
    • B60R1/28—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 an adjustable field of view
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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

Definitions

  • the present invention relates to a driving support device, a driving support method, and a driving support program that support a driving operation when a driver performs a course change or the like, and in particular, is a technique for capturing a rear view and displaying a captured image.
  • Patent Documents 1 to 3 an image showing a rear view of the vehicle (hereinafter referred to as “rear image”) is acquired by a plurality of imaging devices, and according to the driving situation of the vehicle (for example, the operating situation of the direction indicator), A technique for appropriately changing a display image is disclosed.
  • the left and right outer portions of the rear image are masked during normal running (straightly traveling), and the masking is released when the direction indicator is operated.
  • Patent Document 4 displays a one-viewpoint image viewed from one virtual viewpoint by synthesizing images by matching the infinity points of at least three images including a rear image and left and right side images. Is disclosed.
  • a driving support device includes a display unit, An imaging unit for imaging the rear view; A driving condition detector for detecting the driving condition of the host vehicle; A reference image generation unit that generates a reference image of one viewpoint based on an image captured by the imaging unit; A display image extraction unit that extracts a display image to be displayed on the display unit from the reference image; A display control unit that displays a display image on the display unit, The display image extraction unit extracts a first display image including a rear view right behind the host vehicle as a display image during normal driving, and when the driving status detection unit detects that the driving is not normal driving, Based on the detection result of the detection unit, a second display image including a rear view on the rear side of the host vehicle is extracted, The second display image includes a part or all of the first display image, When switching from the first display image to the second display image, or when switching from the second display image to the first display image, the display control unit changes the second display image to the second display image. The display position of the included portion is held.
  • the driving support method includes: (A) generating a one-viewpoint reference image based on a rear view image captured by the imaging unit; (B) extracting a display image to be displayed on the display unit from the reference image; (C) including a step of displaying a display image on the display unit, In the process B, during normal driving, a first display image including a rear view right behind the host vehicle is extracted as a display image. When the driving is not normal driving, the rear side of the rear side of the host vehicle is determined based on the driving situation.
  • Step C is included in the second display image among the first display images when switching from the first display image to the second display image or when switching from the second display image to the first display image.
  • the display position of the portion to be displayed is held.
  • a driving support program is provided in a computer of a driving support device.
  • the process B the first display image showing the rear field of view immediately behind the host vehicle is extracted as a display image during normal driving.
  • the rear side of the rear side of the host vehicle is performed.
  • Process C is included in the second display image among the first display images when switching from the first display image to the second display image or when switching from the second display image to the first display image. And a process for holding the display position of the portion to be displayed.
  • a driving support device capable of displaying an image of a rear view useful for the driver appropriately in accordance with the driving situation and in a mode that the driver can easily recognize.
  • a program is provided.
  • FIG. 1 is a diagram illustrating a configuration of a driving support apparatus according to an embodiment.
  • FIG. 2 is a diagram illustrating an arrangement mode of the in-vehicle camera constituting the imaging unit.
  • FIG. 3A is a diagram illustrating an example of a captured image.
  • FIG. 3B is a diagram illustrating an example of a captured image.
  • FIG. 3C is a diagram illustrating an example of a captured image.
  • FIG. 4 is a diagram illustrating a preferred example of the display size of the display image.
  • FIG. 5 is a flowchart illustrating an example of the driving support process.
  • FIG. 6 is a diagram illustrating an example of a reference image for one viewpoint.
  • FIG. 7A is a diagram illustrating an example of a display image when a course is changed.
  • FIG. 7B is a diagram illustrating an example of a display image when a course is changed.
  • FIG. 7C is a diagram illustrating an example of a display image when a course is changed.
  • FIG. 8A is a diagram illustrating an example of a display when a course is changed on the display unit.
  • FIG. 8B is a diagram illustrating an example of a display when a course is changed on the display unit.
  • FIG. 8C is a diagram illustrating an example of a display when a course is changed on the display unit.
  • FIG. 9A is a diagram illustrating an example of a display at the time of backward movement on the display unit.
  • FIG. 9B is a diagram illustrating an example of a display at the time of backward movement on the display unit.
  • FIG. 9A is a diagram illustrating an example of a display at the time of backward movement on the display unit.
  • FIG. 9C is a diagram illustrating an example of a display at the time of backward movement on the display unit.
  • FIG. 10A is a diagram illustrating another example of a display when a course is changed on the display unit.
  • FIG. 10B is a diagram illustrating another example of the display when the course is changed on the display unit.
  • FIG. 10C is a diagram illustrating another example of the display when the route is changed on the display unit.
  • FIG. 11A is a diagram illustrating another example of the configuration of the display unit.
  • FIG. 11B is a diagram illustrating another example of the configuration of the display unit.
  • FIG. 11C is a diagram illustrating another example of the configuration of the display unit.
  • a rear image captured by a rear camera, a left rear side image captured by a left side camera, and a right rear side image captured by a right side camera are respectively Since it is configured to be displayed on different screens, the display content of each screen includes an overlapping portion. For this reason, the masked object on the left and right screens displaying the left rear side image and the right rear side image may be displayed on the central screen displaying the rear image, which may cause the driver to feel uncomfortable. There is.
  • the driving assistance devices described in Patent Documents 2 and 3 since the display content changes discontinuously, such as switching to an image with a different viewpoint, there is a possibility of causing confusion to the driver.
  • An object of the present disclosure is to provide a driving assistance device, a driving assistance method, and a driving assistance capable of displaying a rear view image useful for a driver appropriately in a manner that is easily recognized by the driver according to a driving situation. Is to provide a program.
  • FIG. 1 is a diagram showing a configuration of a driving support apparatus 1 according to the present embodiment.
  • FIG. 2 is a diagram illustrating an arrangement mode of the in-vehicle camera constituting the imaging unit 12.
  • the driving support apparatus 1 supports a driver's driving operation by displaying a captured image of a rear view.
  • the captured image is different in a case where the driving is normal and a case where the driving is not normal. It is characterized by displaying.
  • a case where the course is changed will be described as an example of “when not traveling normally”.
  • Course changes include lane changes, left and right turns, overtaking of the preceding vehicle, and stopping at the roadside.
  • the driving support device 1 includes a control unit 11, an imaging unit 12, a display unit 13, a driving condition detection unit 14, and the like.
  • the control unit 11 includes a CPU (Central Processing Unit) 111 as an arithmetic / control device, a RAM (Random-Access Memory) 112 and a ROM (Read-Only Memory) 113 as a main storage device.
  • the CPU 111 reads out a program corresponding to the processing content from the ROM 113 and expands it in the RAM 112, and controls each block in cooperation with the expanded program.
  • the ROM 113 stores a driving support program for supporting a driving operation such as a lane change or a left / right turn in addition to a basic program called BIOS (Basic Input / Output System). Specific functions of the control unit 11 will be described later.
  • BIOS Basic Input / Output System
  • the imaging unit 12 is at least one in-vehicle camera mounted on the host vehicle V.
  • the imaging unit 12 always captures the rear field of view and outputs an image signal indicating the rear field of view to the control unit 11.
  • the imaging unit 12 includes, for example, a rear camera 121, a right side camera 122, and a left side camera 123. As a result, it is possible to reliably capture the left and right blind spot areas outside the imaging range of the rear camera 121.
  • the rear camera 121 is installed, for example, on the roof spoiler of the host vehicle V and images the rear view R1.
  • the right side camera 122 and the left side camera 123 are installed on the side mirror of the host vehicle V, respectively, and take an image of the right rear side field of view R2 and the left rear side field of view R3 of the vehicle V.
  • the right side camera 122 and the left side camera 123 only need to be able to image the right rear side field of view R2 and the left rear side field of view R3 of the host vehicle V, respectively. It may be installed as an alternative. For example, when the host vehicle V is traveling in the center lane of a three-lane road on one side, the rear camera 121 captures an image IM1 as shown in FIG. 3A, and the right side camera 122 captures an image IM2 as shown in FIG. 3B.
  • the left side camera 123 captures an image IM3 as shown in FIG. 3C.
  • the rear camera 121, the right side camera 122, and the left side camera 123 can adjust the vertical angle of view. Further, as the rear camera 121, two in-vehicle cameras that have different mounting positions in the vertical direction and can capture different rear views may be applied.
  • the display unit 13 is a display (for example, a liquid crystal display or an organic EL display) of a navigation system arranged on an instrument panel, for example.
  • the attachment position of the display part 13 should just be a position which a driver
  • the display unit 13 may be installed as an alternative to the inside mirror, for example, at the installation position of the inside mirror in a general vehicle. Furthermore, as the display unit 13, an inside mirror display to which a so-called electronic mirror device including a magic mirror and a display is applied can be used.
  • the display unit 13 displays an image based on a display control signal from the control unit 11 (display control unit 11C).
  • the display unit 13 preferably has an effective display area D (image displayable area) that can display all of a reference image IMR described later.
  • the display unit 13 displays a display image DI (part or all of the reference image IMR) extracted from the reference image IMR according to the driving situation.
  • the display size of the display image DI on the display unit 13 is preferably a size that can be easily recognized by the driver during normal driving.
  • an effective viewing angle (a region where information can be received instantaneously) excellent in information receiving capability is about 30 ° in the horizontal direction. That is, as shown in FIG. 4, it is assumed that the display unit 13 is arranged at a position 500 mm ahead of the reference eye point E (a point representing the position of the driver's eyes in a normal driving state) in the horizontal plane. In this case, by setting the horizontal display size to 280 mm, the entire display image DI falls within the driver's effective viewing angle. Therefore, the driver can easily recognize the display image DI.
  • the display size of the display image DI is variable.
  • the driving state detection unit 14 includes a sensor that detects a driving operation by the driver, specifically, a driver's intention regarding the driving operation.
  • the driving condition detection unit 14 includes, for example, a winker sensor that detects the state of the turn indicator, a steering angle sensor that detects the state of the steering wheel, a vehicle speed sensor that detects the vehicle speed, and a shift position sensor that detects the shift state. Applicable.
  • the driving condition detection unit 14 always detects a driving operation by the driver and outputs a signal (detection result) indicating the driving operation to the control unit 11.
  • the driving state detection unit 14 Based on the detection result of the driving state detection unit 14, it can be detected that the driver wants to change the course. For example, when an operation for blinking the right blinker lamp is performed on the direction indicator, it can be detected that the driver wants to change the course to the right side.
  • the driving situation can also be detected by analyzing the image captured by the imaging unit 12. That is, the imaging unit 12 may also serve as the driving condition detection unit 14.
  • the control unit 11 functions as a reference image generation unit 11A, a display image extraction unit 11B, and a display control unit 11C.
  • the reference image generation unit 11A generates a single-view reference image IMR based on the image captured by the imaging unit 12.
  • the display image extraction unit 11B extracts and extracts the display image DI to be displayed on the display unit 13 from the reference image IMR.
  • the display control unit 11C displays the display image DI extracted by the display image extraction unit 11B on the display unit 13. A moving image having the display image DI as one frame is displayed on the display unit 13.
  • FIG. 5 is a flowchart illustrating an example of a driving support process executed by the control unit 11. This process is realized by the CPU 111 calling and executing a driving support program stored in the ROM 113 when the engine of the host vehicle V is started, for example.
  • the driving support processing when the vehicle departs and normal travel is performed will be described.
  • step S101 the control unit 11 acquires an image captured by the imaging unit 12, and generates a single viewpoint reference image IMR based on the acquired image (processing as the reference image generation unit 11A). This process is sequentially performed while the driving support process is executed.
  • the reference image generation unit 11A is at infinity of the three images IM1 to IM3 captured by the imaging unit 12.
  • a one-view reference image IMR is generated. For example, when acquiring the images IM1 to IM3 shown in FIGS. 3A to 3C, the reference image generating unit 11A combines them to generate the reference image IMR shown in FIG.
  • step S102 the control unit 11 extracts the first display image DI1 including the rear view R1 directly behind the host vehicle V from the reference image IMR as a display image (processing as the display image extraction unit 11B). For example, when the reference image IMR shown in FIG. 6 is generated, the first display image DI1 shown in FIG. 7A is extracted.
  • step S103 the control unit 11 displays the first display image DI1 extracted as the display image on the central portion of the effective display area D of the display unit 13 (processing as the display control unit 11C). That is, during normal traveling, the first display image DI1 is displayed on the display unit 13.
  • the first display image DI1 shown in FIG. 7A is extracted, the first display image DI1 is displayed in the central portion of the effective display area D as shown in FIG. 8A.
  • the display size of the first display image DI1 in the horizontal direction is set to a size that fits within an effective visual field of 30 ° (for example, 280 mm).
  • the first display image DI1 includes at least a part of an overlapping range (see FIG. 2) when the images IM1 to IM3 are combined.
  • the driver can recognize the blind spots located on the left and right sides of the host vehicle V from the normal travel time.
  • the display control unit 11C preferably superimposes an image DI3 indicating the cabin of the host vehicle V on the first display image DI1.
  • the driver can accurately recognize the positional relationship between the host vehicle V and the surrounding environment during normal traveling.
  • step S104 the control unit 11 determines whether or not a vehicle course change (intention to change course by the driver) has been detected based on the detection result of the driving situation detection unit 14 (as the display image extraction unit 11B). Processing). For example, when the detection result of the driving condition detection unit 14 indicates that an operation for blinking the right blinker lamp is performed on the direction indicator, or an operation for blinking the left blinker lamp is performed on the direction indicator. If this is the case, it is determined that a change in the course of the vehicle has been detected. If the vehicle course change is not detected and normal running is continued, the process proceeds to step S102. If the vehicle course change is detected, the process proceeds to step S105.
  • step S105 the control unit 11 extracts, from the reference image IMR, the second display image DI2 including the rear fields of view R2 and R3 behind the host vehicle V as a display image (processing as the display image extraction unit 11B).
  • a display image processing as the display image extraction unit 11B.
  • an image obtained by adding a rear view on the side where the route is changed to the entire first display image DI1 is extracted as the second display image DI2. Since the second display image DI2 includes the entire first display image DI1, the display content changes only in the extended portion. By holding the display content that the driver has recognized so far, it is possible to prevent the driver's anxiety associated with the change in the display content from being dispelled.
  • the extraction range is extended to the right with reference to the first display image DI1 shown in FIG.
  • a second display image DI21 shown in FIG. 7B is extracted.
  • the extraction range is extended to the left with reference to the first display image DI1 shown in FIG. 7A.
  • a second display image DI22 shown in FIG. 7C is extracted.
  • step S106 the control unit 11 causes the display unit 13 to display the second display image DI2 extracted as the display image (processing as the display control unit 11C).
  • the display control unit 11C expands the display area when the first display image DI1 is displayed in the horizontal direction, and expands the display area.
  • the second display image DI2 is displayed while maintaining the display position of the portion included in the second display image DI2 in the first display image DI1.
  • the central portion of the effective display area D (see FIG. 8A) is placed on the right side while maintaining the vertical display size.
  • the second display image DI21 is displayed in the expanded display area.
  • the central portion (see FIG. 8A) of the effective display area D is set to the left side while maintaining the vertical display size.
  • the second display image DI22 is displayed in the expanded display area.
  • an image obtained by adding the rear view on the side where the course is changed to the entire first display image DI1 is extracted and displayed as the second display image DI2. That is, the second display image DI2 is expanded by moving the second image end on the path change side while fixing the first image end on the opposite side to the course change side in the first display image DI1. It has been done.
  • the display content on the display unit 13 does not change completely, so that the driver can be prevented from being confused with the change in the display content. . Further, since the first display image DI1 and the second display image DI2 are extracted from the one-view reference image IMR, an integrated field of view is provided to the driver. Therefore, when switching from the first display image DI1 to the second display image DI2, the driver can intuitively grasp which part of the field of view has been expanded.
  • the horizontal display size of the second display image DI2 is, for example, a size that fits within a viewing angle of 50 ° (for example, 375 mm). That is, the expansion by switching from the first display image DI1 to the second display image DI2 corresponds to a viewing angle of 20 °. Accordingly, the driver can gaze at and recognize the second display image DI2 without difficulty.
  • the display control unit 11C When displaying the second display image DI2, the display control unit 11C preferably superimposes an image DI3 indicating the cabin of the host vehicle V as shown in FIGS. 8B and 8C. Accordingly, the driver can accurately recognize the positional relationship between the host vehicle V and the surrounding environment when the lane is changed.
  • step S107 the control unit 11 determines whether or not the course change has been completed (processing as the display image extraction unit 11B). For example, when the detection result of the driving condition detection unit 14 indicates that an operation for turning off the blinker lamp (including an operation of the steering wheel) has been performed, it is determined that the course change of the vehicle has been completed. When the course change of the vehicle is not completed, the process proceeds to step S105.
  • step S101 is executed again, and the processing after step S101 is executed again, and the second display image DI2 is switched to the first display image DI1.
  • the display control unit 11C switches from the first display image DI1 to the second display image DI2
  • the first display image DI1 is displayed while holding.
  • the display control unit 11C gradually expands or reduces the display area when switching from the first display image DI1 to the second display image DI2 or when switching from the second display image DI2 to the first display image DI1. Thus, it is preferable to change the display continuously. This makes it easier for the driver to accept a change in the display image DI than when the display is switched instantaneously.
  • the switching from the first display image DI1 to the second display image DI2 is preferably performed continuously as described above, but can also be performed instantaneously.
  • the driving support apparatus 1 includes the display unit 13, the imaging unit 12 that captures the rear view, the driving situation detection unit 14 that detects the driving situation of the host vehicle, and the imaging unit 12. Based on the captured image, a reference image generation unit 11A that generates a single-view reference image IMR, a display image extraction unit 11B that extracts a display image DI to be displayed on the display unit 13 from the reference image IMR, and a display unit 13 And a display control unit 11C for displaying the display image DI.
  • the display image extraction unit 11B extracts the first display image DI1 including the rear view R1 directly behind the host vehicle as the display image DI during normal traveling.
  • a second display image DI2 including the visual fields R2 and R3 is extracted.
  • the second display image DI2 includes the entire first display image DI1.
  • the display control unit 11C switches from the first display image DI1 to the second display image DI2, or when switching from the second display image DI2 to the first display image DI1, the display control unit 11C includes the first display image DI1. The display position of the portion included in the second display image DI2 is held.
  • the driving assistance device 1 can display a rear view image useful for the driver in an appropriate manner according to the driving situation and in a manner that the driver can easily recognize.
  • the rear camera 121 may be configured with a wide-angle camera having an angle of view of about 180 °, and the right side camera 122 and the left side camera 123 may be omitted. In this case, the captured image of one rear camera 121 becomes a one-viewpoint image as it is.
  • the case where the course is changed is shown as an example of “not normal driving” in which the second display image DI ⁇ b> 2 is displayed.
  • the case includes a wide range of cases where the vehicle does not travel straight at a constant speed, such as when there is an approaching vehicle. That is, the driving condition detection unit 14 according to the present invention only needs to be able to detect these “not normal driving”, and may be a sensor that detects the surrounding environment of the vehicle, such as a millimeter wave radar or an infrared laser.
  • an image obtained by adding the left and right rear views to the entire first display image DI1 is the second display image DI2. It may be extracted and displayed (see FIGS. 9A and 9B). Furthermore, an image with the angle of view downward as a whole may be extracted and displayed as the second display image DI2 with reference to the second display image DI2 shown in FIG. 9B. (See FIG. 9C). In this case, the image DI3 indicating the passenger compartment of the host vehicle V may be deleted.
  • the display mode of the display image DI on the display unit 13 is not limited to that described in the embodiment.
  • 10A to 10C are diagrams showing other examples of display modes of the display image DI on the display unit 13.
  • FIG. 10A shows the first display image DI1 during normal travel
  • FIG. 10B shows the second display image DI21 when the course is changed to the right side
  • FIG. 10C shows the second display image when the course is changed to the left side. DI22 is shown.
  • an image obtained by adding a rear view on the side to be changed to a part of the first display image DI1 including the second image end on the side to be changed is a second display image DI2. It may be extracted and displayed. That is, when switching from the first display image DI1 to the second display image DI2, the first image end on the side opposite to the course changing side in the first display image DI1 is variable together with the second image end. There may be.
  • the moving direction of the first image end may be the same as the moving direction of the second image end, or may be opposite.
  • FIG. 10 shows a case where the moving direction of the first image end and the moving direction of the second image end are the same.
  • the driver's viewpoint tends to concentrate on one point, and if the display size of the display image DI is excessively expanded, information will be excessive, so the moving direction of the first image edge And the movement direction of the second image end are made the same (see FIG. 10). At this time, the movement amount of the first image edge is made smaller than the movement amount (expansion) of the second image edge.
  • the driver's viewpoint movement is allowed in a wide range when changing the course while traveling at low speed, the movement direction of the first image edge and the movement direction of the second image edge are reversed to increase the amount of information. May be.
  • the display unit 13 includes a first display unit 131 that displays the first display image DI1, and a first display image DI1 out of the second display image DI2.
  • the first display unit 131 and the second display units 132 and 133 may be configured independently of each other. Thereby, a general-purpose liquid crystal panel having a small effective display area can be applied as the display unit 13.
  • the above-described driving support processing is realized by the control unit 11 executing the driving support program.
  • the driving support program can be stored in a computer-readable storage medium such as a magnetic disk, an optical disk, or a flash memory and provided to the control unit 11.
  • the driving support program can be provided by downloading via a communication line such as the Internet.
  • the present invention is suitable for a driving support device, a driving support method, and a driving support program that support a driving operation when the driver performs a course change or the like.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

A drive assist device, provided with a display unit, an imaging unit, a driving state detection unit, a reference image generation unit for generating a reference image from one point of view, a display image extraction unit for extracting a display image to be displayed on the display unit from the reference image, and a display control unit for displaying the display image on the display unit. During normal travel, the display image extraction unit extracts, as the display image, a first display image including a rearward visual field directly rearward of the host vehicle. Outside of normal travel, the display image extraction unit extracts a second display image including a rearward visual field to the lateral rear of the host vehicle on the basis of the result of detection by the driving state detection unit. When switching to a display image, the display control unit maintains the display position of a portion of the first display image that is included in the second display image.

Description

運転支援装置、運転支援方法及び運転支援プログラムDriving support device, driving support method, and driving support program
　本発明は、運転者が進路変更等を行う際の運転操作を支援する運転支援装置、運転支援方法及び運転支援プログラムに関し、特に、後方視界を撮像して撮像画像を表示する技術である。 The present invention relates to a driving support device, a driving support method, and a driving support program that support a driving operation when a driver performs a course change or the like, and in particular, is a technique for capturing a rear view and displaying a captured image.
　近年、ＣＣＤ（Ｃｈａｒｇｅ　Ｃｏｕｐｌｅｄ　Ｄｅｖｉｃｅ）カメラ等の撮像装置によって撮像された画像を、液晶ディスプレイ等の表示装置に表示させることにより、運転者が進路変更（例えば車線変更や左右折）等を行う際の運転操作を支援する運転支援装置の開発が進められ、実用化されている（例えば特許文献１～４）。 In recent years, when an image taken by an imaging device such as a CCD (Charge Coupled Device) camera is displayed on a display device such as a liquid crystal display, the driver changes the course (for example, changing lanes or turning left and right). Development of driving support devices that support driving operations has been promoted and put into practical use (for example, Patent Documents 1 to 4).
　特許文献１～３には、複数の撮像装置によって車両の後方視界を示す画像（以下「後方画像」と称する）を取得し、車両の運転状況（例えば方向指示器の操作状況）に応じて、表示画像を適宜変更する技術が開示されている。特に、特許文献１には、後方画像の左右外側部分を、通常走行時（直進時）はマスキングし、方向指示器の作動時等にマスキングを解除することが開示されている。 In Patent Documents 1 to 3, an image showing a rear view of the vehicle (hereinafter referred to as “rear image”) is acquired by a plurality of imaging devices, and according to the driving situation of the vehicle (for example, the operating situation of the direction indicator), A technique for appropriately changing a display image is disclosed. In particular, Patent Document 1 discloses that the left and right outer portions of the rear image are masked during normal running (straightly traveling), and the masking is released when the direction indicator is operated.
　特許文献１に記載の技術によれば、通常走行時において重要度の低い後方画像の外側部分をマスキングすることにより、運転者に対して重要度の高い有用な情報だけを提供することができる。また、表示対象物の大きさが急に変化したり、表示位置が不連続に移動したりしないため、後方視界の視認性が向上する。 According to the technique described in Patent Document 1, only useful information with high importance can be provided to the driver by masking the outer portion of the rear image with low importance during normal driving. In addition, since the size of the display object does not change suddenly or the display position does not move discontinuously, the visibility of the rear view is improved.
　また、特許文献４には、後方画像及び左右側方画像を含む少なくとも３つの画像の無限遠点を一致させて画像を合成することにより、一つの仮想視点から見た一視点画像を表示することが開示されている。 Patent Document 4 displays a one-viewpoint image viewed from one virtual viewpoint by synthesizing images by matching the infinity points of at least three images including a rear image and left and right side images. Is disclosed.
国際公開第２０１４／１６２８３５号International Publication No. 2014/162835 特開２００８－１００５９６号公報JP 2008-100596 A 特開２００８－１９５２２０号公報JP 2008-195220 A 特開平１０－２５７４８２号公報JP-A-10-257482
　本開示に係る運転支援装置は、表示部と、
　後方視界を撮像する撮像部と、
　自車両の運転状況を検出する運転状況検出部と、
　撮像部によって撮像された画像に基づいて、一視点の基準画像を生成する基準画像生成部と、
　基準画像から表示部に表示する表示画像を抽出する表示画像抽出部と、
　表示部に表示画像を表示する表示制御部と、を備え、
　表示画像抽出部は、通常走行時には、自車両の真後ろの後方視界を含む第１の表示画像を表示画像として抽出し、運転状況検出部により通常走行でないことが検出された場合には、運転状況検出部の検出結果に基づいて、自車両の後側方の後方視界を含む第２の表示画像を抽出し、
　第２の表示画像は、第１の表示画像の一部又は全部を含み、
　表示制御部は、第１の表示画像から第２の表示画像に切り替える際、又は第２の表示画像から第１の表示画像に切り替える際に、第１の表示画像のうち第２の表示画像に含まれる部分の表示位置を保持することを特徴とする。 A driving support device according to the present disclosure includes a display unit,
An imaging unit for imaging the rear view;
A driving condition detector for detecting the driving condition of the host vehicle;
A reference image generation unit that generates a reference image of one viewpoint based on an image captured by the imaging unit;
A display image extraction unit that extracts a display image to be displayed on the display unit from the reference image;
A display control unit that displays a display image on the display unit,
The display image extraction unit extracts a first display image including a rear view right behind the host vehicle as a display image during normal driving, and when the driving status detection unit detects that the driving is not normal driving, Based on the detection result of the detection unit, a second display image including a rear view on the rear side of the host vehicle is extracted,
The second display image includes a part or all of the first display image,
When switching from the first display image to the second display image, or when switching from the second display image to the first display image, the display control unit changes the second display image to the second display image. The display position of the included portion is held.
　本開示に係る運転支援方法は、
　（Ａ）撮像部によって撮像された後方視界の画像に基づいて、一視点の基準画像を生成する工程と、
　（Ｂ）基準画像から表示部に表示する表示画像を抽出する工程と、
　（Ｃ）表示部に表示画像を表示する工程と、を備え、
　工程Ｂは、通常走行時には、自車両の真後ろの後方視界を含む第１の表示画像を表示画像として抽出し、通常走行でない場合には、運転状況に基づいて、自車両の後側方の後方視界を含む第２の表示画像を抽出し、
　第２の表示画像は、第１の表示画像の一部又は全部を含み、
　工程Ｃは、第１の表示画像から第２の表示画像に切り替える際、又は第２の表示画像から第１の表示画像に切り替える際に、第１の表示画像のうち第２の表示画像に含まれる部分の表示位置を保持することを特徴とする。 The driving support method according to the present disclosure includes:
(A) generating a one-viewpoint reference image based on a rear view image captured by the imaging unit;
(B) extracting a display image to be displayed on the display unit from the reference image;
(C) including a step of displaying a display image on the display unit,
In the process B, during normal driving, a first display image including a rear view right behind the host vehicle is extracted as a display image. When the driving is not normal driving, the rear side of the rear side of the host vehicle is determined based on the driving situation. Extracting a second display image including the field of view;
The second display image includes a part or all of the first display image,
Step C is included in the second display image among the first display images when switching from the first display image to the second display image or when switching from the second display image to the first display image. The display position of the portion to be displayed is held.
　本開示に係る運転支援プログラムは、運転支援装置のコンピューターに、
　（Ａ）撮像部によって撮像された後方視界の画像に基づいて、一視点の基準画像を生成する処理と、
　（Ｂ）基準画像から表示部に表示する表示画像を抽出する処理と、
　（Ｃ）表示部に表示画像を表示する処理と、を実行させる運転支援プログラムであって、
　処理Ｂは、通常走行時には、自車両の真後ろの後方視界を示す第１の表示画像を表示画像として抽出し、通常走行でない場合には、運転状況に基づいて、自車両の後側方の後方視界を含む第２の表示画像を抽出する処理を含み、
　第２の表示画像は、第１の表示画像の一部又は全部を含み、
　処理Ｃは、第１の表示画像から第２の表示画像に切り替える際、又は第２の表示画像から第１の表示画像に切り替える際に、第１の表示画像のうち第２の表示画像に含まれる部分の表示位置を保持する処理を含むことを特徴とする。 A driving support program according to the present disclosure is provided in a computer of a driving support device.
(A) processing for generating a reference image of one viewpoint based on an image of a rear view captured by the imaging unit;
(B) a process of extracting a display image to be displayed on the display unit from the reference image;
(C) a driving support program for executing a process of displaying a display image on a display unit,
In the process B, the first display image showing the rear field of view immediately behind the host vehicle is extracted as a display image during normal driving. When the driving is not normal driving, the rear side of the rear side of the host vehicle is performed. Including a process of extracting a second display image including a field of view;
The second display image includes a part or all of the first display image,
Process C is included in the second display image among the first display images when switching from the first display image to the second display image or when switching from the second display image to the first display image. And a process for holding the display position of the portion to be displayed.
　本開示によれば、運転者にとって有用な後方視界の画像を、運転状況に応じて適切に、かつ運転者が認識しやすい態様で表示することができる運転支援装置、運転支援方法、及び運転支援プログラムが提供される。 According to the present disclosure, a driving support device, a driving support method, and a driving support capable of displaying an image of a rear view useful for the driver appropriately in accordance with the driving situation and in a mode that the driver can easily recognize. A program is provided.
図１は、実施の形態に係る運転支援装置の構成を示す図である。FIG. 1 is a diagram illustrating a configuration of a driving support apparatus according to an embodiment. 図２は、撮像部を構成する車載カメラの配置態様を示す図である。FIG. 2 is a diagram illustrating an arrangement mode of the in-vehicle camera constituting the imaging unit. 図３Ａは、撮像画像の一例を示す図である。FIG. 3A is a diagram illustrating an example of a captured image. 図３Ｂは、撮像画像の一例を示す図である。FIG. 3B is a diagram illustrating an example of a captured image. 図３Ｃは、撮像画像の一例を示す図である。FIG. 3C is a diagram illustrating an example of a captured image. 図４は、表示画像の表示サイズの好適な例を示す図である。FIG. 4 is a diagram illustrating a preferred example of the display size of the display image. 図５は、運転支援処理の一例を示すフローチャートである。FIG. 5 is a flowchart illustrating an example of the driving support process. 図６は、一視点の基準画像の一例を示す図である。FIG. 6 is a diagram illustrating an example of a reference image for one viewpoint. 図７Ａは、進路変更時の表示画像の一例を示す図である。FIG. 7A is a diagram illustrating an example of a display image when a course is changed. 図７Ｂは、進路変更時の表示画像の一例を示す図である。FIG. 7B is a diagram illustrating an example of a display image when a course is changed. 図７Ｃは、進路変更時の表示画像の一例を示す図である。FIG. 7C is a diagram illustrating an example of a display image when a course is changed. 図８Ａは、表示部における進路変更時の表示の一例を示す図である。FIG. 8A is a diagram illustrating an example of a display when a course is changed on the display unit. 図８Ｂは、表示部における進路変更時の表示の一例を示す図である。FIG. 8B is a diagram illustrating an example of a display when a course is changed on the display unit. 図８Ｃは、表示部における進路変更時の表示の一例を示す図である。FIG. 8C is a diagram illustrating an example of a display when a course is changed on the display unit. 図９Ａは、表示部における後退時の表示の一例を示す図である。FIG. 9A is a diagram illustrating an example of a display at the time of backward movement on the display unit. 図９Ｂは、表示部における後退時の表示の一例を示す図である。FIG. 9B is a diagram illustrating an example of a display at the time of backward movement on the display unit. 図９Ｃは、表示部における後退時の表示の一例を示す図である。FIG. 9C is a diagram illustrating an example of a display at the time of backward movement on the display unit. 図１０Ａは、表示部における進路変更時の表示の他の一例を示す図である。FIG. 10A is a diagram illustrating another example of a display when a course is changed on the display unit. 図１０Ｂは、表示部における進路変更時の表示の他の一例を示す図である。FIG. 10B is a diagram illustrating another example of the display when the course is changed on the display unit. 図１０Ｃは、表示部における進路変更時の表示の他の一例を示す図である。FIG. 10C is a diagram illustrating another example of the display when the route is changed on the display unit. 図１１Ａは、表示部の構成の他の一例を示す図である。FIG. 11A is a diagram illustrating another example of the configuration of the display unit. 図１１Ｂは、表示部の構成の他の一例を示す図である。FIG. 11B is a diagram illustrating another example of the configuration of the display unit. 図１１Ｃは、表示部の構成の他の一例を示す図である。FIG. 11C is a diagram illustrating another example of the configuration of the display unit.
　本発明の実施の形態の説明に先立ち、従来における問題点を簡単に説明する。特許文献１に記載の運転支援装置においては、リアカメラによって撮像される後方画像、左サイドカメラによって撮像される左後側方画像、及び右サイドカメラによって撮像される右後側方画像が、それぞれ異なる画面に表示される構成となっているため、各画面の表示内容には重複部分が含まれる。そのため、左後側方画像及び右後側方画像を表示する左右の画面においてマスキングされた対象物が、後方画像を表示する中央の画面では表示される場合があり、運転者に違和感を与える虞がある。また、特許文献２、３に記載の運転支援装置においては、視点の異なる画像に切り替わるなど、表示内容が不連続に変化するため、運転者に混乱を生じさせる虞がある。 Prior to the description of the embodiment of the present invention, the conventional problems will be briefly described. In the driving support device described in Patent Document 1, a rear image captured by a rear camera, a left rear side image captured by a left side camera, and a right rear side image captured by a right side camera are respectively Since it is configured to be displayed on different screens, the display content of each screen includes an overlapping portion. For this reason, the masked object on the left and right screens displaying the left rear side image and the right rear side image may be displayed on the central screen displaying the rear image, which may cause the driver to feel uncomfortable. There is. In addition, in the driving assistance devices described in Patent Documents 2 and 3, since the display content changes discontinuously, such as switching to an image with a different viewpoint, there is a possibility of causing confusion to the driver.
　本開示の目的は、運転者にとって有用な後方視界の画像を、運転状況に応じて適切に、かつ運転者が認識しやすい態様で表示することができる運転支援装置、運転支援方法、及び運転支援プログラムを提供することである。 An object of the present disclosure is to provide a driving assistance device, a driving assistance method, and a driving assistance capable of displaying a rear view image useful for a driver appropriately in a manner that is easily recognized by the driver according to a driving situation. Is to provide a program.
　以下、本発明の実施の形態を、図面を参照して詳細に説明する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
　図１は、本実施の形態に係る運転支援装置１の構成を示す図である。図２は、撮像部１２を構成する車載カメラの配置態様を示す図である。 FIG. 1 is a diagram showing a configuration of a driving support apparatus 1 according to the present embodiment. FIG. 2 is a diagram illustrating an arrangement mode of the in-vehicle camera constituting the imaging unit 12.
　運転支援装置１は、後方視界の撮像画像を表示することにより、運転者の運転操作を支援するものであり、特に、通常走行である場合と通常走行でない場合とで、撮像画像を異なる態様で表示することを特徴とする。ここでは、「通常走行でない場合」の一例として、進路変更が行われる場合について説明する。進路変更には、車線変更、右左折、前走車の追い越し、路端への停止などが含まれる。 The driving support apparatus 1 supports a driver's driving operation by displaying a captured image of a rear view. In particular, the captured image is different in a case where the driving is normal and a case where the driving is not normal. It is characterized by displaying. Here, a case where the course is changed will be described as an example of “when not traveling normally”. Course changes include lane changes, left and right turns, overtaking of the preceding vehicle, and stopping at the roadside.
　図１に示すように、運転支援装置１は、制御部１１、撮像部１２、表示部１３、及び運転状況検出部１４等を備える。 As shown in FIG. 1, the driving support device 1 includes a control unit 11, an imaging unit 12, a display unit 13, a driving condition detection unit 14, and the like.
　制御部１１は、演算／制御装置としてのＣＰＵ（Central Processing Unit）１１１、主記憶装置としてのＲＡＭ（Ｒａｎｄｏｍ－Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）１１２及びＲＯＭ（Ｒｅａｄ－Ｏｎｌｙ　Ｍｅｍｏｒｙ）１１３を有する。ＣＰＵ１１１は、ＲＯＭ１１３から処理内容に応じたプログラムを読み出してＲＡＭ１１２に展開し、展開したプログラムと協働して、各ブロックを制御する。 The control unit 11 includes a CPU (Central Processing Unit) 111 as an arithmetic / control device, a RAM (Random-Access Memory) 112 and a ROM (Read-Only Memory) 113 as a main storage device. The CPU 111 reads out a program corresponding to the processing content from the ROM 113 and expands it in the RAM 112, and controls each block in cooperation with the expanded program.
　ＲＯＭ１１３は、ＢＩＯＳ（Basic Input Output System）と呼ばれる基本プログラムの他、車線変更や左右折等の運転操作を支援するための運転支援プログラムを記憶する。制御部１１の具体的な機能については、後述する。 The ROM 113 stores a driving support program for supporting a driving operation such as a lane change or a left / right turn in addition to a basic program called BIOS (Basic Input / Output System). Specific functions of the control unit 11 will be described later.
　撮像部１２は、自車両Ｖに搭載される少なくとも一つの車載カメラである。撮像部１２は、常時、後方視界を撮像し、後方視界を示す画像信号を制御部１１に出力する。図２に示すように、撮像部１２は、例えばリアカメラ１２１、右サイドカメラ１２２、及び左サイドカメラ１２３を含む。これにより、リアカメラ１２１の撮像範囲外となる左右側方の死角領域も確実に撮像することができる。 The imaging unit 12 is at least one in-vehicle camera mounted on the host vehicle V. The imaging unit 12 always captures the rear field of view and outputs an image signal indicating the rear field of view to the control unit 11. As illustrated in FIG. 2, the imaging unit 12 includes, for example, a rear camera 121, a right side camera 122, and a left side camera 123. As a result, it is possible to reliably capture the left and right blind spot areas outside the imaging range of the rear camera 121.
　リアカメラ１２１は、例えば自車両Ｖのルーフスポイラーに設置され、後方視界Ｒ１を撮像する。右サイドカメラ１２２、左サイドカメラ１２３は、それぞれ自車両Ｖのサイドミラーに設置され、車両Ｖの右後側方視界Ｒ２、左後側方視界Ｒ３を撮像する。右サイドカメラ１２２、左サイドカメラ１２３は、それぞれ自車両Ｖの右後側方視界Ｒ２、左後側方視界Ｒ３を撮像できればよく、例えば一般的な車両におけるサイドミラーの設置位置に、サイドミラーの代替として設置されてもよい。例えば、自車両Ｖが片側３車線道路の中央車線を走行している場合、リアカメラ１２１では図３Ａに示すような画像ＩＭ１が撮像され、右サイドカメラ１２２では図３Ｂに示すような画像ＩＭ２が撮像され、左サイドカメラ１２３では図３Ｃに示すような画像ＩＭ３が撮像される。 The rear camera 121 is installed, for example, on the roof spoiler of the host vehicle V and images the rear view R1. The right side camera 122 and the left side camera 123 are installed on the side mirror of the host vehicle V, respectively, and take an image of the right rear side field of view R2 and the left rear side field of view R3 of the vehicle V. The right side camera 122 and the left side camera 123 only need to be able to image the right rear side field of view R2 and the left rear side field of view R3 of the host vehicle V, respectively. It may be installed as an alternative. For example, when the host vehicle V is traveling in the center lane of a three-lane road on one side, the rear camera 121 captures an image IM1 as shown in FIG. 3A, and the right side camera 122 captures an image IM2 as shown in FIG. 3B. The left side camera 123 captures an image IM3 as shown in FIG. 3C.
　なお、リアカメラ１２１、右サイドカメラ１２２、及び左サイドカメラ１２３は、上下方向の画角を調整できることが好ましい。また、リアカメラ１２１として、上下方向に取り付け位置が異なり、異なる後方視界を撮像できる二つの車載カメラを適用してもよい。 In addition, it is preferable that the rear camera 121, the right side camera 122, and the left side camera 123 can adjust the vertical angle of view. Further, as the rear camera 121, two in-vehicle cameras that have different mounting positions in the vertical direction and can capture different rear views may be applied.
　表示部１３は、例えばインストルメントパネルに配置されるナビゲーションシステムのディスプレイ（例えば液晶ディスプレイや有機ＥＬディスプレイ）である。表示部１３の取付位置は、運転者が容易に視認できる位置であればよく、インストルメントパネルに限定されない。表示部１３は、例えば一般的な車両におけるインサイドミラーの設置位置に、インサイドミラーの代替として設置されてもよい。さらには、表示部１３として、マジックミラーとディスプレイを備える、いわゆる電子ミラー装置を適用したインサイドミラーのディスプレイを利用することもできる。表示部１３は、制御部１１（表示制御部１１Ｃ）からの表示制御信号に基づいて、画像を表示する。表示部１３は、後述する基準画像ＩＭＲの全部を表示できる有効表示領域Ｄ（画像表示可能な領域）を有することが好ましい。表示部１３には、運転状況に応じて基準画像ＩＭＲから抽出された表示画像ＤＩ（基準画像ＩＭＲの一部又は全部）が表示される。 The display unit 13 is a display (for example, a liquid crystal display or an organic EL display) of a navigation system arranged on an instrument panel, for example. The attachment position of the display part 13 should just be a position which a driver | operator can visually recognize easily, and is not limited to an instrument panel. The display unit 13 may be installed as an alternative to the inside mirror, for example, at the installation position of the inside mirror in a general vehicle. Furthermore, as the display unit 13, an inside mirror display to which a so-called electronic mirror device including a magic mirror and a display is applied can be used. The display unit 13 displays an image based on a display control signal from the control unit 11 (display control unit 11C). The display unit 13 preferably has an effective display area D (image displayable area) that can display all of a reference image IMR described later. The display unit 13 displays a display image DI (part or all of the reference image IMR) extracted from the reference image IMR according to the driving situation.
　ここで、表示部１３における表示画像ＤＩの表示サイズは、通常走行中は運転者が容易に認識できるサイズであることが好ましい。一般に、情報受容能力に優れる有効視野角（瞬時に情報受容できる領域）は、水平方向においては約３０°である。すなわち、図４に示すように、水平面内において、基準アイポイントＥ（通常の運転状態における運転者の目の位置を代表する点）の前方５００ｍｍの位置に表示部１３が配置されることを想定した場合、水平方向の表示サイズを２８０ｍｍとすることで、表示画像ＤＩの全部が運転者の有効視野角に入る。したがって、運転者は表示画像ＤＩを容易に認識することができる。なお、アイポイントは運転者によって異なるので、表示画像ＤＩの表示サイズは可変であることが好ましい。 Here, the display size of the display image DI on the display unit 13 is preferably a size that can be easily recognized by the driver during normal driving. In general, an effective viewing angle (a region where information can be received instantaneously) excellent in information receiving capability is about 30 ° in the horizontal direction. That is, as shown in FIG. 4, it is assumed that the display unit 13 is arranged at a position 500 mm ahead of the reference eye point E (a point representing the position of the driver's eyes in a normal driving state) in the horizontal plane. In this case, by setting the horizontal display size to 280 mm, the entire display image DI falls within the driver's effective viewing angle. Therefore, the driver can easily recognize the display image DI. In addition, since an eye point changes with drivers, it is preferable that the display size of the display image DI is variable.
　運転状況検出部１４は、運転者による運転操作、具体的には運転操作に関する運転者の意向を検出するセンサーを有する。運転状況検出部１４は、例えば方向指示器の状態を検出するウインカーセンサー、ステアリングホイールの状態を検出する舵角センサー、車両の車速を検出する車速センサー、及びシフトの状態を検出するシフトポジションセンサーを適用できる。運転状況検出部１４は、常時、運転者による運転操作を検出し、運転操作を示す信号（検出結果）を制御部１１に出力する。 The driving state detection unit 14 includes a sensor that detects a driving operation by the driver, specifically, a driver's intention regarding the driving operation. The driving condition detection unit 14 includes, for example, a winker sensor that detects the state of the turn indicator, a steering angle sensor that detects the state of the steering wheel, a vehicle speed sensor that detects the vehicle speed, and a shift position sensor that detects the shift state. Applicable. The driving condition detection unit 14 always detects a driving operation by the driver and outputs a signal (detection result) indicating the driving operation to the control unit 11.
　運転状況検出部１４の検出結果に基づいて、運転者が進路を変更したいことを検知することができる。例えば、方向指示器において右側のウィンカーランプを点滅させる操作が行われた場合、運転者が右側に進路変更したい状況であることを検知できる。 Based on the detection result of the driving state detection unit 14, it can be detected that the driver wants to change the course. For example, when an operation for blinking the right blinker lamp is performed on the direction indicator, it can be detected that the driver wants to change the course to the right side.
　なお、撮像部１２によって撮像された画像を解析することにより、運転状況を検出することもできる。すなわち、撮像部１２は、運転状況検出部１４を兼用してもよい。 The driving situation can also be detected by analyzing the image captured by the imaging unit 12. That is, the imaging unit 12 may also serve as the driving condition detection unit 14.
　制御部１１は、基準画像生成部１１Ａ、表示画像抽出部１１Ｂ、及び表示制御部１１Ｃとして機能する。 The control unit 11 functions as a reference image generation unit 11A, a display image extraction unit 11B, and a display control unit 11C.
　基準画像生成部１１Ａは、撮像部１２によって撮像された画像に基づいて、一視点の基準画像ＩＭＲを生成する。表示画像抽出部１１Ｂは、基準画像ＩＭＲから表示部１３に表示する表示画像ＤＩを切り出して抽出する。表示制御部１１Ｃは、表示画像抽出部１１Ｂによって抽出された表示画像ＤＩを、表示部１３に表示する。表示部１３には、表示画像ＤＩを１フレームとする動画像が表示されることになる。図５に示すフローチャートを参照して、基準画像生成部１１Ａ、表示画像抽出部１１Ｂ、表示制御部１１Ｃの機能を詳述する。 The reference image generation unit 11A generates a single-view reference image IMR based on the image captured by the imaging unit 12. The display image extraction unit 11B extracts and extracts the display image DI to be displayed on the display unit 13 from the reference image IMR. The display control unit 11C displays the display image DI extracted by the display image extraction unit 11B on the display unit 13. A moving image having the display image DI as one frame is displayed on the display unit 13. With reference to the flowchart shown in FIG. 5, the functions of the reference image generation unit 11A, the display image extraction unit 11B, and the display control unit 11C will be described in detail.
　図５は、制御部１１が実行する運転支援処理の一例を示すフローチャートである。この処理は、例えば自車両Ｖのエンジンが起動されることに伴い、ＣＰＵ１１１がＲＯＭ１１３に格納されている運転支援プログラムを呼び出して実行することで実現される。ここでは、車両が発車して通常走行が行われているときの運転支援処理について説明する。 FIG. 5 is a flowchart illustrating an example of a driving support process executed by the control unit 11. This process is realized by the CPU 111 calling and executing a driving support program stored in the ROM 113 when the engine of the host vehicle V is started, for example. Here, the driving support processing when the vehicle departs and normal travel is performed will be described.
　ステップＳ１０１において、制御部１１は、撮像部１２によって撮像された画像を取得し、これに基づいて一視点の基準画像ＩＭＲを生成する（基準画像生成部１１Ａとしての処理）。この処理は、運転支援処理が実行される間、逐次、行われる。 In step S101, the control unit 11 acquires an image captured by the imaging unit 12, and generates a single viewpoint reference image IMR based on the acquired image (processing as the reference image generation unit 11A). This process is sequentially performed while the driving support process is executed.
　本実施の形態のように、撮像部１２が三台の車載カメラ１２１～１２３で構成される場合、基準画像生成部１１Ａは、撮像部１２によって撮像された三枚の画像ＩＭ１～ＩＭ３の無限遠点が一致するように画像を合成することにより、一視点の基準画像ＩＭＲを生成する。例えば、基準画像生成部１１Ａは、図３Ａ～図３Ｃに示す画像ＩＭ１～ＩＭ３を取得した場合、これらを合成して、図６に示す基準画像ＩＭＲを生成する。 As in the present embodiment, when the imaging unit 12 is configured with three in-vehicle cameras 121 to 123, the reference image generation unit 11A is at infinity of the three images IM1 to IM3 captured by the imaging unit 12. By synthesizing the images so that the points coincide with each other, a one-view reference image IMR is generated. For example, when acquiring the images IM1 to IM3 shown in FIGS. 3A to 3C, the reference image generating unit 11A combines them to generate the reference image IMR shown in FIG.
　ステップＳ１０２において、制御部１１は、表示画像として、自車両Ｖの真後ろの後方視界Ｒ１を含む第１の表示画像ＤＩ１を基準画像ＩＭＲから抽出する（表示画像抽出部１１Ｂとしての処理）。例えば、図６に示す基準画像ＩＭＲが生成されている場合、図７Ａに示す第１の表示画像ＤＩ１が抽出される。 In step S102, the control unit 11 extracts the first display image DI1 including the rear view R1 directly behind the host vehicle V from the reference image IMR as a display image (processing as the display image extraction unit 11B). For example, when the reference image IMR shown in FIG. 6 is generated, the first display image DI1 shown in FIG. 7A is extracted.
　ステップＳ１０３において、制御部１１は、表示画像として抽出された第１の表示画像ＤＩ１を、表示部１３の有効表示領域Ｄの中央部分に表示させる（表示制御部１１Ｃとしての処理）。すなわち、通常走行中は、表示部１３に第１の表示画像ＤＩ１が表示される。 In step S103, the control unit 11 displays the first display image DI1 extracted as the display image on the central portion of the effective display area D of the display unit 13 (processing as the display control unit 11C). That is, during normal traveling, the first display image DI1 is displayed on the display unit 13.
　例えば、図７Ａに示す第１の表示画像ＤＩ１が抽出された場合、図８Ａに示すように、有効表示領域Ｄの中央部分に、第１の表示画像ＤＩ１が表示される。第１の表示画像ＤＩ１の水平方向の表示サイズは、図４に示すように、有効視野である３０°に収まるサイズとされる（例えば２８０ｍｍ）。 For example, when the first display image DI1 shown in FIG. 7A is extracted, the first display image DI1 is displayed in the central portion of the effective display area D as shown in FIG. 8A. As shown in FIG. 4, the display size of the first display image DI1 in the horizontal direction is set to a size that fits within an effective visual field of 30 ° (for example, 280 mm).
　このとき、第１の表示画像ＤＩ１は、画像ＩＭ１～ＩＭ３を合成するときの重複範囲（図２参照）の少なくとも一部を含むことが好ましい。これにより、運転者は、自車両Ｖの左右側方に位置する死角となる部分を、通常走行時から認識することができる。 At this time, it is preferable that the first display image DI1 includes at least a part of an overlapping range (see FIG. 2) when the images IM1 to IM3 are combined. As a result, the driver can recognize the blind spots located on the left and right sides of the host vehicle V from the normal travel time.
　また、表示制御部１１Ｃは、図８Ａに示すように、自車両Ｖの車室を示す画像ＤＩ３を第１の表示画像ＤＩ１に重畳することが好ましい。これにより、運転者は、通常走行中における自車両Ｖと周囲環境との位置関係を的確に認識することができる。 In addition, as shown in FIG. 8A, the display control unit 11C preferably superimposes an image DI3 indicating the cabin of the host vehicle V on the first display image DI1. Thus, the driver can accurately recognize the positional relationship between the host vehicle V and the surrounding environment during normal traveling.
　ステップＳ１０４において、制御部１１は、運転状況検出部１４の検出結果に基づいて、車両の進路変更（運転者による進路変更の意思）が検出されたか否かを判定する（表示画像抽出部１１Ｂとしての処理）。例えば、運転状況検出部１４の検出結果が、方向指示器において右側のウィンカーランプを点滅させる操作が行われたことを示す場合、または方向指示器において左側のウィンカーランプを点滅させる操作が行われたことを示す場合に、車両の進路変更が検出されたと判定される。車両の進路変更が検出されず通常走行が継続される場合はステップＳ１０２の処理に移行し、車両の進路変更が検出された場合はステップＳ１０５の処理に移行する。 In step S104, the control unit 11 determines whether or not a vehicle course change (intention to change course by the driver) has been detected based on the detection result of the driving situation detection unit 14 (as the display image extraction unit 11B). Processing). For example, when the detection result of the driving condition detection unit 14 indicates that an operation for blinking the right blinker lamp is performed on the direction indicator, or an operation for blinking the left blinker lamp is performed on the direction indicator. If this is the case, it is determined that a change in the course of the vehicle has been detected. If the vehicle course change is not detected and normal running is continued, the process proceeds to step S102. If the vehicle course change is detected, the process proceeds to step S105.
　ステップＳ１０５において、制御部１１は、表示画像として、自車両Ｖの側後方の後方視界Ｒ２、Ｒ３を含む第２の表示画像ＤＩ２を基準画像ＩＭＲから抽出する（表示画像抽出部１１Ｂとしての処理）。ここでは、第１の表示画像ＤＩ１の全部に、進路変更する側の後方視界を加えた画像が、第２の表示画像ＤＩ２として抽出される。第２の表示画像ＤＩ２が第１の表示画像ＤＩ１の全部を含むことにより、表示内容の変化は拡張部分だけとなる。運転者が今まで認識していた表示内容を保持することで、表示内容が変化することに伴う運転者の不安を払拭するのを防止できる。 In step S105, the control unit 11 extracts, from the reference image IMR, the second display image DI2 including the rear fields of view R2 and R3 behind the host vehicle V as a display image (processing as the display image extraction unit 11B). . Here, an image obtained by adding a rear view on the side where the route is changed to the entire first display image DI1 is extracted as the second display image DI2. Since the second display image DI2 includes the entire first display image DI1, the display content changes only in the extended portion. By holding the display content that the driver has recognized so far, it is possible to prevent the driver's anxiety associated with the change in the display content from being dispelled.
　例えば、図６に示す基準画像ＩＭＲが生成されている場合に、右側への進路変更が検出されると、図７Ａに示す第１の表示画像ＤＩ１を基準に、抽出範囲が右側に拡張され、図７Ｂに示す第２の表示画像ＤＩ２１が抽出される。また例えば、図６に示す基準画像ＩＭＲが生成されている場合に、左側への進路変更が検出されると、図７Ａに示す第１の表示画像ＤＩ１を基準に、抽出範囲が左側に拡張され、図７Ｃに示す第２の表示画像ＤＩ２２が抽出される。 For example, in the case where the reference image IMR shown in FIG. 6 is generated, if a change in the course to the right side is detected, the extraction range is extended to the right with reference to the first display image DI1 shown in FIG. A second display image DI21 shown in FIG. 7B is extracted. In addition, for example, when the reference image IMR shown in FIG. 6 is generated, if the change of course to the left is detected, the extraction range is extended to the left with reference to the first display image DI1 shown in FIG. 7A. A second display image DI22 shown in FIG. 7C is extracted.
　ステップＳ１０６において、制御部１１は、表示画像として抽出された第２の表示画像ＤＩ２を、表示部１３に表示させる（表示制御部１１Ｃとしての処理）。表示制御部１１Ｃは、第１の表示画像ＤＩ１から第２の表示画像ＤＩ２に切り替える際、第１の表示画像ＤＩ１を表示していたときの表示領域を水平方向に拡張し、拡張された表示領域に、第１の表示画像ＤＩ１のうち第２の表示画像ＤＩ２に含まれる部分の表示位置を保持したまま、第２の表示画像ＤＩ２を表示する。 In step S106, the control unit 11 causes the display unit 13 to display the second display image DI2 extracted as the display image (processing as the display control unit 11C). When switching from the first display image DI1 to the second display image DI2, the display control unit 11C expands the display area when the first display image DI1 is displayed in the horizontal direction, and expands the display area. In addition, the second display image DI2 is displayed while maintaining the display position of the portion included in the second display image DI2 in the first display image DI1.
　例えば、図７Ｂに示す第２の表示画像ＤＩ２１が抽出された場合、図８Ｂに示すように、有効表示領域Ｄの中央部分（図８Ａ参照）を、垂直方向の表示サイズを維持したまま右側に拡張した表示領域に、第２の表示画像ＤＩ２１が表示される。また、図７Ｃに示す第２の表示画像ＤＩ２２が抽出された場合、図８Ｃに示すように、有効表示領域Ｄの中央部分（図８Ａ参照）を、垂直方向の表示サイズを維持したまま左側に拡張した表示領域に、第２の表示画像ＤＩ２２が表示される。 For example, when the second display image DI21 shown in FIG. 7B is extracted, as shown in FIG. 8B, the central portion of the effective display area D (see FIG. 8A) is placed on the right side while maintaining the vertical display size. The second display image DI21 is displayed in the expanded display area. When the second display image DI22 shown in FIG. 7C is extracted, as shown in FIG. 8C, the central portion (see FIG. 8A) of the effective display area D is set to the left side while maintaining the vertical display size. The second display image DI22 is displayed in the expanded display area.
　図８Ｂ、図８Ｃに示す例では、第１の表示画像ＤＩ１の全部に、進路変更する側の後方視界を加えた画像が、第２の表示画像ＤＩ２として抽出され、表示されている。すなわち、第２の表示画像ＤＩ２は、第１の表示画像ＤＩ１における進路変更する側と反対側の第１の画像端を固定したまま、進路変更する側の第２の画像端を移動して拡張されたものである。 In the example shown in FIGS. 8B and 8C, an image obtained by adding the rear view on the side where the course is changed to the entire first display image DI1 is extracted and displayed as the second display image DI2. That is, the second display image DI2 is expanded by moving the second image end on the path change side while fixing the first image end on the opposite side to the course change side in the first display image DI1. It has been done.
　第１の表示画像ＤＩ１から第２の表示画像ＤＩ２に切り替わる際、表示部１３における表示内容が全面的に変化するわけではないため、表示内容の変化に伴って運転者が混乱するのを防止できる。また、第１の表示画像ＤＩ１及び第２の表示画像ＤＩ２は、一視点の基準画像ＩＭＲから抽出されたものであるため、運転者に対して一体的な視野が提供される。したがって、第１の表示画像ＤＩ１から第２の表示画像ＤＩ２に切り替わるときに、運転者は、視野のどの部分が拡張されたのかを、直感的に捉えることができる。 When switching from the first display image DI1 to the second display image DI2, the display content on the display unit 13 does not change completely, so that the driver can be prevented from being confused with the change in the display content. . Further, since the first display image DI1 and the second display image DI2 are extracted from the one-view reference image IMR, an integrated field of view is provided to the driver. Therefore, when switching from the first display image DI1 to the second display image DI2, the driver can intuitively grasp which part of the field of view has been expanded.
　ここで、第２の表示画像ＤＩ２の水平方向の表示サイズは、例えば５０°の視野角に収まるサイズとされる（例えば３７５ｍｍ）。すなわち、第１の表示画像ＤＩ１から第２の表示画像ＤＩ２に切り替わることによる拡張分は、視野角で２０°に相当する。これにより、運転者は第２の表示画像ＤＩ２を無理なく注視し、認識することができる。 Here, the horizontal display size of the second display image DI2 is, for example, a size that fits within a viewing angle of 50 ° (for example, 375 mm). That is, the expansion by switching from the first display image DI1 to the second display image DI2 corresponds to a viewing angle of 20 °. Accordingly, the driver can gaze at and recognize the second display image DI2 without difficulty.
　表示制御部１１Ｃは、第２の表示画像ＤＩ２を表示する際、図８Ｂ、図８Ｃに示すように、自車両Ｖの車室を示す画像ＤＩ３を重畳することが好ましい。これにより、運転者は、車線変更時における自車両Ｖと周囲環境との位置関係を的確に認識することができる。 When displaying the second display image DI2, the display control unit 11C preferably superimposes an image DI3 indicating the cabin of the host vehicle V as shown in FIGS. 8B and 8C. Accordingly, the driver can accurately recognize the positional relationship between the host vehicle V and the surrounding environment when the lane is changed.
　ステップＳ１０７において、制御部１１は、進路変更が完了したか否かを判定する（表示画像抽出部１１Ｂとしての処理）。例えば、運転状況検出部１４の検出結果が、ウィンカーランプを消灯させる操作（ステアリングホイールの操作を含む）が行われたことを示す場合に、車両の進路変更が完了したと判定される。車両の進路変更が完了していない場合は、ステップＳ１０５の処理に移行する。 In step S107, the control unit 11 determines whether or not the course change has been completed (processing as the display image extraction unit 11B). For example, when the detection result of the driving condition detection unit 14 indicates that an operation for turning off the blinker lamp (including an operation of the steering wheel) has been performed, it is determined that the course change of the vehicle has been completed. When the course change of the vehicle is not completed, the process proceeds to step S105.
　一方、車両の進路変更が完了した場合は、一連の運転支援処理が終了し、改めてステップＳ１０１以降の処理が実行され、第２の表示画像ＤＩ２から第１の表示画像ＤＩ１に切り替えられる。このとき、表示制御部１１Ｃは、第１の表示画像ＤＩ１から第２の表示画像ＤＩ２に切り替える場合と同様に、第１の表示画像ＤＩ１のうち第２の表示画像ＤＩ２に含まれる部分の表示位置を保持したまま、第１の表示画像ＤＩ１を表示する。 On the other hand, when the course change of the vehicle is completed, a series of driving support processing ends, and the processing after step S101 is executed again, and the second display image DI2 is switched to the first display image DI1. At this time, similarly to the case where the display control unit 11C switches from the first display image DI1 to the second display image DI2, the display position of the portion included in the second display image DI2 in the first display image DI1. The first display image DI1 is displayed while holding.
　表示制御部１１Ｃは、第１の表示画像ＤＩ１から第２の表示画像ＤＩ２に切り替える際、又は第２の表示画像ＤＩ２から第１の表示画像ＤＩ１に切り替える際、表示領域を徐々に拡張又は縮小して、連続的に表示を変化させることが好ましい。これにより、瞬間的に表示が切り替わる場合に比較して、運転者は表示画像ＤＩの変化を受け入れやすくなる。なお、第１の表示画像ＤＩ１から第２の表示画像ＤＩ２への切り替えは、上述のように連続的に行われるのが好ましいが、瞬間的に行うことも可能である。 The display control unit 11C gradually expands or reduces the display area when switching from the first display image DI1 to the second display image DI2 or when switching from the second display image DI2 to the first display image DI1. Thus, it is preferable to change the display continuously. This makes it easier for the driver to accept a change in the display image DI than when the display is switched instantaneously. The switching from the first display image DI1 to the second display image DI2 is preferably performed continuously as described above, but can also be performed instantaneously.
　このように、本実施の形態に係る運転支援装置１は、表示部１３と、後方視界を撮像する撮像部１２と、自車両の運転状況を検出する運転状況検出部１４と、撮像部１２によって撮像された画像に基づいて、一視点の基準画像ＩＭＲを生成する基準画像生成部１１Ａと、基準画像ＩＭＲから表示部１３に表示する表示画像ＤＩを抽出する表示画像抽出部１１Ｂと、表示部１３に表示画像ＤＩを表示する表示制御部１１Ｃと、を備える。表示画像抽出部１１Ｂは、通常走行時には、自車両の真後ろの後方視界Ｒ１を含む第１の表示画像ＤＩ１を表示画像ＤＩとして抽出する。一方、運転状況検出部１４により自車両の運転状況の変化（例えば車両の進路変更）が検出された場合には、運転状況検出部１４の検出結果に基づいて、自車両の後側方の後方視界Ｒ２、Ｒ３を含む第２の表示画像ＤＩ２を抽出する。第２の表示画像ＤＩ２は、第１の表示画像ＤＩ１の全部を含む。表示制御部１１Ｃは、第１の表示画像ＤＩ１から第２の表示画像ＤＩ２に切り替える際、又は第２の表示画像ＤＩ２から第１の表示画像ＤＩ１に切り替える際、第１の表示画像ＤＩ１のうち第２の表示画像ＤＩ２に含まれる部分の表示位置を保持する。 As described above, the driving support apparatus 1 according to the present embodiment includes the display unit 13, the imaging unit 12 that captures the rear view, the driving situation detection unit 14 that detects the driving situation of the host vehicle, and the imaging unit 12. Based on the captured image, a reference image generation unit 11A that generates a single-view reference image IMR, a display image extraction unit 11B that extracts a display image DI to be displayed on the display unit 13 from the reference image IMR, and a display unit 13 And a display control unit 11C for displaying the display image DI. The display image extraction unit 11B extracts the first display image DI1 including the rear view R1 directly behind the host vehicle as the display image DI during normal traveling. On the other hand, when a change in the driving status of the host vehicle (for example, a change in the course of the vehicle) is detected by the driving status detection unit 14, the rear side of the rear side of the host vehicle based on the detection result of the driving status detection unit 14. A second display image DI2 including the visual fields R2 and R3 is extracted. The second display image DI2 includes the entire first display image DI1. When the display control unit 11C switches from the first display image DI1 to the second display image DI2, or when switching from the second display image DI2 to the first display image DI1, the display control unit 11C includes the first display image DI1. The display position of the portion included in the second display image DI2 is held.
　運転支援装置１によれば、後側方の後方視界Ｒ２、Ｒ３の外側は、通常走行時においては重要度が低いので表示されず、重要度が高くなる進路変更時にだけ表示される。また、表示が切り替えられる際に、重複する表示内容については、表示位置が変化しないので、運転者は表示内容を容易に認識することができる。したがって、運転支援装置１は、運転者にとって有用な後方視界の画像を、運転状況に応じて適切に、かつ運転者が認識しやすい態様で表示することができる。 According to the driving support device 1, the outside of the rear side visual fields R2 and R3 on the rear side is not displayed because the importance is low during normal driving, and is displayed only when the course is changed so that the importance becomes high. Further, when the display is switched, the display position of the overlapping display content does not change, so that the driver can easily recognize the display content. Therefore, the driving assistance device 1 can display a rear view image useful for the driver in an appropriate manner according to the driving situation and in a manner that the driver can easily recognize.
　以上、本発明者によってなされた発明を実施の形態に基づいて具体的に説明したが、本発明は上記実施の形態に限定されるものではなく、その要旨を逸脱しない範囲で変更可能である。 As mentioned above, the invention made by the present inventor has been specifically described based on the embodiment. However, the present invention is not limited to the above-described embodiment, and can be changed without departing from the gist thereof.
　例えば、実施の形態において、リアカメラ１２１を１８０°程度の画角を有する広角カメラで構成し、右サイドカメラ１２２及び左サイドカメラ１２３を省略してもよい。この場合、一台のリアカメラ１２１の撮像画像が、そのまま一視点画像となる。 For example, in the embodiment, the rear camera 121 may be configured with a wide-angle camera having an angle of view of about 180 °, and the right side camera 122 and the left side camera 123 may be omitted. In this case, the captured image of one rear camera 121 becomes a one-viewpoint image as it is.
　また例えば、実施の形態では、第２の表示画像ＤＩ２が表示される「通常走行でない場合」の一例として、進路変更が行われる場合について示したが、「通常走行でない場合」には、バックする場合、接近車両がある場合等、一定の速度で安定した直進走行が行われない場合を広く含む。すなわち、本発明における運転状況検出部１４は、これらの「通常走行でない場合」を検出できればよく、例えばミリ波レーダー、赤外線レーザー等の車両の周囲環境を検出するセンサーであってもよい。 Further, for example, in the embodiment, the case where the course is changed is shown as an example of “not normal driving” in which the second display image DI <b> 2 is displayed. The case includes a wide range of cases where the vehicle does not travel straight at a constant speed, such as when there is an approaching vehicle. That is, the driving condition detection unit 14 according to the present invention only needs to be able to detect these “not normal driving”, and may be a sensor that detects the surrounding environment of the vehicle, such as a millimeter wave radar or an infrared laser.
　運転状況検出部１４によって、シフトの状態に基づいて車両の後進が検出された場合、第１の表示画像ＤＩ１の全部に、左右両側の後方視界を加えた画像が、第２の表示画像ＤＩ２として抽出され、表示されるようにしてもよい（図９Ａ、図９Ｂ参照）。さらには、図９Ｂに示す第２の表示画像ＤＩ２を基準として、さらに全体的に画角を下側に向けた画像が、第２の表示画像ＤＩ２として抽出され、表示されるようにしてもよい（図９Ｃ参照）。この場合、自車両Ｖの車室を示す画像ＤＩ３は消去してもよい。 When the driving condition detection unit 14 detects the reverse of the vehicle based on the shift state, an image obtained by adding the left and right rear views to the entire first display image DI1 is the second display image DI2. It may be extracted and displayed (see FIGS. 9A and 9B). Furthermore, an image with the angle of view downward as a whole may be extracted and displayed as the second display image DI2 with reference to the second display image DI2 shown in FIG. 9B. (See FIG. 9C). In this case, the image DI3 indicating the passenger compartment of the host vehicle V may be deleted.
　また、例えば、表示部１３における表示画像ＤＩの表示態様は、実施の形態で説明したものに限定されない。図１０Ａ～Ｃは、表示部１３における表示画像ＤＩの表示態様の他の一例を示す図である。図１０Ａは通常走行中の第１の表示画像ＤＩ１を示し、図１０Ｂは右側への進路変更時の第２の表示画像ＤＩ２１を示し、図１０Ｃは左側への進路変更時の第２の表示画像ＤＩ２２を示す。 For example, the display mode of the display image DI on the display unit 13 is not limited to that described in the embodiment. 10A to 10C are diagrams showing other examples of display modes of the display image DI on the display unit 13. FIG. FIG. 10A shows the first display image DI1 during normal travel, FIG. 10B shows the second display image DI21 when the course is changed to the right side, and FIG. 10C shows the second display image when the course is changed to the left side. DI22 is shown.
　図１０に示すように、進路変更する側の第２の画像端を含む第１の表示画像ＤＩ１の一部に、進路変更する側の後方視界を加えた画像が、第２の表示画像ＤＩ２として抽出され、表示されるようにしてもよい。すなわち、第１の表示画像ＤＩ１から第２の表示画像ＤＩ２に切り替わるときに、第１の表示画像ＤＩ１における進路変更する側と反対側の第１の画像端は、第２の画像端とともに可変であってもよい。この場合、第１の画像端の移動方向は、第２の画像端の移動方向と同じであってもよいし、逆向きであってもよい。図１０は、第１の画像端の移動方向と第２の画像端の移動方向が同じである場合を示している。 As shown in FIG. 10, an image obtained by adding a rear view on the side to be changed to a part of the first display image DI1 including the second image end on the side to be changed is a second display image DI2. It may be extracted and displayed. That is, when switching from the first display image DI1 to the second display image DI2, the first image end on the side opposite to the course changing side in the first display image DI1 is variable together with the second image end. There may be. In this case, the moving direction of the first image end may be the same as the moving direction of the second image end, or may be opposite. FIG. 10 shows a case where the moving direction of the first image end and the moving direction of the second image end are the same.
　例えば、高速走行中の進路変更においては、運転者の視点が１点に集中しがちであり、表示画像ＤＩの表示サイズを拡張しすぎると情報過多となるので、第１の画像端の移動方向と第２の画像端の移動方向を同じにする（図１０参照）。このとき、第１の画像端の移動量は、第２の画像端の移動量（拡張分）よりも小さくする。一方、低速走行中の進路変更においては、運転者の視点移動が広範囲で許容されるため、第１の画像端の移動方向と第２の画像端の移動方向を逆にして、情報量を増やしてもよい。 For example, in a course change during high-speed driving, the driver's viewpoint tends to concentrate on one point, and if the display size of the display image DI is excessively expanded, information will be excessive, so the moving direction of the first image edge And the movement direction of the second image end are made the same (see FIG. 10). At this time, the movement amount of the first image edge is made smaller than the movement amount (expansion) of the second image edge. On the other hand, since the driver's viewpoint movement is allowed in a wide range when changing the course while traveling at low speed, the movement direction of the first image edge and the movement direction of the second image edge are reversed to increase the amount of information. May be.
　また例えば、図１１Ａ～図１１Ｃに示すように、表示部１３は、第１の表示画像ＤＩ１を表示する第１の表示部１３１と、第２の表示画像ＤＩ２のうち第１の表示画像ＤＩ１に含まれない部分を表示する第２の表示部１３２、１３３と、を有し、第１の表示部１３１と第２の表示部１３２、１３３は、それぞれ独立して構成されてもよい。これにより、表示部１３として、有効表示領域の小さい汎用の液晶パネル等を適用することができる。 Also, for example, as shown in FIGS. 11A to 11C, the display unit 13 includes a first display unit 131 that displays the first display image DI1, and a first display image DI1 out of the second display image DI2. The first display unit 131 and the second display units 132 and 133 may be configured independently of each other. Thereby, a general-purpose liquid crystal panel having a small effective display area can be applied as the display unit 13.
　さらには、実施の形態では、制御部１１が運転支援プログラムを実行することにより、上述した運転支援処理を実現しているが、ハードウェア回路を用いて実現することもできる。運転支援プログラムは、磁気ディスク、光学ディスク、フラッシュメモリーなどのコンピューターで読取可能な記憶媒体に格納して制御部１１に提供することができる。または、運転支援プログラムは、インターネットなどの通信回線を介して、ダウンロードにより提供することもできる。 Furthermore, in the embodiment, the above-described driving support processing is realized by the control unit 11 executing the driving support program. However, it may be realized using a hardware circuit. The driving support program can be stored in a computer-readable storage medium such as a magnetic disk, an optical disk, or a flash memory and provided to the control unit 11. Alternatively, the driving support program can be provided by downloading via a communication line such as the Internet.
　今回開示された実施の形態はすべての点で例示であって制限的なものではないと考えられるべきである。本発明の範囲は上記した説明ではなくて特許請求の範囲によって示され、特許請求の範囲と均等の意味および範囲内でのすべての変更が含まれることが意図される。 The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.
　本発明は、運転者が進路変更等を行う際の運転操作を支援する運転支援装置、運転支援方法及び運転支援プログラムに好適である。 The present invention is suitable for a driving support device, a driving support method, and a driving support program that support a driving operation when the driver performs a course change or the like.
　１　運転支援装置
　１１　制御部
　１１Ａ　基準画像生成部
　１１Ｂ　表示画像抽出部
　１１Ｃ　表示制御部
　１２　撮像部
　１３　表示部
　１４　運転状況検出部
　Ｖ　自車両 DESCRIPTION OF SYMBOLS 1 Driving assistance apparatus 11 Control part 11A Reference | standard image generation part 11B Display image extraction part 11C Display control part 12 Imaging part 13 Display part 14 Driving condition detection part V Own vehicle

Claims (13)

  1. 　表示部と、
    　後方視界を撮像する撮像部と、
    　自車両の運転状況を検出する運転状況検出部と、
    　前記撮像部によって撮像された画像に基づいて、一視点の基準画像を生成する基準画像生成部と、
    　前記基準画像から前記表示部に表示する表示画像を抽出する表示画像抽出部と、
    　前記表示部に前記表示画像を表示する表示制御部と、を備え、
    　前記表示画像抽出部は、通常走行時には、前記自車両の真後ろの後方視界を含む第１の表示画像を前記表示画像として抽出し、前記運転状況検出部により通常走行でないことが検出された場合には、前記運転状況検出部の検出結果に基づいて、前記自車両の後側方の後方視界を含む第２の表示画像を抽出し、
    　前記第２の表示画像は、前記第１の表示画像の一部又は全部を含み、
    　前記表示制御部は、前記第１の表示画像から前記第２の表示画像に切り替える際、又は前記第２の表示画像から前記第１の表示画像に切り替える際に、前記第１の表示画像のうち前記第２の表示画像に含まれる部分の表示位置を保持する、運転支援装置。     A display unit;
    An imaging unit for imaging the rear view;
    A driving condition detector for detecting the driving condition of the host vehicle;
    A reference image generation unit that generates a reference image of one viewpoint based on the image captured by the imaging unit;
    A display image extraction unit that extracts a display image to be displayed on the display unit from the reference image;
    A display control unit for displaying the display image on the display unit,
    The display image extraction unit extracts a first display image including a rear view right behind the host vehicle as the display image during normal driving, and when the driving state detection unit detects that the driving is not normal driving. Extracts a second display image including a rear field of view behind the host vehicle based on the detection result of the driving situation detection unit,
    The second display image includes a part or all of the first display image,
    The display control unit, when switching from the first display image to the second display image, or when switching from the second display image to the first display image, A driving support device that holds a display position of a portion included in the second display image.
  2. 　前記撮像部は、前記自車両の真後ろの後方視界を撮像するリアカメラ、前記自車両の右側方を含む右側後方視界を撮像する右サイドカメラ、及び前記自車両の左側方を含む左側後方視界を撮像する左サイドカメラを含み、
    　前記基準画像生成部は、前記リアカメラ、前記右サイドカメラ及び前記左サイドカメラによって撮像された三枚の画像を合成して、前記基準画像を生成する、請求項１に記載の運転支援装置。     The imaging unit includes a rear camera that captures a rear view directly behind the host vehicle, a right side camera that captures a right rear view including a right side of the host vehicle, and a left rear view including a left side of the host vehicle. Including a left side camera to image,
    The driving assistance device according to claim 1, wherein the reference image generation unit generates the reference image by combining three images captured by the rear camera, the right side camera, and the left side camera.
  3. 　前記第１の表示画像は、前記三枚の画像を合成するときの重複部分の少なくとも一部を含む、請求項２に記載の運転支援装置。 The driving support device according to claim 2, wherein the first display image includes at least a part of an overlapping portion when the three images are combined.
  4. 　前記表示制御部は、前記第１の表示画像から前記第２の表示画像に切り替える際、又は前記第２表示画像から前記第１の表示画像に切り替える際、連続的に表示を変化させる、請求項１に記載の運転支援装置。 The display control unit continuously changes the display when switching from the first display image to the second display image, or when switching from the second display image to the first display image. The driving support apparatus according to 1.
  5. 　前記表示画像抽出部は、前記第１の表示画像の全部に、前記自車両が進路変更する側の後方視界を加えた画像を、前記第２の表示画像として抽出する、請求項１に記載の運転支援装置。 2. The display image extraction unit according to claim 1, wherein the display image extraction unit extracts, as the second display image, an image obtained by adding a rear field of view on the side where the own vehicle changes its course to the entire first display image. Driving assistance device.
  6. 　前記表示画像抽出部は、進路変更する側の端部を含む前記第１の表示画像の一部に、前記自車両が進路変更する側の後方視界を加えた画像を、前記第２の表示画像として抽出する、請求項１に記載の運転支援装置。 The display image extracting unit adds an image obtained by adding a rear view on the side where the host vehicle changes the course to a part of the first display image including an end on the side where the course is changed, to the second display image. The driving support device according to claim 1, extracted as
  7. 　前記表示部は、前記第１の表示画像を表示する第１の表示部と、前記第２の表示画像のうち前記第１の表示画像に含まれない部分を表示する第２の表示部と、を有し、
    　前記第１の表示部と前記第２の表示部は、それぞれ独立して構成される、請求項１に記載の運転支援装置。     The display unit includes a first display unit that displays the first display image, a second display unit that displays a portion of the second display image that is not included in the first display image, Have
    The driving support apparatus according to claim 1, wherein the first display unit and the second display unit are configured independently of each other.
  8. 　前記第１の表示画像及び前記第２の表示画像の表示サイズは可変である、請求項１に記載の運転支援装置。 The driving support device according to claim 1, wherein a display size of the first display image and the second display image is variable.
  9. 　前記表示画像抽出部は、前記運転状況検出部によって前記自車両の後退が検出された場合に、前記第１の表示画像の全部に、左右両側の後方視界を加えた画像を、前記第２の表示画像として抽出する、請求項１に記載の運転支援装置。 The display image extraction unit is configured to display an image obtained by adding the left and right rear views to the entire first display image when the driving state detection unit detects a backward movement of the host vehicle. The driving support device according to claim 1, wherein the driving support device is extracted as a display image.
  10. 　前記表示画像抽出部は、前記運転状況検出部によって前記自車両の後退が検出された場合に、前記第１の表示画像の全部に、左右両側の後方視界を加え、さらに画角を下側に向けた画像を、前記第２の表示画像として抽出する、請求項１に記載の運転支援装置。 The display image extraction unit adds a left field of view to both the left and right sides of the first display image when the driving situation detection unit detects a backward movement of the host vehicle, and further lowers the angle of view. The driving support device according to claim 1, wherein a directed image is extracted as the second display image.
  11. 　前記撮像部は、上下方向の撮像範囲が異なる２つのカメラを有する、請求項１０に記載の運転支援装置。 The driving support device according to claim 10, wherein the imaging unit includes two cameras having different imaging ranges in the vertical direction.
  12. 　（Ａ）撮像部によって撮像された後方視界の画像に基づいて、一視点の基準画像を生成する工程と、
    　（Ｂ）前記基準画像から表示部に表示する表示画像を抽出する工程と、
    　（Ｃ）前記表示部に前記表示画像を表示する工程と、を備え、
    　前記工程Ｂは、通常走行時には、自車両の真後ろの後方視界を含む第１の表示画像を前記表示画像として抽出し、通常走行でない場合には、運転状況に基づいて、前記自車両の後側方の後方視界を含む第２の表示画像を抽出し、
    　前記第２の表示画像は、前記第１の表示画像の一部又は全部を含み、
    　前記工程Ｃは、前記第１の表示画像から前記第２の表示画像に切り替える際、又は前記第２の表示画像から前記第１の表示画像に切り替える際に、前記第１の表示画像のうち前記第２の表示画像に含まれる部分の表示位置を保持する、運転支援方法。     (A) generating a one-viewpoint reference image based on a rear view image captured by the imaging unit;
    (B) extracting a display image to be displayed on a display unit from the reference image;
    (C) displaying the display image on the display unit,
    In the process B, the first display image including a rear view right behind the host vehicle is extracted as the display image at the time of normal driving. When the driving is not normal driving, the rear side of the host vehicle is determined based on the driving situation. Extract a second display image including the rear view of the direction,
    The second display image includes a part or all of the first display image,
    In the step C, when switching from the first display image to the second display image, or when switching from the second display image to the first display image, the step C of the first display image A driving support method for maintaining a display position of a portion included in the second display image.
  13. 　運転支援装置のコンピューターに、
    　（Ａ）撮像部によって撮像された後方視界の画像に基づいて、一視点の基準画像を生成する処理と、
    　（Ｂ）前記基準画像から表示部に表示する表示画像を抽出する処理と、
    　（Ｃ）前記表示部に前記表示画像を表示する処理と、を実行させる運転支援プログラムであって、
    　前記処理Ｂは、通常走行時には、自車両の真後ろの後方視界を示す第１の表示画像を前記表示画像として抽出し、通常走行でない場合には、運転状況に基づいて、前記自車両の後側方の後方視界を含む第２の表示画像を抽出する処理を含み、
    　前記第２の表示画像は、前記第１の表示画像の一部又は全部を含み、
    　前記処理Ｃは、前記第１の表示画像から前記第２の表示画像に切り替える際、又は前記第２の表示画像から前記第１の表示画像に切り替える際に、前記第１の表示画像のうち前記第２の表示画像に含まれる部分の表示位置を保持する処理を含む、運転支援プログラム。     To the computer of the driving assistance device,
    (A) processing for generating a reference image of one viewpoint based on an image of a rear view captured by the imaging unit;
    (B) a process of extracting a display image to be displayed on the display unit from the reference image;
    (C) a driving support program that executes a process of displaying the display image on the display unit,
    The process B extracts, as the display image, a first display image showing a rear field of view immediately behind the host vehicle during normal driving. When the driving is not normal driving, the process B Including a process of extracting a second display image including a rear view of the direction,
    The second display image includes a part or all of the first display image,
    The process C is performed when the first display image is switched from the first display image to the second display image, or when the second display image is switched to the first display image. A driving support program including a process of holding a display position of a portion included in the second display image.
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