WO2019030963A1 - Display control device for vehicle, stop position determination device for vehicle, display control system for vehicle, display control method for vehicle and program - Google Patents

Display control device for vehicle, stop position determination device for vehicle, display control system for vehicle, display control method for vehicle and program Download PDF

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Publication number
WO2019030963A1
WO2019030963A1 PCT/JP2018/011907 JP2018011907W WO2019030963A1 WO 2019030963 A1 WO2019030963 A1 WO 2019030963A1 JP 2018011907 W JP2018011907 W JP 2018011907W WO 2019030963 A1 WO2019030963 A1 WO 2019030963A1
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WIPO (PCT)
Prior art keywords
vehicle
display
unit
display control
information
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PCT/JP2018/011907
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French (fr)
Japanese (ja)
Inventor
貴之 荒瀬
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株式会社Ｊｖｃケンウッド
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Publication of WO2019030963A1 publication Critical patent/WO2019030963A1/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
    • B60R1/27—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
    • 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 display control device for a vehicle, a stop position determination device for a vehicle, a display control system for a vehicle, a display control method for a vehicle, and a program.
  • Vehicles may stop for traffic lights while driving or may stop due to traffic jams. For example, when there is an entrance of a parking lot or an entrance of an alley around a vehicle, smooth stopping of other vehicles entering and exiting the entrance when the vehicle stops at a position where the entrance is blocked It may interfere. Therefore, when there is a risk of making smooth passage of another vehicle difficult, it is desirable to display the periphery of the vehicle in a checkable manner in order to assist the driver in determining the appropriate stop position.
  • the present invention has been made in view of the above, and it is an object of the present invention to display an appropriate stop position in a checkable manner when the vehicle may make smooth passage of another vehicle difficult.
  • a display control apparatus for a vehicle includes: a video data acquisition unit for acquiring peripheral image data photographed by a photographing unit for photographing the periphery of the vehicle; A peripheral information acquisition unit for acquiring peripheral information indicating the situation around the vehicle, a vehicle information acquisition unit for acquiring vehicle information of the vehicle, and the peripheral information acquired by the peripheral information acquisition unit, or the video data acquisition unit And a display control unit for causing the display unit to display the display video generated by the video generation unit, the display control unit further comprising: When it is determined that the vehicle may make it difficult to smoothly pass another vehicle based on the surrounding information acquired by the acquiring unit and the vehicle information acquired by the vehicle information acquiring unit, the video Generating unit has generated, the do not inhibit the passage of the other vehicle displaying a display image including information indicating the stop position of the vehicle on the display unit, characterized in that.
  • the vehicle stop position determination device includes: a peripheral information acquisition unit acquiring peripheral information indicating a peripheral environment of the vehicle; a vehicle information acquisition unit acquiring vehicle information of the vehicle; The surrounding condition determining unit determines the other vehicle by the vehicle based on the surrounding information acquired by the surrounding information acquiring unit and the vehicle information acquired by the vehicle information acquiring unit. When it is determined that smooth traffic may be difficult, information indicating the stop position of the vehicle that does not disturb the traffic of the other vehicle is output.
  • a display control system for a vehicle includes the display control device for a vehicle described above, and a photographing unit that photographs the periphery of the vehicle and supplies the peripheral image data to the video data acquisition unit. .
  • the display control step includes a generation step and a display control step of causing the display unit to display a display image generated in the video generation step, the display control step including the peripheral information acquired in the peripheral information acquisition step and the vehicle information acquisition step Based on the acquired vehicle information, smooth communication of other vehicles is performed by the vehicle. If it is determined that there is a possibility of difficulty, said generated by the image generating step, a display image including information indicating the stop position of the vehicle that does not inhibit the passage of the other vehicle is displayed on the display unit.
  • the program according to the present invention comprises a video data acquisition step of acquiring peripheral video data photographed by a photographing unit photographing a peripheral of the vehicle, a peripheral information acquisition step of acquiring peripheral information indicating a situation around the vehicle, and A vehicle information acquisition step of acquiring vehicle information of a vehicle, and a video generation step of generating a display video based on the peripheral information acquired by the peripheral information acquisition step or a peripheral video acquired by the video data acquisition step; And a display control step of causing the display unit to display the display video generated in the video generation step, wherein the display control step includes peripheral information acquired in the peripheral information acquisition step and vehicle information acquired in the vehicle information acquisition step.
  • a display video including the information indicating the stop position of the vehicle generated in the video generation step which does not disturb the passage of the other vehicle is displayed on the display unit when it is determined that there is a possibility It is executed by a computer that operates as a display control device.
  • the driver can display an appropriate stop position in a checkable manner when there is a risk of making smooth passage of another vehicle difficult.
  • FIG. 1 is a block diagram showing a configuration example of a display control system for a vehicle according to the first embodiment.
  • FIG. 2 is a diagram showing a vehicle and its surroundings.
  • FIG. 3 is a diagram showing a vehicle and its surroundings.
  • FIG. 4 is a view showing an example of a bird's-eye view image generated by the vehicle display control system according to the first embodiment.
  • FIG. 5 is a flowchart showing the flow of processing in the display control device for a vehicle of the display control system for a vehicle according to the first embodiment.
  • FIG. 6 is a diagram showing an example of a front image generated by the display control system for a vehicle.
  • a display control device 40 for a vehicle a stop position determination device for a vehicle (not shown), a display control system 1 for a vehicle, a display control method for a vehicle and a program according to the present invention will be described in detail. Do. Note that the present invention is not limited by the following embodiments.
  • FIG. 1 is a block diagram showing a configuration example of a display control system for a vehicle according to the first embodiment.
  • FIG. 2 is a diagram showing a vehicle and its surroundings.
  • FIG. 3 is a diagram showing a vehicle and its surroundings.
  • the vehicle display control system 1 determines that the vehicle V1 may make smooth entry and exit of the other vehicle V3 difficult
  • the information indicating the appropriate stop position of the vehicle V1 which does not inhibit the passage of the other vehicle V3 is An overhead view image 100 (see FIG. 4) as a display image to be included is generated.
  • FIGS. 2 and 3 show an example of the case where it is determined that the vehicle V1 may make smooth entry and exit of the other vehicle V3 difficult.
  • the entrance P may be, for example, on the right side as long as it is in the vicinity of the vehicle V1.
  • Whether to display the overhead view image 100 may be determined based on the size and the presence or absence of the central separator.
  • the entrance P is a place where another vehicle V3 may move in and out across the front and back of the vehicle V1.
  • the entrance P is a place where, for example, another vehicle V3 which is a right-turn vehicle traveling in the opposite lane may cross the front of the vehicle V1.
  • the entrance P is, for example, an entrance of a parking lot or an entrance of an alley.
  • the vehicle V1 may make it difficult to smoothly enter and leave the entrance P of the other vehicle V3 when the vehicle V1 stops at the position where the entrance P is closed.
  • even if the vehicle V1 does not stop completely, when performing significant deceleration or slowing in the vicinity of the entrance P it may prevent other vehicles V3 from entering and exiting the entrance P, which may make smooth entry and exit difficult. .
  • the vehicle display control device 40 and the vehicle display control system 1 are mounted on a vehicle V1.
  • the vehicle display control device 40 and the vehicle display control system 1 may be portable devices that can be used in the vehicle V1, in addition to those mounted on the vehicle V1.
  • the display control system 1 for vehicles is demonstrated using FIG.
  • the display control system 1 for vehicles has one or more imaging
  • the vehicle display control system 1 includes a front camera (shooting unit) 11, a rear camera (shooting unit) 12, a left side camera (shooting unit) 13, and a right side camera (shooting unit) 14 , And a display control device 40 for a vehicle.
  • the front camera 11 is an overhead video camera.
  • the front camera 11 is disposed in front of the vehicle V1 and captures an area around the front of the vehicle V1. As shown in FIG. 2, the front camera 11 captures an image of a first imaging range A1 of, for example, about 180 °.
  • the first shooting range A1 includes a wider range in front of the vehicle V1 than the display range A of the overhead image 100.
  • the front camera 11 outputs the captured video to the video data acquisition unit 42 of the vehicle display control device 40.
  • the rear camera 12 is an overhead video camera.
  • the rear camera 12 is disposed at the rear of the vehicle V1 and captures an image of the area around the rear of the vehicle V1.
  • the rear camera 12 shoots a second shooting range A2 of about 180 °, for example.
  • the second shooting range A2 includes a wider range behind the vehicle V1 than the display range A of the overhead image 100.
  • the rear camera 12 outputs the captured video to the video data acquisition unit 42 of the vehicle display control device 40.
  • the left side camera 13 is an overhead video camera.
  • the left side camera 13 is disposed on the left side of the vehicle V1 and captures an image of the area around the left side of the vehicle V1.
  • the left side camera 13 shoots a third shooting range A3 of about 180 °, for example.
  • the third shooting range A3 includes a wider range on the left side of the vehicle V1 than the display range A of the overhead image 100.
  • the left side camera 13 outputs the captured video to the video data acquisition unit 42 of the vehicle display control device 40.
  • the right side camera 14 is a bird's eye view camera.
  • the right side camera 14 is disposed on the right side of the vehicle V1 and captures an area around the right side of the vehicle V1.
  • the right side camera 14 captures, for example, a fourth imaging range A4 of about 180 °.
  • the fourth shooting range A4 includes a wider range on the right side of the vehicle V1 than the display range A of the overhead image 100.
  • the right side camera 14 outputs the captured video to the video data acquisition unit 42 of the display control device 40 for a vehicle.
  • the forward camera 11, the rear camera 12, the left side camera 13 and the right side camera 14 capture images of all directions of the vehicle V ⁇ b> 1.
  • the display panel 31 is a display including, for example, a liquid crystal display (LCD) or an organic electro-luminescence (EL) display.
  • the display panel 31 displays the overhead view video 100 based on the video signal output from the vehicle display control device 40 of the vehicle display control system 1.
  • the display panel 31 may be dedicated to the vehicle display control system 1 or may be used jointly with other systems including, for example, a navigation system.
  • the display panel 31 is disposed at a position easily visible by the driver.
  • the vehicle display control device 40 includes a control unit 41 and a storage unit 50.
  • the control unit 41 is, for example, an arithmetic processing unit configured by a CPU (Central Processing Unit) or the like.
  • the control unit 41 loads the program stored in the storage unit 50 into the memory and executes an instruction included in the program.
  • the control unit 41 includes a video data acquisition unit 42, a surrounding information acquisition unit 43, a vehicle information acquisition unit 44, a video generation unit 45, and a display control unit 49.
  • the control unit 41 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the control unit 41 and the like.
  • the video data acquisition unit 42 acquires peripheral video data obtained by photographing the periphery of the vehicle V1. More specifically, the video data acquisition unit 42 acquires video data output from the front camera 11, the rear camera 12, the left side camera 13, and the right side camera 14. The video data acquisition unit 42 outputs the acquired video data to the peripheral information acquisition unit 43 and the video generation unit 45. Video data acquired from each camera is, for example, a moving image composed of images at 30 frames per second.
  • the surrounding information acquisition unit 43 acquires surrounding information indicating the situation around the vehicle V1.
  • the peripheral information acquisition unit 43 executes image processing on the peripheral video acquired by the video data acquisition unit 42 to detect the entrance P existing on the front side of the vehicle V1, and the detection result is It will be peripheral information.
  • the peripheral information acquisition unit 43 uses a position where a guardrail or a cut of a curb exists in the left front of the vehicle V1 as the entrance P To detect.
  • the peripheral information acquisition unit 43 is a location where a sign indicating the entrance of the parking lot exists in the left front of the vehicle V1 Detect as P.
  • the peripheral information acquisition unit 43 outputs the detection result of the entrance P to the video generation unit 45 as peripheral information.
  • the peripheral information acquisition unit 43 may detect an object to be photographed having a linearity equal to or greater than a predetermined length from the peripheral image as a guardrail or a curb by edge detection processing, and detect a cut of the object.
  • the peripheral information acquisition unit 43 may detect a cut in the guardrail or the curb from the peripheral image by a recognition dictionary that stores the cut in the guardrail or the curb.
  • the peripheral information acquisition unit 43 may detect the entrance / exit P from map information of a navigation system (not shown) and current position information of the vehicle V1.
  • the peripheral information acquisition unit 43 is at least one of the vehicle speed of the leading vehicle V2 traveling in front of the vehicle V1, the inter-vehicle distance L1 between the vehicle V1 and the leading vehicle V2, and the relative speed between the vehicle V1 and the leading vehicle V2. May be included in the preceding vehicle information acquisition unit 431.
  • the leading vehicle information acquisition unit 431 acquires the state of the leading vehicle V2 from the front camera 11, various sensors for sensing, and vehicle information indicating the status of the vehicle V1 obtained from CAN (Controller Area Network).
  • the vehicle information acquisition unit 44 acquires vehicle information indicating the status of the vehicle V1 from CAN or various sensors that sense the status of the vehicle V1.
  • the vehicle information acquisition unit 44 acquires, for example, vehicle speed information.
  • the vehicle information acquisition unit 44 outputs the acquired vehicle information to the video generation unit 45.
  • the video generation unit 45 generates the overhead view video 100 based on the peripheral information acquired by the peripheral information acquisition unit 43 or the peripheral video acquired by the video data acquisition unit 42.
  • the video generation unit 45 predicts stop and deceleration of the vehicle V1 based on the peripheral information indicating the peripheral condition acquired by the peripheral information acquisition unit 43 and the vehicle information acquired by the vehicle information acquisition unit 44, and the other vehicle V3 If it is determined that the smooth passage of the vehicle V may be difficult, the overhead video 100 including information indicating the appropriate stop position of the vehicle V1 is generated.
  • the image generation unit 45 has the entrance P in front of the vehicle V1 and there is a possibility that the vehicle V1 may block at least a part of the entrance P and stop.
  • the image generation unit 45 determines that the entrance / exit P exists in front of the vehicle V1 and that the vehicle V1 may stop, and the predicted stop position based on the vehicle speed of the vehicle V1 is the entrance / exit When it is determined that at least a part of P is to be closed, the overhead view video 100 including information indicating the appropriate stop position of the vehicle V1 is generated.
  • Blocking at least a part of the entrance / exit part P means that the vehicle V1 stopped at the predicted stop position calculated based on the vehicle speed is located on the side of the entrance / exit part P and the front end of the vehicle V1 and the rear end of the preceding vehicle V2 This means that the inter-vehicle distance L1 to the part is smaller than the width L2 of the entrance P.
  • the inter-vehicle distance L1 is large enough to prevent the other vehicle V3 from passing.
  • the vehicle V1 it is determined as follows whether stop or deceleration of the vehicle V1 is predicted, in other words, whether the vehicle V1 may stop. Based on at least one of the vehicle information acquired by the vehicle information acquisition unit 44, the leading vehicle information acquired by the leading vehicle information acquisition unit 431, and the peripheral information indicating the peripheral status acquired by the peripheral information acquisition unit 43. It is determined whether the vehicle V1 may stop. For example, it is determined that the vehicle V1 may stop if the vehicle speed or acceleration of the vehicle V1 is equal to or less than a threshold or if information such as a forward signal is a red signal is acquired.
  • the vehicle V1 may stop if the relative speed with the vehicle speed is less than the threshold.
  • the threshold value of the vehicle speed of the vehicle V1 or the preceding vehicle V2 is 20 km / h.
  • the threshold value of the inter-vehicle distance L1 is 10 m.
  • the image generation unit 45 outputs the generated overhead view image 100 to the display control unit 49.
  • the image generation unit 45 includes a viewpoint conversion processing unit (not shown), a clipping processing unit, and a combining processing unit.
  • the viewpoint conversion processing unit performs viewpoint conversion processing on the surrounding video data acquired by the video data acquisition unit 42 so as to look down on the vehicle V1 from above. More specifically, the viewpoint conversion processing unit generates a video subjected to viewpoint conversion processing based on peripheral video data captured by the front camera 11, the rear camera 12, the left side camera 13 and the right side camera 14.
  • the method of viewpoint conversion processing may be any known method and is not limited.
  • the viewpoint conversion processing unit outputs the peripheral video data subjected to the viewpoint conversion processing to the clipping processing unit.
  • the clipping processing unit performs clipping processing on a video within a predetermined range from the peripheral video data subjected to the viewpoint conversion processing. Which range is to be cut out is registered and stored in advance.
  • the clipping processing unit outputs the video data of the video subjected to the clipping processing to the combining processing unit.
  • the combining processing unit performs combining processing to combine the video data subjected to the clipping processing.
  • the combining processing unit displays the vehicle icon 110 on the combined image, and generates the overhead view image 100 in which the information indicating the appropriate stop position of the vehicle V1 is superimposed.
  • the information indicating the appropriate stop position of the vehicle V1 indicates the position where the stop position of the vehicle V1 does not obstruct the passage of the other vehicle V3.
  • the information indicating the appropriate stop position of the vehicle V1 indicates a position at which the other vehicle V3 can smoothly enter and leave the entrance P.
  • the information indicating the appropriate stop position of the vehicle V1 is, for example, a stop line icon resembling a stop line drawn on the road surface, or a stop that simulates a stop or a sign indicating the appropriate stop position of the vehicle V1. It is a sign icon or a stop prohibition area icon simulating a sign indicating a stop prohibition part or a non-entry part drawn on the road surface.
  • the stop line icon and the stop sign icon are superimposed at a position immediately before reaching the entrance P.
  • the stop line icon and the stop sign icon are superimposed at a position based on the end of the entrance / exit P on the vehicle V1 side in the display video.
  • the stop prohibition area is an area on the side of the entrance P.
  • the composition processing unit superimposes at least one of the stop line icon, the stop sign icon, and the stop prohibition area icon.
  • the combining processing unit when the information indicating the appropriate stop position of the vehicle V1 is not included as an object to be photographed, the combining processing unit superimposes the stop prohibition area icon 120.
  • the combining processing unit may or may not superimpose the icon on the stop line or the like.
  • the icon to be superimposed depending on the object to be photographed may be changed such as superimposing the stop sign icon.
  • the overhead view image 100 will be described with reference to FIG. FIG. 4 is a view showing an example of a bird's-eye view image generated by the vehicle display control system according to the first embodiment.
  • the overhead image 100 displays a predetermined display range A from the vehicle V1.
  • the overhead image 100 is located at a central portion surrounded by the front image 101, the rear image 102, the left side image 103, the right side image 104, the front image 101, the rear image 102, the left direction image 103, and the right side image 104.
  • Vehicle icon 110 and a stop prohibition area icon 120 indicates the position and the direction of the vehicle V1.
  • the vehicle icon 110 is disposed at the center with the front-rear direction parallel to the front-rear direction of the overhead view video 100.
  • the stop prohibition area icon 120 encloses an area on the side of the entrance P. It is preferable that the overhead image 100 can recognize the relative positional relationship between the front end of the vehicle V1, the rear end of the preceding vehicle V2, and the entrance P.
  • FIG. 4 diagonal broken lines indicating boundaries between the front image 101, the rear image 102, the left side image 103, and the right side image 104 are illustrated for the sake of illustration, but are actually displayed on the display panel 31.
  • the broken line may not be displayed in the overhead image 100. The same applies to the other figures.
  • the display control unit 49 may make smooth passage of the other vehicle V3 difficult based on the peripheral information indicating the peripheral status acquired by the peripheral information acquisition unit 43 and the vehicle information acquired by the vehicle information acquisition unit 44. If it is determined that there is, the overhead video 100 generated by the video generation unit 45 is displayed on the display panel 31.
  • the display control unit 49 has the entrance P where the other vehicle V3 can enter and exit on the side of the vehicle V1 based on the surrounding information and the vehicle information, and the stop and deceleration of the vehicle V1 If it is predicted that it is determined that smooth entry and exit from the entrance P of the other vehicle V3 may be difficult, the overhead view image 100 generated by the image generation unit 45 is displayed on the display panel 31.
  • the storage unit 50 stores data required for various processes in the vehicle display control device 40 and various process results.
  • the storage unit 50 is, for example, a semiconductor memory device such as a random access memory (RAM), a read only memory (ROM), a flash memory, or a storage device such as a hard disk or an optical disk.
  • FIG. 5 is a flowchart showing the flow of processing in the display control device for a vehicle of the display control system for a vehicle according to the first embodiment.
  • the control unit 41 determines whether or not there is the entrance / exit P on the side (step S11). More specifically, if the control unit 41 determines that the entrance P is detected based on the peripheral information acquired from the peripheral information acquisition unit 43 (Yes in step S11), the control unit 41 proceeds to step S12. When it is determined that the entrance / exit P is not detected based on the peripheral information acquired from the peripheral information acquisition unit 43 (No in step S11), the control unit 41 executes the process of step S11 again.
  • Control unit 41 determines whether or not vehicle V1 may stop near entrance P (step S12). More specifically, it is determined that the control unit 41 determines that the vehicle V1 may stop and determines that the predicted stop position of the vehicle V1 may block at least a part of the entrance P and stop. (Yes in step S12), the process proceeds to step S13. If it is not determined that there is a possibility that the vehicle V1 may stop, or if it is determined that there is no possibility that the predicted stop position of the vehicle V1 may block and stop at least a part of the entrance / exit part P The process of step S11 is performed again.
  • the control unit 41 generates the overhead view image 100 in which the stop prohibition area icon 120 is superimposed (step S13). More specifically, the control unit 41 causes the image generation unit 45 to perform viewpoint conversion so that the vehicle V1 is viewed from above from the surrounding image acquired by the image data acquisition unit 42, and the overhead image 100 in which the stop prohibition area icon 120 is superimposed. Generate The control unit 41 proceeds to step S14.
  • the stop prohibition area icon 120 to be superimposed may be the stop line icon 210 and the stop sign icon 220, and a plurality of pieces of information indicating the stop positions may be simultaneously superimposed.
  • the control unit 41 displays the overhead view image 100 on which the stop prohibition area icon 120 is superimposed (step S14). More specifically, the control unit 41 causes the display control unit 49 to display the overhead view image 100 on which the stop prohibition area icon 120 is superimposed on the display panel 31. The control unit 41 proceeds to step S15.
  • the control unit 41 determines whether or not there is an end trigger (step S15).
  • the termination trigger is, for example, when there is no possibility that the vehicle V1 will stop or when the vehicle V1 passes by the side of the entrance P. If there is an end trigger, the control unit 41 determines to end the display of the overhead view video 100 (Yes in step S15), and ends the process. When there is no end trigger, the control unit 41 determines that the display of the overhead view video 100 is not ended (No in step S15), and executes the process of step S13 again.
  • the vehicle display control system 1 has the entrance P at the side of the vehicle V1 and that the vehicle V1 may block at least a part of the entrance P and stop.
  • a video signal for displaying on the display panel 31 the overhead video image 100 on which the stop prohibition area icon 120 is superimposed is output.
  • the display panel 31 displays, for example, a bird's eye view image 100 in which the stop prohibition area icon 120 is superimposed on the navigation screen, based on the image signal output from the vehicle display control system 1.
  • the vehicle V1 when it is determined that the entrance / exit portion P exists on the side of the vehicle V1 and there is a possibility that the vehicle V1 may block at least a part of the entrance / exit portion P and stop.
  • the overhead image 100 on which the stop prohibition area icon 120 is superimposed can be displayed on the display panel 31.
  • the driver when the entrance / exit P is present on the side of the vehicle V1, the driver can easily recognize an appropriate position for stopping the vehicle V1.
  • the overhead view image 100 is not displayed
  • the driver may have difficulty in determining the appropriate position for stopping the vehicle V1.
  • the vehicle V1 may stop at the stop position where the entrance / exit portion P is closed.
  • the other vehicle V3 attempting to cross the front of the vehicle V1 from the oncoming lane and enter the entrance P can not advance until the vehicle V1 moves forward, and the following vehicle of the other vehicle V3 stays and the oncoming lane Smooth traffic may be impeded.
  • the driver since the overhead view image 100 as shown in FIG. 4 is displayed, the driver can easily block the entrance P and stop when the vehicle V1 further travels. It can be confirmed. The driver can determine that it is better to stop at the current position that does not fall in the stop prohibition area. Thereby, according to the present embodiment, it is possible to smoothly pass the other vehicle V3. Furthermore, according to the present embodiment, the following vehicle of the other vehicle V3 can be suppressed from staying.
  • Each component of the illustrated display control system 1 is functionally conceptual, and may not necessarily be physically configured as illustrated. That is, the specific form of each device is not limited to the illustrated one, and all or a part thereof is functionally or physically dispersed or integrated in an arbitrary unit according to the processing load and use condition of each device, etc. May be
  • the configuration of the vehicle display control system 1 is realized by, for example, a program loaded into a memory as software.
  • the above embodiment has been described as a functional block realized by cooperation of these hardware or software. That is, these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof.
  • the image generation unit 45 has been described as generating the overhead image 100 as a display image, the present invention is not limited to this.
  • the front image 200 may be generated as a display image.
  • FIG. 6 shows an example of a front image 200 generated instead of the overhead image 100 in the first embodiment.
  • FIG. 6 is a diagram showing an example of a front image generated by the display control system for a vehicle.
  • the display control unit 49 there is a possibility that the entrance P exists in front of the vehicle V1 based on the surrounding information and the vehicle information, and the vehicle V1 may block at least a part of the entrance P and stop.
  • the display panel 31 may display the front image 200 including information indicating the appropriate stop position of the vehicle V1.
  • the forward image 200 includes a stop line icon 210 and a stop sign icon 220 displayed in the vicinity of the stop line icon 210.
  • the display image generated instead of the overhead image 100 may be recognized as a virtual image by the head-up display device.
  • the display control unit 49 causes the display unit, which is a projection unit, to display a stop line icon as a display image including, for example, information indicating the stop position of the vehicle.
  • AR Augmented Reality: The augmented reality
  • AR is used to determine the display position of the stop information so as to display a stop line or a stop sign at a position determined to stop the vehicle V1 on the real space that is the driver's field of vision.
  • the display form is easy for the driver to visually recognize.
  • the display video at this time is only the stop information indicating the position to be stopped, and the video taken by the imaging unit is not included, and AR display is performed by determining the display position of the stop icon on the real space.
  • the AR technique superimposes a virtual display on a physical space, and a known technique may be used to determine the display position, so the detailed description will be omitted here.
  • the peripheral information acquisition unit 43 may perform image processing on the peripheral video acquired by the video data acquisition unit 42 as peripheral information of the vehicle V1 to detect that the traffic light ahead of the vehicle V1 is red.
  • the surrounding information acquisition unit 43 may detect that the brake lamp of the leading vehicle V2 is on by image processing as surrounding information of the vehicle V1.
  • the surrounding information acquisition unit 43 may detect, as surrounding information of the vehicle V1, that the inter-vehicle distance L1 between the vehicle V1 and the leading vehicle V2 detected by a sensor (not shown) has become equal to or less than a threshold. Then, the video generation unit 45 may determine that there is a possibility that the vehicle V1 may stop based on the information.
  • the image generation unit 45 may generate the overhead image 100 while the display control system 1 for a vehicle is activated. In this case, if it is determined that the stop and deceleration of the vehicle V1 are predicted by the display control unit 49 and there is a possibility that smooth passage of the other vehicle V3 may be difficult, control is performed to display the overhead image 100. Good.
  • the embodiment described above can also be realized as a vehicle stop position determination device.
  • the vehicle stop position determination device includes a surrounding information acquisition unit 43, a vehicle information acquisition unit 44, and a surrounding condition determination unit (not shown).
  • the surrounding situation determination unit does not inhibit the passage of the other vehicle V3.
  • a control signal indicating that control to stop at a position determined to be to be performed is output.
  • a control signal indicating that the vehicle V1 is to be stopped at the position determined to be stopped is output to the automatic driving control unit of the vehicle V1.
  • the surrounding situation determination unit determines if the inter-vehicle distance L1 between the vehicle V1 and the preceding vehicle V2 is equal to or less than the threshold value;
  • the automatic driving control unit of the vehicle V1 stops the vehicle V1.
  • a control signal indicating that control to stop at a position determined to be to be performed is output. According to such a vehicle stop position determination device, the vehicle V1 can be automatically stopped at an appropriate stop position when there is a risk of making smooth passage of the other vehicle V3 difficult.

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Abstract

The present invention comprises: an image data acquisition unit 42 which acquires surrounding area image data captured by cameras; a surrounding area information acquisition unit 43 which acquires surrounding area information indicating the state of the area surrounding a vehicle; a vehicle information acquisition unit 44 which acquires vehicle information including the vehicle speed of the vehicle; an image generation unit 45 which generates a display image on the basis of the surrounding area information or a surrounding area image; and a display control unit 49 which displays the display image generated by the image generation unit 45 on a display panel 31. If it is determined on the basis of the surrounding area information acquired by the surrounding area information acquisition unit 43 and the vehicle information acquired by the vehicle information acquisition unit 44 there is a possibility that the vehicle will impede the smooth passage of another vehicle, the display control unit 49 causes the display image, including information indicating the stop position of the vehicle to be displayed on the display panel 31.

Description

車両用表示制御装置、車両用停止位置判定装置、車両用表示制御システム、車両用表示制御方法およびプログラムVehicle display control device, vehicle stop position determination device, vehicle display control system, vehicle display control method and program
　本発明は、車両用表示制御装置、車両用停止位置判定装置、車両用表示制御システム、車両用表示制御方法およびプログラムに関する。 The present invention relates to a display control device for a vehicle, a stop position determination device for a vehicle, a display control system for a vehicle, a display control method for a vehicle, and a program.
　車両の俯瞰画像を車両画像と共に表示する車両周辺表示装置に関する技術が知られている（例えば、特許文献１参照）。この技術は、車両が前進から後退に切り替わったとき、車両画像よりも後方について俯瞰画像の表示領域を広げる。 There is known a technique related to a vehicle periphery display device that displays an overhead view image of a vehicle together with the vehicle image (see, for example, Patent Document 1). This technology widens the display area of the overhead image behind the vehicle image when the vehicle switches from forward to reverse.
特開２０１５－０７６６４５号公報JP, 2015-076645, A
　車両は、走行中に信号待ち、または、渋滞によって停止することがある。車両の周辺に、例えば、駐車場の出入口部、または、路地の出入口部が存在する場合、車両が出入口部を塞ぐ位置で停止してしまうと、出入口部に出入りする他車両のスムースな通行を妨げることがある。そこで、他車両のスムースな通行を難しくするおそれがあるとき、運転者が適切な停止位置を判断可能にすることを支援するため、車両周辺を確認可能に表示することが望まれる。 Vehicles may stop for traffic lights while driving or may stop due to traffic jams. For example, when there is an entrance of a parking lot or an entrance of an alley around a vehicle, smooth stopping of other vehicles entering and exiting the entrance when the vehicle stops at a position where the entrance is blocked It may interfere. Therefore, when there is a risk of making smooth passage of another vehicle difficult, it is desirable to display the periphery of the vehicle in a checkable manner in order to assist the driver in determining the appropriate stop position.
　本発明は、上記に鑑みてなされたものであって、車両が他車両のスムースな通行を難しくするおそれがあるとき、運転者が適切な停止位置を確認可能に表示することを目的とする。 The present invention has been made in view of the above, and it is an object of the present invention to display an appropriate stop position in a checkable manner when the vehicle may make smooth passage of another vehicle difficult.
　上述した課題を解決し、目的を達成するために、本発明に係る車両用表示制御装置は、車両の周辺を撮影する撮影部が撮影した周辺映像データを取得する映像データ取得部と、前記車両の周辺の状況を示す周辺情報を取得する周辺情報取得部と、前記車両の車両情報を取得する車両情報取得部と、前記周辺情報取得部が取得した前記周辺情報、または、前記映像データ取得部が取得した周辺映像に基づいて表示映像を生成する映像生成部と、前記映像生成部が生成した表示映像を表示部に表示させる表示制御部と、を備え、前記表示制御部は、前記周辺情報取得部が取得した周辺情報と前記車両情報取得部が取得した車両情報とに基づいて、前記車両によって他車両のスムースな通行を難しくする可能性があると判定される場合、前記映像生成部が生成した、前記他車両の通行を阻害しない前記車両の停止位置を示す情報を含む表示映像を前記表示部に表示させる、ことを特徴とする。 In order to solve the problems described above and achieve the object, a display control apparatus for a vehicle according to the present invention includes: a video data acquisition unit for acquiring peripheral image data photographed by a photographing unit for photographing the periphery of the vehicle; A peripheral information acquisition unit for acquiring peripheral information indicating the situation around the vehicle, a vehicle information acquisition unit for acquiring vehicle information of the vehicle, and the peripheral information acquired by the peripheral information acquisition unit, or the video data acquisition unit And a display control unit for causing the display unit to display the display video generated by the video generation unit, the display control unit further comprising: When it is determined that the vehicle may make it difficult to smoothly pass another vehicle based on the surrounding information acquired by the acquiring unit and the vehicle information acquired by the vehicle information acquiring unit, the video Generating unit has generated, the do not inhibit the passage of the other vehicle displaying a display image including information indicating the stop position of the vehicle on the display unit, characterized in that.
　本発明に係る車両用停止位置判定装置は、車両の周辺の状況を示す周辺情報を取得する周辺情報取得部と、前記車両の車両情報を取得する車両情報取得部と、前記車両の周辺状況を判定する周辺状況判定部と、を備え、前記周辺状況判定部は、前記周辺情報取得部が取得した周辺情報と前記車両情報取得部が取得した車両情報とに基づいて、前記車両によって他車両のスムースな通行を難しくする可能性があると判定される場合、前記他車両の通行を阻害しない前記車両の停止位置を示す情報を出力する、ことを特徴とする。 The vehicle stop position determination device according to the present invention includes: a peripheral information acquisition unit acquiring peripheral information indicating a peripheral environment of the vehicle; a vehicle information acquisition unit acquiring vehicle information of the vehicle; The surrounding condition determining unit determines the other vehicle by the vehicle based on the surrounding information acquired by the surrounding information acquiring unit and the vehicle information acquired by the vehicle information acquiring unit. When it is determined that smooth traffic may be difficult, information indicating the stop position of the vehicle that does not disturb the traffic of the other vehicle is output.
　本発明に係る車両用表示制御システムは、上記の車両用表示制御装置と、前記車両の周辺を撮影し前記映像データ取得部に周辺映像データを供給する撮影部と、を備えることを特徴とする。 A display control system for a vehicle according to the present invention includes the display control device for a vehicle described above, and a photographing unit that photographs the periphery of the vehicle and supplies the peripheral image data to the video data acquisition unit. .
　本発明に係る車両用表示制御方法は、車両の周辺を撮影する撮影部が撮影した周辺映像データを取得する映像データ取得ステップと、前記車両の周辺の状況を示す周辺情報を取得する周辺情報取得ステップと、前記車両の車両情報を取得する車両情報取得ステップと、前記周辺情報取得ステップによって取得した前記周辺情報、または、前記映像データ取得ステップによって取得した周辺映像に基づいて表示映像を生成する映像生成ステップと、前記映像生成ステップによって生成した表示映像を表示部に表示させる表示制御ステップと、を含み、前記表示制御ステップは、前記周辺情報取得ステップによって取得した周辺情報と前記車両情報取得ステップによって取得した車両情報とに基づいて、前記車両によって他車両のスムースな通行を難しくする可能性があると判定される場合、前記映像生成ステップによって生成した、前記他車両の通行を阻害しない前記車両の停止位置を示す情報を含む表示映像を前記表示部に表示させる。 In the display control method for a vehicle according to the present invention, a video data acquisition step of acquiring peripheral video data photographed by a photographing unit photographing the peripheral of the vehicle, and peripheral information acquisition acquiring peripheral information indicating a situation around the vehicle A step, a vehicle information acquisition step for acquiring vehicle information of the vehicle, a peripheral image acquired in the peripheral information acquisition step, or a video generating a display video based on a peripheral video acquired in the video data acquisition step The display control step includes a generation step and a display control step of causing the display unit to display a display image generated in the video generation step, the display control step including the peripheral information acquired in the peripheral information acquisition step and the vehicle information acquisition step Based on the acquired vehicle information, smooth communication of other vehicles is performed by the vehicle. If it is determined that there is a possibility of difficulty, said generated by the image generating step, a display image including information indicating the stop position of the vehicle that does not inhibit the passage of the other vehicle is displayed on the display unit.
　本発明に係るプログラムは、車両の周辺を撮影する撮影部が撮影した周辺映像データを取得する映像データ取得ステップと、前記車両の周辺の状況を示す周辺情報を取得する周辺情報取得ステップと、前記車両の車両情報を取得する車両情報取得ステップと、前記周辺情報取得ステップによって取得した前記周辺情報、または、前記映像データ取得ステップによって取得した周辺映像に基づいて表示映像を生成する映像生成ステップと、前記映像生成ステップによって生成した表示映像を表示部に表示させる表示制御ステップと、を含み、前記表示制御ステップは、前記周辺情報取得ステップによって取得した周辺情報と前記車両情報取得ステップによって取得した車両情報とに基づいて、前記車両によって他車両のスムースな通行を難しくする可能性があると判定される場合、前記映像生成ステップによって生成した、前記他車両の通行を阻害しない前記車両の停止位置を示す情報を含む表示映像を前記表示部に表示させることを車両用表示制御装置として動作するコンピュータに実行させる。 The program according to the present invention comprises a video data acquisition step of acquiring peripheral video data photographed by a photographing unit photographing a peripheral of the vehicle, a peripheral information acquisition step of acquiring peripheral information indicating a situation around the vehicle, and A vehicle information acquisition step of acquiring vehicle information of a vehicle, and a video generation step of generating a display video based on the peripheral information acquired by the peripheral information acquisition step or a peripheral video acquired by the video data acquisition step; And a display control step of causing the display unit to display the display video generated in the video generation step, wherein the display control step includes peripheral information acquired in the peripheral information acquisition step and vehicle information acquired in the vehicle information acquisition step. The smooth passage of other vehicles by the vehicle. It is determined for the vehicle that a display video including the information indicating the stop position of the vehicle generated in the video generation step which does not disturb the passage of the other vehicle is displayed on the display unit when it is determined that there is a possibility It is executed by a computer that operates as a display control device.
　本発明によれば、他車両のスムースな通行を難しくするおそれがあるとき、運転者が適切な停止位置を確認可能に表示することができるという効果を奏する。 According to the present invention, there is an effect that the driver can display an appropriate stop position in a checkable manner when there is a risk of making smooth passage of another vehicle difficult.
図１は、第一実施形態に係る車両用表示制御システムの構成例を示すブロック図である。FIG. 1 is a block diagram showing a configuration example of a display control system for a vehicle according to the first embodiment. 図２は、車両とその周辺とを示す図である。FIG. 2 is a diagram showing a vehicle and its surroundings. 図３は、車両とその周辺とを示す図である。FIG. 3 is a diagram showing a vehicle and its surroundings. 図４は、第一実施形態に係る車両用表示制御システムで生成した俯瞰映像の一例を示す図である。FIG. 4 is a view showing an example of a bird's-eye view image generated by the vehicle display control system according to the first embodiment. 図５は、第一実施形態に係る車両用表示制御システムの車両用表示制御装置における処理の流れを示すフローチャートである。FIG. 5 is a flowchart showing the flow of processing in the display control device for a vehicle of the display control system for a vehicle according to the first embodiment. 図６は、車両用表示制御システムで生成した前方映像の一例を示す図である。FIG. 6 is a diagram showing an example of a front image generated by the display control system for a vehicle.
　以下に添付図面を参照して、本発明に係る車両用表示制御装置４０、図示しない車両用停止位置判定装置、車両用表示制御システム１、車両用表示制御方法およびプログラムの実施形態を詳細に説明する。なお、以下の実施形態により本発明が限定されるものではない。 Hereinafter, with reference to the attached drawings, embodiments of a display control device 40 for a vehicle, a stop position determination device for a vehicle (not shown), a display control system 1 for a vehicle, a display control method for a vehicle and a program according to the present invention will be described in detail. Do. Note that the present invention is not limited by the following embodiments.
［第一実施形態］
　図１は、第一実施形態に係る車両用表示制御システムの構成例を示すブロック図である。図２は、車両とその周辺とを示す図である。図３は、車両とその周辺とを示す図である。車両用表示制御システム１は、車両Ｖ１によって他車両Ｖ３のスムースな出入りを難しくする可能性があると判定される場合、他車両Ｖ３の通行を阻害しない車両Ｖ１の適切な停止位置を示す情報を含む表示映像としての俯瞰映像１００（図４参照）を生成する。図２および図３は、車両Ｖ１によって他車両Ｖ３のスムースな出入りを難しくする可能性があると判定される場合の一例を示す。図２および図３では、車両Ｖ１の左測方に出入口Ｐがある場合を示すが、出入口Ｐは車両Ｖ１の周辺にあれば、例えば、右側方にあってもよく、その場合には車道の広さや中央分離帯の有無などによって俯瞰映像１００を表示するか否かを判定してもよい。 First Embodiment
FIG. 1 is a block diagram showing a configuration example of a display control system for a vehicle according to the first embodiment. FIG. 2 is a diagram showing a vehicle and its surroundings. FIG. 3 is a diagram showing a vehicle and its surroundings. When the vehicle display control system 1 determines that the vehicle V1 may make smooth entry and exit of the other vehicle V3 difficult, the information indicating the appropriate stop position of the vehicle V1 which does not inhibit the passage of the other vehicle V3 is An overhead view image 100 (see FIG. 4) as a display image to be included is generated. FIGS. 2 and 3 show an example of the case where it is determined that the vehicle V1 may make smooth entry and exit of the other vehicle V3 difficult. Although FIG. 2 and FIG. 3 show the case where there is an entrance P on the left side of the vehicle V1, the entrance P may be, for example, on the right side as long as it is in the vicinity of the vehicle V1. Whether to display the overhead view image 100 may be determined based on the size and the presence or absence of the central separator.
　出入口部Ｐは、他車両Ｖ３が車両Ｖ１の前後を横切って出入りする可能性がある場所である。本実施形態では、出入口部Ｐは、例えば、対向車線を走行する右折車両である他車両Ｖ３が車両Ｖ１の前方を横切って出入りする可能性がある場所である。出入口部Ｐとは、例えば、駐車場の出入口部または路地の出入口部である。このような場所においては、車両Ｖ１によって、言い換えると、車両Ｖ１が出入口部Ｐを塞ぐ位置で停止することによって、他車両Ｖ３の出入口部Ｐへのスムースな出入りを難しくする可能性がある。また、車両Ｖ１が完全に停止しない場合でも、出入口部Ｐの近辺で大幅な減速や徐行運転を行う場合、他車両Ｖ３が出入口部Ｐに出入りする妨げとなり、スムースな出入りを難しくする場合がある。 The entrance P is a place where another vehicle V3 may move in and out across the front and back of the vehicle V1. In the present embodiment, the entrance P is a place where, for example, another vehicle V3 which is a right-turn vehicle traveling in the opposite lane may cross the front of the vehicle V1. The entrance P is, for example, an entrance of a parking lot or an entrance of an alley. In such a place, the vehicle V1 may make it difficult to smoothly enter and leave the entrance P of the other vehicle V3 when the vehicle V1 stops at the position where the entrance P is closed. In addition, even if the vehicle V1 does not stop completely, when performing significant deceleration or slowing in the vicinity of the entrance P, it may prevent other vehicles V3 from entering and exiting the entrance P, which may make smooth entry and exit difficult. .
　車両用表示制御装置４０および車両用表示制御システム１は、車両Ｖ１に搭載されている。車両用表示制御装置４０および車両用表示制御システム１は、車両Ｖ１に載置されているものに加えて、可搬型で車両Ｖ１において利用可能な装置であってもよい。 The vehicle display control device 40 and the vehicle display control system 1 are mounted on a vehicle V1. The vehicle display control device 40 and the vehicle display control system 1 may be portable devices that can be used in the vehicle V1, in addition to those mounted on the vehicle V1.
　図１を用いて、車両用表示制御システム１について説明する。車両用表示制御システム１は、一つ以上の撮影部を有する。本実施形態では、車両用表示制御システム１は、前方カメラ（撮影部）１１と、後方カメラ（撮影部）１２と、左側方カメラ（撮影部）１３と、右側方カメラ（撮影部）１４と、表示パネル（表示部）３１と、車両用表示制御装置４０とを有する。 The display control system 1 for vehicles is demonstrated using FIG. The display control system 1 for vehicles has one or more imaging | photography parts. In the present embodiment, the vehicle display control system 1 includes a front camera (shooting unit) 11, a rear camera (shooting unit) 12, a left side camera (shooting unit) 13, and a right side camera (shooting unit) 14 , And a display control device 40 for a vehicle.
　前方カメラ１１は、俯瞰映像用カメラである。前方カメラ１１は、車両Ｖ１の前方に配置され、車両Ｖ１の前方を中心とした周辺を撮影する。図２に示すように、前方カメラ１１は、例えば、１８０°程度の第一撮影範囲Ａ１を撮影する。第一撮影範囲Ａ１は、俯瞰映像１００の表示範囲Ａより車両Ｖ１の前方に広い範囲を含む。前方カメラ１１は、撮影した映像を車両用表示制御装置４０の映像データ取得部４２へ出力する。 The front camera 11 is an overhead video camera. The front camera 11 is disposed in front of the vehicle V1 and captures an area around the front of the vehicle V1. As shown in FIG. 2, the front camera 11 captures an image of a first imaging range A1 of, for example, about 180 °. The first shooting range A1 includes a wider range in front of the vehicle V1 than the display range A of the overhead image 100. The front camera 11 outputs the captured video to the video data acquisition unit 42 of the vehicle display control device 40.
　後方カメラ１２は、俯瞰映像用カメラである。後方カメラ１２は、車両Ｖ１の後方に配置され、車両Ｖ１の後方を中心とした周辺を撮影する。後方カメラ１２は、例えば、１８０°程度の第二撮影範囲Ａ２を撮影する。第二撮影範囲Ａ２は、俯瞰映像１００の表示範囲Ａより車両Ｖ１の後方に広い範囲を含む。後方カメラ１２は、撮影した映像を車両用表示制御装置４０の映像データ取得部４２へ出力する。 The rear camera 12 is an overhead video camera. The rear camera 12 is disposed at the rear of the vehicle V1 and captures an image of the area around the rear of the vehicle V1. The rear camera 12 shoots a second shooting range A2 of about 180 °, for example. The second shooting range A2 includes a wider range behind the vehicle V1 than the display range A of the overhead image 100. The rear camera 12 outputs the captured video to the video data acquisition unit 42 of the vehicle display control device 40.
　左側方カメラ１３は、俯瞰映像用カメラである。左側方カメラ１３は、車両Ｖ１の左側方に配置され、車両Ｖ１の左側方を中心とした周辺を撮影する。左側方カメラ１３は、例えば、１８０°程度の第三撮影範囲Ａ３を撮影する。第三撮影範囲Ａ３は、俯瞰映像１００の表示範囲Ａより車両Ｖ１の左側方に広い範囲を含む。左側方カメラ１３は、撮影した映像を車両用表示制御装置４０の映像データ取得部４２へ出力する。 The left side camera 13 is an overhead video camera. The left side camera 13 is disposed on the left side of the vehicle V1 and captures an image of the area around the left side of the vehicle V1. The left side camera 13 shoots a third shooting range A3 of about 180 °, for example. The third shooting range A3 includes a wider range on the left side of the vehicle V1 than the display range A of the overhead image 100. The left side camera 13 outputs the captured video to the video data acquisition unit 42 of the vehicle display control device 40.
　右側方カメラ１４は、俯瞰映像用カメラである。右側方カメラ１４は、車両Ｖ１の右側方に配置され、車両Ｖ１の右側方を中心とした周辺を撮影する。右側方カメラ１４は、例えば、１８０°程度の第四撮影範囲Ａ４を撮影する。第四撮影範囲Ａ４は、俯瞰映像１００の表示範囲Ａより車両Ｖ１の右側方に広い範囲を含む。右側方カメラ１４は、撮影した映像を車両用表示制御装置４０の映像データ取得部４２へ出力する。 The right side camera 14 is a bird's eye view camera. The right side camera 14 is disposed on the right side of the vehicle V1 and captures an area around the right side of the vehicle V1. The right side camera 14 captures, for example, a fourth imaging range A4 of about 180 °. The fourth shooting range A4 includes a wider range on the right side of the vehicle V1 than the display range A of the overhead image 100. The right side camera 14 outputs the captured video to the video data acquisition unit 42 of the display control device 40 for a vehicle.
　前方カメラ１１と後方カメラ１２と左側方カメラ１３と右側方カメラ１４とで、車両Ｖ１の全方位を撮影する。 The forward camera 11, the rear camera 12, the left side camera 13 and the right side camera 14 capture images of all directions of the vehicle V <b> 1.
　図１に戻って、表示パネル３１は、例えば、液晶ディスプレイ（ＬＣＤ：Ｌｉｑｕｉｄ　Ｃｒｙｓｔａｌ　Ｄｉｓｐｌａｙ）または有機ＥＬ（Ｏｒｇａｎｉｃ　Ｅｌｅｃｔｒｏ－Ｌｕｍｉｎｅｓｃｅｎｃｅ）ディスプレイを含むディスプレイである。表示パネル３１は、車両用表示制御システム１の車両用表示制御装置４０から出力された映像信号に基づいて、俯瞰映像１００を表示する。表示パネル３１は、車両用表示制御システム１に専用のものであっても、例えば、ナビゲーションシステムを含む他のシステムと共同で使用するものであってもよい。表示パネル３１は、運転者から視認容易な位置に配置されている。 Returning to FIG. 1, the display panel 31 is a display including, for example, a liquid crystal display (LCD) or an organic electro-luminescence (EL) display. The display panel 31 displays the overhead view video 100 based on the video signal output from the vehicle display control device 40 of the vehicle display control system 1. The display panel 31 may be dedicated to the vehicle display control system 1 or may be used jointly with other systems including, for example, a navigation system. The display panel 31 is disposed at a position easily visible by the driver.
　車両用表示制御装置４０は、制御部４１と、記憶部５０とを有する。 The vehicle display control device 40 includes a control unit 41 and a storage unit 50.
　制御部４１は、例えば、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）などで構成された演算処理装置である。制御部４１は、記憶部５０に記憶されているプログラムをメモリにロードして、プログラムに含まれる命令を実行する。制御部４１は、映像データ取得部４２と、周辺情報取得部４３と、車両情報取得部４４と、映像生成部４５と、表示制御部４９とを有する。制御部４１には図示しない内部メモリが含まれ、内部メモリは制御部４１におけるデータの一時記憶などに用いられる。 The control unit 41 is, for example, an arithmetic processing unit configured by a CPU (Central Processing Unit) or the like. The control unit 41 loads the program stored in the storage unit 50 into the memory and executes an instruction included in the program. The control unit 41 includes a video data acquisition unit 42, a surrounding information acquisition unit 43, a vehicle information acquisition unit 44, a video generation unit 45, and a display control unit 49. The control unit 41 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the control unit 41 and the like.
　映像データ取得部４２は、車両Ｖ１の周辺を撮影した周辺映像データを取得する。より詳しくは、映像データ取得部４２は、前方カメラ１１と後方カメラ１２と左側方カメラ１３と右側方カメラ１４とが出力した映像データを取得する。映像データ取得部４２は、取得した映像データを周辺情報取得部４３と映像生成部４５とに出力する。各々のカメラから取得する映像データは、例えば毎秒３０フレームの画像から構成される動画像である。 The video data acquisition unit 42 acquires peripheral video data obtained by photographing the periphery of the vehicle V1. More specifically, the video data acquisition unit 42 acquires video data output from the front camera 11, the rear camera 12, the left side camera 13, and the right side camera 14. The video data acquisition unit 42 outputs the acquired video data to the peripheral information acquisition unit 43 and the video generation unit 45. Video data acquired from each camera is, for example, a moving image composed of images at 30 frames per second.
　周辺情報取得部４３は、車両Ｖ１の周辺の状況を示す周辺情報を取得する。本実施形態では、周辺情報取得部４３は、映像データ取得部４２で取得した周辺映像に画像処理を実行して、車両Ｖ１の側前方に存在する出入口部Ｐを検出して、その検出結果を周辺情報とする。例えば、周辺情報取得部４３は、前方カメラ１１と左側方カメラ１３との少なくともどちらかで撮影された周辺映像において、車両Ｖ１の左前方にガードレールまたは縁石の切れ目が存在する場所を出入口部Ｐとして検出する。例えば、周辺情報取得部４３は、前方カメラ１１と左側方カメラ１３との少なくともどちらかで撮影された周辺映像において、車両Ｖ１の左前方に駐車場の入口を示す標示が存在する場所を出入口部Ｐとして検出する。周辺情報取得部４３は、出入口部Ｐの検出結果を周辺情報として映像生成部４５に出力する。 The surrounding information acquisition unit 43 acquires surrounding information indicating the situation around the vehicle V1. In the present embodiment, the peripheral information acquisition unit 43 executes image processing on the peripheral video acquired by the video data acquisition unit 42 to detect the entrance P existing on the front side of the vehicle V1, and the detection result is It will be peripheral information. For example, in the peripheral image captured by at least one of the front camera 11 and the left side camera 13, the peripheral information acquisition unit 43 uses a position where a guardrail or a cut of a curb exists in the left front of the vehicle V1 as the entrance P To detect. For example, in the peripheral image captured by at least one of the front camera 11 and the left side camera 13, the peripheral information acquisition unit 43 is a location where a sign indicating the entrance of the parking lot exists in the left front of the vehicle V1 Detect as P. The peripheral information acquisition unit 43 outputs the detection result of the entrance P to the video generation unit 45 as peripheral information.
　周辺情報取得部４３は、エッジ検出処理により、周辺映像から所定長さ以上の直線性を備えた被撮影物をガードレールまたは縁石として検出し、その切れ目を検出してもよい。周辺情報取得部４３は、ガードレールまたは縁石の切れ目を記憶した認識辞書により、周辺映像からガードレールまたは縁石の切れ目を検出してもよい。 The peripheral information acquisition unit 43 may detect an object to be photographed having a linearity equal to or greater than a predetermined length from the peripheral image as a guardrail or a curb by edge detection processing, and detect a cut of the object. The peripheral information acquisition unit 43 may detect a cut in the guardrail or the curb from the peripheral image by a recognition dictionary that stores the cut in the guardrail or the curb.
　または、周辺情報取得部４３は、図示しないナビゲーションシステムの地図情報と車両Ｖ１の現在位置情報とから出入口部Ｐを検出してもよい。 Alternatively, the peripheral information acquisition unit 43 may detect the entrance / exit P from map information of a navigation system (not shown) and current position information of the vehicle V1.
　さらに、周辺情報取得部４３は、車両Ｖ１の前方を走行する先行車両Ｖ２の車速、車両Ｖ１と先行車両Ｖ２との車間距離Ｌ１、及び、車両Ｖ１と先行車両Ｖ２との相対速度の少なくともいずれかを含む先行車両情報を取得する先行車両情報取得部４３１を有してもよい。先行車両情報取得部４３１は、先行車両Ｖ２の状態を前方カメラ１１やセンシングする各種センサ、ＣＡＮ（Ｃｏｎｔｒｏｌｌｅｒ　Ａｒｅａ　Ｎｅｔｗｏｒｋ）から得た車両Ｖ１の状況を示す車両情報などから取得する。 Furthermore, the peripheral information acquisition unit 43 is at least one of the vehicle speed of the leading vehicle V2 traveling in front of the vehicle V1, the inter-vehicle distance L1 between the vehicle V1 and the leading vehicle V2, and the relative speed between the vehicle V1 and the leading vehicle V2. May be included in the preceding vehicle information acquisition unit 431. The leading vehicle information acquisition unit 431 acquires the state of the leading vehicle V2 from the front camera 11, various sensors for sensing, and vehicle information indicating the status of the vehicle V1 obtained from CAN (Controller Area Network).
　車両情報取得部４４は、車両Ｖ１の状況を示す車両情報を、ＣＡＮや車両Ｖ１の状態をセンシングする各種センサなどから取得する。車両情報取得部４４は、例えば、車速情報を取得する。車両情報取得部４４は、取得した車両情報を映像生成部４５に出力する。 The vehicle information acquisition unit 44 acquires vehicle information indicating the status of the vehicle V1 from CAN or various sensors that sense the status of the vehicle V1. The vehicle information acquisition unit 44 acquires, for example, vehicle speed information. The vehicle information acquisition unit 44 outputs the acquired vehicle information to the video generation unit 45.
　映像生成部４５は、周辺情報取得部４３が取得した周辺情報、または、映像データ取得部４２が取得した周辺映像に基づいて俯瞰映像１００を生成する。映像生成部４５は、周辺情報取得部４３が取得した周辺の状況を示す周辺情報と車両情報取得部４４が取得した車両情報とに基づいて、車両Ｖ１の停止や減速が予測され、他車両Ｖ３のスムースな通行を難しくする可能性があると判定される場合、車両Ｖ１の適切な停止位置を示す情報を含む俯瞰映像１００を生成する。本実施形態では、映像生成部４５は、車両Ｖ１の側前方に出入口部Ｐが存在し、かつ、車両Ｖ１が出入口部Ｐの少なくとも一部を塞いで停止する可能性があると判定される場合、車両Ｖ１の適切な停止位置を示す情報を含む俯瞰映像１００を生成する。より詳しくは、映像生成部４５は、車両Ｖ１の側前方に出入口部Ｐが存在し、かつ、車両Ｖ１が停止する可能性があると判定され、車両Ｖ１の車速に基づく予測停止位置が出入口部Ｐの少なくとも一部を塞ぐと判定される場合、車両Ｖ１の適切な停止位置を示す情報を含む俯瞰映像１００を生成する。 The video generation unit 45 generates the overhead view video 100 based on the peripheral information acquired by the peripheral information acquisition unit 43 or the peripheral video acquired by the video data acquisition unit 42. The video generation unit 45 predicts stop and deceleration of the vehicle V1 based on the peripheral information indicating the peripheral condition acquired by the peripheral information acquisition unit 43 and the vehicle information acquired by the vehicle information acquisition unit 44, and the other vehicle V3 If it is determined that the smooth passage of the vehicle V may be difficult, the overhead video 100 including information indicating the appropriate stop position of the vehicle V1 is generated. In the present embodiment, in the case where it is determined that the image generation unit 45 has the entrance P in front of the vehicle V1 and there is a possibility that the vehicle V1 may block at least a part of the entrance P and stop. , And generates a bird's-eye view image 100 including information indicating an appropriate stop position of the vehicle V1. More specifically, the image generation unit 45 determines that the entrance / exit P exists in front of the vehicle V1 and that the vehicle V1 may stop, and the predicted stop position based on the vehicle speed of the vehicle V1 is the entrance / exit When it is determined that at least a part of P is to be closed, the overhead view video 100 including information indicating the appropriate stop position of the vehicle V1 is generated.
　図３を用いて、車両Ｖ１の予測停止位置について説明する。出入口部Ｐの少なくとも一部を塞ぐとは、車速に基づいて算出された予測停止位置で停止した車両Ｖ１が出入口部Ｐの側方に位置し、車両Ｖ１の前端部と先行車両Ｖ２の後端部との車間距離Ｌ１が、出入口部Ｐの幅Ｌ２より小さいことをいう。車間距離Ｌ１は、他車両Ｖ３が通行することができない程度の大きさである。 The predicted stop position of the vehicle V1 will be described with reference to FIG. Blocking at least a part of the entrance / exit part P means that the vehicle V1 stopped at the predicted stop position calculated based on the vehicle speed is located on the side of the entrance / exit part P and the front end of the vehicle V1 and the rear end of the preceding vehicle V2 This means that the inter-vehicle distance L1 to the part is smaller than the width L2 of the entrance P. The inter-vehicle distance L1 is large enough to prevent the other vehicle V3 from passing.
　車両Ｖ１の停止や減速が予測されるか否か、言い換えると、車両Ｖ１が停止する可能性があるか否かは、例えば、以下のように判定する。車両情報取得部４４が取得した車両情報と、先行車両情報取得部４３１が取得した先行車両情報と、周辺情報取得部４３が取得した周辺の状況を示す周辺情報との少なくともいずれかに基づいて、車両Ｖ１が停止する可能性があるか否かを判定する。例えば、車両Ｖ１の車速や加速度が閾値以下である場合、または、前方の信号が赤信号であるなどの情報を取得した場合、車両Ｖ１が停止する可能性があると判定する。または、例えば、先行車両Ｖ２が存在する場合、先行車両Ｖ２の車速が閾値以下である場合、車両Ｖ１と先行車両Ｖ２との車間距離Ｌ１が閾値以下である場合、または、車両Ｖ１と先行車両Ｖ２との相対速度が閾値以下である場合、車両Ｖ１が停止する可能性があると判定する。本実施形態では、車両Ｖ１または先行車両Ｖ２の車速の閾値は、２０ｋｍ／ｈとする。本実施形態では、車間距離Ｌ１の閾値は、１０ｍとする。これらの数値はたとえば車両Ｖ１が走行している道路の幅や規制速度に応じて設定されてもよく、ユーザが任意に設定してもよい。 For example, it is determined as follows whether stop or deceleration of the vehicle V1 is predicted, in other words, whether the vehicle V1 may stop. Based on at least one of the vehicle information acquired by the vehicle information acquisition unit 44, the leading vehicle information acquired by the leading vehicle information acquisition unit 431, and the peripheral information indicating the peripheral status acquired by the peripheral information acquisition unit 43. It is determined whether the vehicle V1 may stop. For example, it is determined that the vehicle V1 may stop if the vehicle speed or acceleration of the vehicle V1 is equal to or less than a threshold or if information such as a forward signal is a red signal is acquired. Alternatively, for example, when the leading vehicle V2 is present, when the vehicle speed of the leading vehicle V2 is equal to or less than the threshold value, or when the inter-vehicle distance L1 between the vehicle V1 and the leading vehicle V2 is equal to or less than the threshold value It is determined that the vehicle V1 may stop if the relative speed with the vehicle speed is less than the threshold. In the present embodiment, the threshold value of the vehicle speed of the vehicle V1 or the preceding vehicle V2 is 20 km / h. In the present embodiment, the threshold value of the inter-vehicle distance L1 is 10 m. These numerical values may be set according to, for example, the width of the road on which the vehicle V1 is traveling and the regulated speed, and may be set arbitrarily by the user.
　映像生成部４５は、生成した俯瞰映像１００を表示制御部４９に出力する。映像生成部４５は、図示しない視点変換処理部と、切出処理部と、合成処理部とを有する。 The image generation unit 45 outputs the generated overhead view image 100 to the display control unit 49. The image generation unit 45 includes a viewpoint conversion processing unit (not shown), a clipping processing unit, and a combining processing unit.
　視点変換処理部は、映像データ取得部４２で取得した周辺映像データに対して、車両Ｖ１を上方から見下ろすように視点変換処理を行う。より詳しくは、視点変換処理部は、前方カメラ１１と後方カメラ１２と左側方カメラ１３と右側方カメラ１４とで撮影した周辺映像データに基づいて、視点変換処理を行った映像を生成する。視点変換処理の方法は、公知のいずれの方法でもよく、限定されない。視点変換処理部は、視点変換処理を行った周辺映像データを切出処理部に出力する。 The viewpoint conversion processing unit performs viewpoint conversion processing on the surrounding video data acquired by the video data acquisition unit 42 so as to look down on the vehicle V1 from above. More specifically, the viewpoint conversion processing unit generates a video subjected to viewpoint conversion processing based on peripheral video data captured by the front camera 11, the rear camera 12, the left side camera 13 and the right side camera 14. The method of viewpoint conversion processing may be any known method and is not limited. The viewpoint conversion processing unit outputs the peripheral video data subjected to the viewpoint conversion processing to the clipping processing unit.
　切出処理部は、視点変換処理を行った周辺映像データから所定の範囲の映像を切出す切出処理を行う。どの範囲を切出範囲とするかは、あらかじめ登録され記憶されている。切出処理部は、切出処理を行った映像の映像データを合成処理部に出力する。 The clipping processing unit performs clipping processing on a video within a predetermined range from the peripheral video data subjected to the viewpoint conversion processing. Which range is to be cut out is registered and stored in advance. The clipping processing unit outputs the video data of the video subjected to the clipping processing to the combining processing unit.
　合成処理部は、切出処理を行った映像データを合成する合成処理を行う。合成処理部は、合成した映像に車両アイコン１１０を表示し、車両Ｖ１の適切な停止位置を示す情報を重畳した俯瞰映像１００を生成する。 The combining processing unit performs combining processing to combine the video data subjected to the clipping processing. The combining processing unit displays the vehicle icon 110 on the combined image, and generates the overhead view image 100 in which the information indicating the appropriate stop position of the vehicle V1 is superimposed.
　車両Ｖ１の適切な停止位置を示す情報は、他車両Ｖ３の通行を阻害しない車両Ｖ１の停止位置となるような位置を示す。本実施形態では、車両Ｖ１の適切な停止位置を示す情報は、他車両Ｖ３が出入口部Ｐへスムースに出入り可能となるような位置を示す。車両Ｖ１の適切な停止位置を示す情報は、例えば、路面に引かれた停止線を模した線状の停止線アイコン、または、一時停止または車両Ｖ１の適切な停止位置を示す標識を模した停止標識アイコン、または、路面に引かれた停止禁止部分または立入禁止部分を示す標示を模した停止禁止領域アイコンである。 The information indicating the appropriate stop position of the vehicle V1 indicates the position where the stop position of the vehicle V1 does not obstruct the passage of the other vehicle V3. In the present embodiment, the information indicating the appropriate stop position of the vehicle V1 indicates a position at which the other vehicle V3 can smoothly enter and leave the entrance P. The information indicating the appropriate stop position of the vehicle V1 is, for example, a stop line icon resembling a stop line drawn on the road surface, or a stop that simulates a stop or a sign indicating the appropriate stop position of the vehicle V1. It is a sign icon or a stop prohibition area icon simulating a sign indicating a stop prohibition part or a non-entry part drawn on the road surface.
　停止線アイコンおよび停止標識アイコンは、出入口部Ｐに差し掛かる直前の位置に重畳される。停止線アイコンおよび停止標識アイコンは、表示映像における出入口部Ｐの車両Ｖ１側の端部を基準とした位置に重畳される。 The stop line icon and the stop sign icon are superimposed at a position immediately before reaching the entrance P. The stop line icon and the stop sign icon are superimposed at a position based on the end of the entrance / exit P on the vehicle V1 side in the display video.
　停止禁止領域は、出入口部Ｐの側方の領域である。 The stop prohibition area is an area on the side of the entrance P.
　合成処理部は、停止線アイコンと停止標識アイコンと停止禁止領域アイコンとの少なくともいずれかを重畳する。本実施形態では、合成処理部は、車両Ｖ１の適切な停止位置を示す情報が被撮影物として含まれていない場合、停止禁止領域アイコン１２０を重畳する。合成処理部は、車両Ｖ１の適切な停止位置を示す情報が被撮影物として含まれている場合、停止線などにアイコンを重畳させてもよいし、重畳させなくてもよい。また、停止線のみが被撮影物として含まれている場合には停止標識アイコンを重畳するなど、被撮影物により重畳するアイコンを変更してもよい。 The composition processing unit superimposes at least one of the stop line icon, the stop sign icon, and the stop prohibition area icon. In the present embodiment, when the information indicating the appropriate stop position of the vehicle V1 is not included as an object to be photographed, the combining processing unit superimposes the stop prohibition area icon 120. When the information indicating the appropriate stop position of the vehicle V1 is included as an object to be photographed, the combining processing unit may or may not superimpose the icon on the stop line or the like. In addition, when only the stop line is included as an object to be photographed, the icon to be superimposed depending on the object to be photographed may be changed such as superimposing the stop sign icon.
　図４を用いて、俯瞰映像１００について説明する。図４は、第一実施形態に係る車両用表示制御システムで生成した俯瞰映像の一例を示す図である。俯瞰映像１００は、車両Ｖ１から所定の表示範囲Ａを表示する。俯瞰映像１００は、前方映像１０１と後方映像１０２と左側方映像１０３と右側方映像１０４と、前方映像１０１と後方映像１０２と左側方映像１０３と右側方映像１０４とで囲まれた中央部に位置する車両アイコン１１０と、停止禁止領域アイコン１２０とを含む。車両アイコン１１０は、車両Ｖ１の位置と向きとを示す。車両アイコン１１０は、前後方向を俯瞰映像１００の前後方向と平行にして、中央部に配置されている。停止禁止領域アイコン１２０は、出入口部Ｐの側方の領域を囲っている。俯瞰映像１００は、車両Ｖ１の前端部と先行車両Ｖ２の後端部と出入口部Ｐとの相対的な位置関係を認識可能であることが好ましい。 The overhead view image 100 will be described with reference to FIG. FIG. 4 is a view showing an example of a bird's-eye view image generated by the vehicle display control system according to the first embodiment. The overhead image 100 displays a predetermined display range A from the vehicle V1. The overhead image 100 is located at a central portion surrounded by the front image 101, the rear image 102, the left side image 103, the right side image 104, the front image 101, the rear image 102, the left direction image 103, and the right side image 104. Vehicle icon 110 and a stop prohibition area icon 120. The vehicle icon 110 indicates the position and the direction of the vehicle V1. The vehicle icon 110 is disposed at the center with the front-rear direction parallel to the front-rear direction of the overhead view video 100. The stop prohibition area icon 120 encloses an area on the side of the entrance P. It is preferable that the overhead image 100 can recognize the relative positional relationship between the front end of the vehicle V1, the rear end of the preceding vehicle V2, and the entrance P.
　図４においては、前方映像１０１と後方映像１０２と左側方映像１０３と右側方映像１０４との境界を示す斜めの破線を説明のために図示しているが、実際に表示パネル３１に表示される俯瞰映像１００には当該破線は表示されなくてもよい。他の図も同様である。 In FIG. 4, diagonal broken lines indicating boundaries between the front image 101, the rear image 102, the left side image 103, and the right side image 104 are illustrated for the sake of illustration, but are actually displayed on the display panel 31. The broken line may not be displayed in the overhead image 100. The same applies to the other figures.
　表示制御部４９は、周辺情報取得部４３が取得した周辺の状況を示す周辺情報と車両情報取得部４４が取得した車両情報とに基づいて、他車両Ｖ３のスムースな通行を難しくする可能性があると判定される場合、映像生成部４５によって生成された俯瞰映像１００を表示パネル３１に表示する。本実施形態では、表示制御部４９は、周辺情報と車両情報とに基づいて、車両Ｖ１の側方に他車両Ｖ３が出入り可能な出入口部Ｐが存在し、かつ、車両Ｖ１の停止や減速が予測され、他車両Ｖ３の出入口部Ｐへのスムースな出入りを難しくする可能性があると判定される場合、映像生成部４５によって生成された俯瞰映像１００を表示パネル３１に表示する。 The display control unit 49 may make smooth passage of the other vehicle V3 difficult based on the peripheral information indicating the peripheral status acquired by the peripheral information acquisition unit 43 and the vehicle information acquired by the vehicle information acquisition unit 44. If it is determined that there is, the overhead video 100 generated by the video generation unit 45 is displayed on the display panel 31. In the present embodiment, the display control unit 49 has the entrance P where the other vehicle V3 can enter and exit on the side of the vehicle V1 based on the surrounding information and the vehicle information, and the stop and deceleration of the vehicle V1 If it is predicted that it is determined that smooth entry and exit from the entrance P of the other vehicle V3 may be difficult, the overhead view image 100 generated by the image generation unit 45 is displayed on the display panel 31.
　記憶部５０は、車両用表示制御装置４０における各種処理に要するデータおよび各種処理結果を記憶する。記憶部５０は、例えば、ＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）、ＲＯＭ（Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）、フラッシュメモリ（Ｆｌａｓｈ　Ｍｅｍｏｒｙ）などの半導体メモリ素子、または、ハードディスク、光ディスクなどの記憶装置である。 The storage unit 50 stores data required for various processes in the vehicle display control device 40 and various process results. The storage unit 50 is, for example, a semiconductor memory device such as a random access memory (RAM), a read only memory (ROM), a flash memory, or a storage device such as a hard disk or an optical disk.
　次に、図５を用いて、車両用表示制御装置４０における処理の流れについて説明する。図５は、第一実施形態に係る車両用表示制御システムの車両用表示制御装置における処理の流れを示すフローチャートである。 Next, the flow of processing in the display control device for vehicle 40 will be described using FIG. FIG. 5 is a flowchart showing the flow of processing in the display control device for a vehicle of the display control system for a vehicle according to the first embodiment.
　制御部４１は、側方に出入口部Ｐがあるか否かを判定する（ステップＳ１１）。より詳しくは、制御部４１は、周辺情報取得部４３から取得した周辺情報に基づいて出入口部Ｐが検出されたと判定された場合（ステップＳ１１でＹｅｓ）、ステップＳ１２に進む。制御部４１は、周辺情報取得部４３から取得した周辺情報に基づいて出入口部Ｐが検出されていないと判定された場合（ステップＳ１１でＮｏ）、ステップＳ１１の処理を再度実行する。 The control unit 41 determines whether or not there is the entrance / exit P on the side (step S11). More specifically, if the control unit 41 determines that the entrance P is detected based on the peripheral information acquired from the peripheral information acquisition unit 43 (Yes in step S11), the control unit 41 proceeds to step S12. When it is determined that the entrance / exit P is not detected based on the peripheral information acquired from the peripheral information acquisition unit 43 (No in step S11), the control unit 41 executes the process of step S11 again.
　制御部４１は、車両Ｖ１が出入口部Ｐ付近で停止する可能性があるか否かを判定する（ステップＳ１２）。より詳しくは、制御部４１は、車両Ｖ１が停止する可能性があると判定され、車両Ｖ１の予測停止位置が出入口部Ｐの少なくとも一部を塞いで停止する可能性があると判定された場合（ステップＳ１２でＹｅｓ）、ステップＳ１３に進む。制御部４１は、車両Ｖ１が停止する可能性があると判定されない場合、または、車両Ｖ１の予測停止位置が出入口部Ｐの少なくとも一部を塞いで停止する可能性がないと判定される場合（ステップＳ１２でＮｏ）、ステップＳ１１の処理を再度実行する。 Control unit 41 determines whether or not vehicle V1 may stop near entrance P (step S12). More specifically, it is determined that the control unit 41 determines that the vehicle V1 may stop and determines that the predicted stop position of the vehicle V1 may block at least a part of the entrance P and stop. (Yes in step S12), the process proceeds to step S13. If it is not determined that there is a possibility that the vehicle V1 may stop, or if it is determined that there is no possibility that the predicted stop position of the vehicle V1 may block and stop at least a part of the entrance / exit part P The process of step S11 is performed again.
　制御部４１は、停止禁止領域アイコン１２０を重畳した俯瞰映像１００を生成する（ステップＳ１３）。より詳しくは、制御部４１は、映像生成部４５で、映像データ取得部４２が取得した周辺映像から車両Ｖ１を上方から見下ろすように視点変換を行い、停止禁止領域アイコン１２０を重畳した俯瞰映像１００を生成する。制御部４１は、ステップＳ１４に進む。重畳される停止禁止領域アイコン１２０は、停止線アイコン２１０および停止標識アイコン２２０であってもよく、これら停止位置を示す情報が複数同時に重畳されてもよい。 The control unit 41 generates the overhead view image 100 in which the stop prohibition area icon 120 is superimposed (step S13). More specifically, the control unit 41 causes the image generation unit 45 to perform viewpoint conversion so that the vehicle V1 is viewed from above from the surrounding image acquired by the image data acquisition unit 42, and the overhead image 100 in which the stop prohibition area icon 120 is superimposed. Generate The control unit 41 proceeds to step S14. The stop prohibition area icon 120 to be superimposed may be the stop line icon 210 and the stop sign icon 220, and a plurality of pieces of information indicating the stop positions may be simultaneously superimposed.
　制御部４１は、停止禁止領域アイコン１２０を重畳した俯瞰映像１００を表示する（ステップＳ１４）。より詳しくは、制御部４１は、表示制御部４９で、停止禁止領域アイコン１２０を重畳した俯瞰映像１００を表示パネル３１に表示する。制御部４１は、ステップＳ１５に進む。 The control unit 41 displays the overhead view image 100 on which the stop prohibition area icon 120 is superimposed (step S14). More specifically, the control unit 41 causes the display control unit 49 to display the overhead view image 100 on which the stop prohibition area icon 120 is superimposed on the display panel 31. The control unit 41 proceeds to step S15.
　制御部４１は、終了トリガがあるか否かを判定する（ステップＳ１５）。終了トリガとは、例えば、車両Ｖ１が停止する可能性がなくなった場合、または、車両Ｖ１が出入口部Ｐの側方を通過した場合である。制御部４１は、終了トリガがある場合、俯瞰映像１００の表示を終了すると判定し（ステップＳ１５でＹｅｓ）、処理を終了する。制御部４１は、終了トリガがない場合、俯瞰映像１００の表示を終了しないと判定し（ステップＳ１５でＮｏ）、ステップＳ１３の処理を再度実行する。 The control unit 41 determines whether or not there is an end trigger (step S15). The termination trigger is, for example, when there is no possibility that the vehicle V1 will stop or when the vehicle V1 passes by the side of the entrance P. If there is an end trigger, the control unit 41 determines to end the display of the overhead view video 100 (Yes in step S15), and ends the process. When there is no end trigger, the control unit 41 determines that the display of the overhead view video 100 is not ended (No in step S15), and executes the process of step S13 again.
　このようにして、車両用表示制御システム１は、車両Ｖ１の側方に出入口部Ｐが存在し、かつ、車両Ｖ１が出入口部Ｐの少なくとも一部を塞いで停止する可能性があると判定される場合、停止禁止領域アイコン１２０を重畳した俯瞰映像１００を表示パネル３１に表示する映像信号を出力する。表示パネル３１は、車両用表示制御システム１から出力された映像信号に基づいて、例えば、ナビゲーション画面とともに停止禁止領域アイコン１２０を重畳した俯瞰映像１００を表示する。 Thus, it is determined that the vehicle display control system 1 has the entrance P at the side of the vehicle V1 and that the vehicle V1 may block at least a part of the entrance P and stop. In this case, a video signal for displaying on the display panel 31 the overhead video image 100 on which the stop prohibition area icon 120 is superimposed is output. The display panel 31 displays, for example, a bird's eye view image 100 in which the stop prohibition area icon 120 is superimposed on the navigation screen, based on the image signal output from the vehicle display control system 1.
　上述したように、本実施形態は、車両Ｖ１の側方に出入口部Ｐが存在し、かつ、車両Ｖ１が出入口部Ｐの少なくとも一部を塞いで停止する可能性があると判定される場合、停止禁止領域アイコン１２０を重畳した俯瞰映像１００を表示パネル３１に表示することができる。これにより、本実施形態によれば、運転者に車両Ｖ１の側方に出入口部Ｐが存在するときに、車両Ｖ１を停止する適切な位置を容易に認識させることができる。 As described above, in the present embodiment, when it is determined that the entrance / exit portion P exists on the side of the vehicle V1 and there is a possibility that the vehicle V1 may block at least a part of the entrance / exit portion P and stop. The overhead image 100 on which the stop prohibition area icon 120 is superimposed can be displayed on the display panel 31. Thus, according to the present embodiment, when the entrance / exit P is present on the side of the vehicle V1, the driver can easily recognize an appropriate position for stopping the vehicle V1.
　本実施形態と異なり、車両Ｖ１の側方に出入口部Ｐが存在し、かつ、車両Ｖ１が出入口部Ｐの少なくとも一部を塞いで停止する可能性があっても、俯瞰映像１００が表示されない場合、運転者が車両Ｖ１を停止する適切な位置を判断しにくいおそれがある。これにより、図３に示すように、車両Ｖ１が出入口部Ｐを塞ぐような停止位置で停止してしまうおそれがある。この場合、対向車線から車両Ｖ１の前方を横切って出入口部Ｐに進入しようとする他車両Ｖ３は、車両Ｖ１が前進するまで進むことができず、他車両Ｖ３の後続車両が滞留して対向車線のスムースな通行が妨げられるおそれがある。 Unlike the present embodiment, when the entrance / exit P exists on the side of the vehicle V1 and there is a possibility that the vehicle V1 may block and stop at least a part of the entrance / exit P, the overhead view image 100 is not displayed The driver may have difficulty in determining the appropriate position for stopping the vehicle V1. Thereby, as shown in FIG. 3, there is a possibility that the vehicle V1 may stop at the stop position where the entrance / exit portion P is closed. In this case, the other vehicle V3 attempting to cross the front of the vehicle V1 from the oncoming lane and enter the entrance P can not advance until the vehicle V1 moves forward, and the following vehicle of the other vehicle V3 stays and the oncoming lane Smooth traffic may be impeded.
　これに対して、本実施形態によれば、図４に示すような俯瞰映像１００を表示するので、運転者は、車両Ｖ１がさらに進むと出入口部Ｐを塞いで停止してしまうことを容易に確認することができる。運転者は、停止禁止領域にかからない現在位置で停止した方がよいと判断することができる。これにより、本実施形態によれば、他車両Ｖ３をスムースに通行させることが可能になる。さらに、本実施形態によれば、他車両Ｖ３の後続車両が滞留することを抑制することができる。 On the other hand, according to the present embodiment, since the overhead view image 100 as shown in FIG. 4 is displayed, the driver can easily block the entrance P and stop when the vehicle V1 further travels. It can be confirmed. The driver can determine that it is better to stop at the current position that does not fall in the stop prohibition area. Thereby, according to the present embodiment, it is possible to smoothly pass the other vehicle V3. Furthermore, according to the present embodiment, the following vehicle of the other vehicle V3 can be suppressed from staying.
　さて、これまで本発明に係る車両用表示制御システム１について説明したが、上述した実施形態以外にも種々の異なる形態にて実施されてよいものである。 Now, although the display control system 1 for vehicles concerning the present invention was explained until now, it may be carried out with various different modes other than the embodiment mentioned above.
　図示した車両用表示制御システム１の各構成要素は、機能概念的なものであり、必ずしも物理的に図示の如く構成されていなくてもよい。すなわち、各装置の具体的形態は、図示のものに限られず、各装置の処理負担や使用状況などに応じて、その全部または一部を任意の単位で機能的または物理的に分散または統合してもよい。 Each component of the illustrated display control system 1 is functionally conceptual, and may not necessarily be physically configured as illustrated. That is, the specific form of each device is not limited to the illustrated one, and all or a part thereof is functionally or physically dispersed or integrated in an arbitrary unit according to the processing load and use condition of each device, etc. May be
　車両用表示制御システム１の構成は、例えば、ソフトウェアとして、メモリにロードされたプログラムなどによって実現される。上記実施形態では、これらのハードウェアまたはソフトウェアの連携によって実現される機能ブロックとして説明した。すなわち、これらの機能ブロックについては、ハードウェアのみ、ソフトウェアのみ、または、それらの組み合わせによって種々の形で実現できる。 The configuration of the vehicle display control system 1 is realized by, for example, a program loaded into a memory as software. The above embodiment has been described as a functional block realized by cooperation of these hardware or software. That is, these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof.
　上記に記載した構成要素には、当業者が容易に想定できるもの、実質的に同一のものを含む。さらに、上記に記載した構成は適宜組み合わせが可能である。また、本発明の要旨を逸脱しない範囲において構成の種々の省略、置換または変更が可能である。 The components described above include those which can be easily conceived by those skilled in the art, and substantially the same ones. Furthermore, the configurations described above can be combined as appropriate. In addition, various omissions, substitutions, or modifications of the configuration are possible without departing from the scope of the present invention.
　映像生成部４５は、表示映像として俯瞰映像１００を生成するものとして説明したが、これに限定されない。表示映像として前方映像２００を生成してもよい。 Although the image generation unit 45 has been described as generating the overhead image 100 as a display image, the present invention is not limited to this. The front image 200 may be generated as a display image.
　図６は、第一実施形態において、俯瞰映像１００に代わって生成する前方映像２００の一例を示す。図６は、車両用表示制御システムで生成した前方映像の一例を示す図である。表示制御部４９は、周辺情報と車両情報とに基づいて、車両Ｖ１の側前方に出入口部Ｐが存在し、かつ、車両Ｖ１が出入口部Ｐの少なくとも一部を塞いで停止する可能性があると判定される場合、車両Ｖ１の適切な停止位置を示す情報を含む前方映像２００を表示パネル３１に表示させてもよい。前方映像２００は、停止線アイコン２１０と、停止線アイコン２１０の近傍に表示された停止標識アイコン２２０とを含む。 FIG. 6 shows an example of a front image 200 generated instead of the overhead image 100 in the first embodiment. FIG. 6 is a diagram showing an example of a front image generated by the display control system for a vehicle. In the display control unit 49, there is a possibility that the entrance P exists in front of the vehicle V1 based on the surrounding information and the vehicle information, and the vehicle V1 may block at least a part of the entrance P and stop. When it is determined, the display panel 31 may display the front image 200 including information indicating the appropriate stop position of the vehicle V1. The forward image 200 includes a stop line icon 210 and a stop sign icon 220 displayed in the vicinity of the stop line icon 210.
　さらに、俯瞰映像１００に代わって生成する表示映像をヘッドアップディスプレイ装置によって虚像として認識させてもよい。この場合、表示制御部４９は、例えば、車両の停止位置を示す情報を含む表示映像としての停止線アイコンを投影部である表示部に表示させる。このときの停止線アイコンの表示位置を、周辺情報取得部４３で取得した周辺情報から抽出される出入口部Ｐの位置、または、停止すべきと判定される位置に合わせるためにＡＲ（Ａｕｇｍｅｎｔｅｄ　Ｒｅａｌｉｔｙ:　拡張現実）技術を用い、運転者の視界である現実空間上の、車両Ｖ１を停止させるべきと判定された位置に停止線または停止標識を表示するよう、停止情報の表示位置を決定することで、運転者が視認しやすい表示形態となる。このときの表示映像は、停止すべき位置を示す停止情報のみであり、撮影部が撮影した映像は含まれず、現実空間上に停止アイコンの表示位置を決定することで、ＡＲ表示を行う。ＡＲ技術は現実空間に仮想的な表示を重畳するものであり、表示位置の決定には公知の技術を用いればよいため、ここでは詳細の説明を省略する。 Furthermore, the display image generated instead of the overhead image 100 may be recognized as a virtual image by the head-up display device. In this case, the display control unit 49 causes the display unit, which is a projection unit, to display a stop line icon as a display image including, for example, information indicating the stop position of the vehicle. In order to align the display position of the stop line icon at this time with the position of the entrance P extracted from the peripheral information acquired by the peripheral information acquisition unit 43 or the position determined to be stopped, AR (Augmented Reality: The augmented reality) technology is used to determine the display position of the stop information so as to display a stop line or a stop sign at a position determined to stop the vehicle V1 on the real space that is the driver's field of vision. The display form is easy for the driver to visually recognize. The display video at this time is only the stop information indicating the position to be stopped, and the video taken by the imaging unit is not included, and AR display is performed by determining the display position of the stop icon on the real space. The AR technique superimposes a virtual display on a physical space, and a known technique may be used to determine the display position, so the detailed description will be omitted here.
　周辺情報取得部４３は、車両Ｖ１の周辺情報として、映像データ取得部４２で取得した周辺映像に画像処理を実行して、車両Ｖ１の前方の信号機が赤であることを検出してもよい。周辺情報取得部４３は、車両Ｖ１の周辺情報として、画像処理によって、先行車両Ｖ２のブレーキランプが点灯していることを検出してもよい。周辺情報取得部４３は、車両Ｖ１の周辺情報として、図示しないセンサによって検出した車両Ｖ１と先行車両Ｖ２との車間距離Ｌ１が閾値以下となったことを検出してもよい。そして、映像生成部４５は、これらの情報に基づいて、車両Ｖ１が停止する可能性があると判定してもよい。 The peripheral information acquisition unit 43 may perform image processing on the peripheral video acquired by the video data acquisition unit 42 as peripheral information of the vehicle V1 to detect that the traffic light ahead of the vehicle V1 is red. The surrounding information acquisition unit 43 may detect that the brake lamp of the leading vehicle V2 is on by image processing as surrounding information of the vehicle V1. The surrounding information acquisition unit 43 may detect, as surrounding information of the vehicle V1, that the inter-vehicle distance L1 between the vehicle V1 and the leading vehicle V2 detected by a sensor (not shown) has become equal to or less than a threshold. Then, the video generation unit 45 may determine that there is a possibility that the vehicle V1 may stop based on the information.
　映像生成部４５は、所定条件を満たす場合に俯瞰映像１００を生成するものとして説明したがこれに限定されない。映像生成部４５は、車両用表示制御システム１が起動されている間、俯瞰映像１００を生成するようにしてもよい。この場合、表示制御部４９によって、車両Ｖ１の停止や減速が予測され、他車両Ｖ３のスムースな通行を難しくする可能性があると判定される場合、俯瞰映像１００を表示するように制御すればよい。 Although the video generation unit 45 has been described as generating the overhead view video 100 when the predetermined condition is satisfied, the present invention is not limited to this. The image generation unit 45 may generate the overhead image 100 while the display control system 1 for a vehicle is activated. In this case, if it is determined that the stop and deceleration of the vehicle V1 are predicted by the display control unit 49 and there is a possibility that smooth passage of the other vehicle V3 may be difficult, control is performed to display the overhead image 100. Good.
　上記で説明した実施形態は、車両用停止位置判定装置としても実現可能である。車両用停止位置判定装置は、周辺情報取得部４３と、車両情報取得部４４と、図示しない周辺状況判定部とを備える。周辺状況判定部は、周辺情報と車両情報とに基づいて、車両Ｖ１によって他車両Ｖ３のスムースな通行を難しくする可能性があると判定される場合、他車両Ｖ３の通行を阻害しない車両Ｖ１の停止位置を示す情報を出力する。周辺状況判定部は、出入口部Ｐが存在する、または、他車両のスムースな通行が妨げられると判定した場合、車両の自動運転制御部に、車両Ｖ１が出入口部Ｐの位置、または、停止すべきと判定される位置で停止する制御をすることを示す制御信号を出力する。周辺状況判定部は、車両Ｖ１の側前方に出入口部Ｐが存在し、かつ、車両Ｖ１が停止する可能性があると判定され、車両Ｖ１の車速に基づく予測停止位置が出入口部Ｐの少なくとも一部を塞ぐと判定される場合、車両Ｖ１の自動運転制御部に、車両Ｖ１が停止すべきと判定される位置で停止する制御をすることを示す制御信号を出力する。さらに、周辺状況判定部は、例えば、先行車両Ｖ２が存在する場合、先行車両Ｖ２の車速が閾値以下である場合、車両Ｖ１と先行車両Ｖ２との車間距離Ｌ１が閾値以下である場合、または、車両Ｖ１と先行車両Ｖ２との相対速度が閾値以下である場合などのように、車両Ｖ１が停止する可能性があると判定される場合、車両Ｖ１の自動運転制御部に、車両Ｖ１が停止すべきと判定される位置で停止する制御をすることを示す制御信号を出力する。このような車両用停止位置判定装置によれば、他車両Ｖ３のスムースな通行を難しくするおそれがあるとき、車両Ｖ１を適切な停止位置で自動で停止することができる。 The embodiment described above can also be realized as a vehicle stop position determination device. The vehicle stop position determination device includes a surrounding information acquisition unit 43, a vehicle information acquisition unit 44, and a surrounding condition determination unit (not shown). When it is determined that there is a possibility that the vehicle V1 may make smooth passage of the other vehicle V3 difficult based on the surrounding information and the vehicle information, the surrounding situation determination unit does not inhibit the passage of the other vehicle V3. Outputs information indicating the stop position. If the surrounding situation determination unit determines that the entrance / exit P is present or smooth traffic of other vehicles is impeded, the vehicle V1 controls the position of the entrance / exit P or stops it in the automatic operation control unit of the vehicle. A control signal indicating that control to stop at a position determined to be to be performed is output. It is determined that the entrance / exit portion P exists in front of the vehicle V1 and there is a possibility that the vehicle V1 may stop, and the predicted stop position based on the vehicle speed of the vehicle V1 is at least one of the entrance / exit portions P When it is determined that the vehicle is to be closed, a control signal indicating that the vehicle V1 is to be stopped at the position determined to be stopped is output to the automatic driving control unit of the vehicle V1. Furthermore, for example, when the preceding vehicle V2 is present, if the vehicle speed of the preceding vehicle V2 is equal to or less than the threshold value, the surrounding situation determination unit determines if the inter-vehicle distance L1 between the vehicle V1 and the preceding vehicle V2 is equal to or less than the threshold value; When it is determined that there is a possibility that the vehicle V1 may stop, such as when the relative speed between the vehicle V1 and the preceding vehicle V2 is less than or equal to the threshold value, the automatic driving control unit of the vehicle V1 stops the vehicle V1. A control signal indicating that control to stop at a position determined to be to be performed is output. According to such a vehicle stop position determination device, the vehicle V1 can be automatically stopped at an appropriate stop position when there is a risk of making smooth passage of the other vehicle V3 difficult.
　１　　　車両用表示制御システム
　１１　　前方カメラ（撮影部）
　１２　　後方カメラ（撮影部）
　１３　　左側方カメラ（撮影部）
　１４　　右側方カメラ（撮影部）
　４０　　車両用表示制御装置
　４１　　制御部
　４２　　映像データ取得部
　４３　　周辺情報取得部
　４４　　車両情報取得部
　４５　　映像生成部
　４９　　表示制御部
　１００　俯瞰映像（表示映像） 1 Display Control System for Vehicles 11 Front Camera (Photographing Section)
12 Rear camera (shooting unit)
13 Left side camera (shooting unit)
14 Right side camera (shooting unit)
40 Vehicle display control device 41 Control unit 42 Video data acquisition unit 43 Peripheral information acquisition unit 44 Vehicle information acquisition unit 45 Video generation unit 49 Display control unit 100 Video (display video)

Claims (11)

  1. 　車両の周辺を撮影する撮影部が撮影した周辺映像データを取得する映像データ取得部と、
    　前記車両の周辺の状況を示す周辺情報を取得する周辺情報取得部と、
    　前記車両の車両情報を取得する車両情報取得部と、
    　前記周辺情報取得部が取得した前記周辺情報、または、前記映像データ取得部が取得した周辺映像に基づいて表示映像を生成する映像生成部と、
    　前記映像生成部が生成した表示映像を表示部に表示させる表示制御部と、
    　を備え、
    　前記表示制御部は、前記周辺情報取得部が取得した周辺情報と前記車両情報取得部が取得した車両情報とに基づいて、前記車両によって他車両のスムースな通行を難しくする可能性があると判定される場合、前記映像生成部が生成した、前記他車両の通行を阻害しない前記車両の停止位置を示す情報を含む表示映像を前記表示部に表示させる、
    　ことを特徴とする車両用表示制御装置。     A video data acquisition unit for acquiring peripheral video data photographed by a photographing unit for photographing the vicinity of the vehicle;
    A surrounding information acquisition unit that acquires surrounding information indicating a situation around the vehicle;
    A vehicle information acquisition unit that acquires vehicle information of the vehicle;
    A video generation unit that generates a display video based on the peripheral information acquired by the peripheral information acquisition unit or the peripheral video acquired by the video data acquisition unit;
    A display control unit that causes the display unit to display the display image generated by the image generation unit;
    Equipped with
    The display control unit determines that the vehicle may make it difficult to smoothly pass another vehicle based on the peripheral information acquired by the peripheral information acquisition unit and the vehicle information acquired by the vehicle information acquisition unit. When the display unit is operated, a display image generated by the image generation unit and including information indicating the stop position of the vehicle which does not disturb the passage of the other vehicle is displayed on the display unit.
    And a display control device for a vehicle.
  2. 　前記表示制御部は、前記周辺情報取得部が取得した周辺情報と前記車両情報取得部が取得した車両情報とに基づいて、前記車両の周辺に出入口部が存在し、かつ、前記車両が前記出入口部の少なくとも一部を塞いで停止する可能性があると判定される場合、前記映像生成部が生成した、前記車両の停止位置を示す情報を含む表示映像を前記表示部に表示させる、ことを特徴とする請求項１に記載の車両用表示制御装置。 The display control unit has an entrance / exit section around the vehicle based on the peripheral information acquired by the peripheral information acquisition unit and the vehicle information acquired by the vehicle information acquisition unit, and the vehicle is the entrance Displaying on the display unit a display image including information indicating the stop position of the vehicle generated by the image generation unit, when it is determined that there is a possibility of blocking at least a part of the unit and stopping. The display control apparatus for vehicles according to claim 1 characterized by the above-mentioned.
  3. 　前記周辺情報取得部は、前記車両の前方を走行する先行車両の車速、前記車両と前記先行車両との車間距離、及び、前記車両と前記先行車両との相対速度の少なくともいずれかを含む先行車両情報を取得する先行車両情報取得部、を有し、
    　前記表示制御部は、前記先行車両情報取得部が取得した先行車両情報と、前記出入口部の存在に基づいて、前記車両が前記出入口部の少なくとも一部を塞いで停止する可能性があると判定される場合、前記映像生成部が生成した、前記車両の停止位置を示す情報を含む表示映像を前記表示部に表示させる、ことを特徴とする請求項２に記載の車両用表示制御装置。     The surrounding information acquisition unit is a preceding vehicle including at least one of a vehicle speed of a preceding vehicle traveling in front of the vehicle, an inter-vehicle distance between the vehicle and the preceding vehicle, and a relative speed between the vehicle and the preceding vehicle. A preceding vehicle information acquisition unit for acquiring information;
    The display control unit determines that the vehicle may block and stop at least a part of the entrance / exit based on the preceding vehicle information acquired by the preceding vehicle information acquisition unit and the presence of the entrance / exit. The display control device for a vehicle according to claim 2, wherein, when being displayed, a display video including information indicating a stop position of the vehicle generated by the video generation unit is displayed on the display unit.
  4. 　前記表示制御部は、前記車両の停止位置を示す情報が前記周辺映像の被撮影物として含まれない場合、前記周辺映像に前記車両の停止位置を示す情報を重畳して表示映像を前記表示部に表示させる、ことを特徴とする請求項２または３に記載の車両用表示制御装置。 When the information indicating the stop position of the vehicle is not included as an object to be photographed of the peripheral image, the display control unit superimposes the information indicating the stop position of the vehicle on the peripheral image to display the display image as the display unit The display control device for a vehicle according to claim 2 or 3, characterized in that
  5. 　前記車両の停止位置を示す情報は、路面に引かれた停止線を模した線状のアイコン、一時停止または車両の停止位置を示す標識を模したアイコン、または、路面に引かれた停止禁止部分または立入禁止部分を示す標示を模したアイコンである、ことを特徴とする請求項４に記載の車両用表示制御装置。 The information indicating the stop position of the vehicle may be a linear icon imitating a stop line drawn on the road surface, an icon imitating a sign indicating a pause or stop position of the vehicle, or a stop prohibited portion drawn on the road surface The display control apparatus for a vehicle according to claim 4, wherein the display control apparatus is an icon imitating a sign indicating a non-entry portion.
  6. 　前記アイコンは、前記表示映像において前記出入口部の前記車両側の端部を基準とした位置に重畳される、ことを特徴とする請求項５に記載の車両用表示制御装置。 The display control device for a vehicle according to claim 5, wherein the icon is superimposed on a position based on an end of the entrance and exit portion on the vehicle side in the display image.
  7. 　前記表示映像は、運転者から虚像として視認される映像であり、
    　前記表示制御部は、前記他車両の通行を阻害しないと判定された現実空間上の位置に、前記車両の停止位置を示す情報が前記運転者から視認されるよう、前記停止位置を示す情報の表示位置を決定する、ことを特徴とする請求項１から請求項６のいずれか一項に記載の車両用表示制御装置。     The display image is an image visually recognized as a virtual image by the driver,
    The display control unit is configured to display the stop position so that the information indicating the stop position of the vehicle is visually recognized from the driver at the position on the real space determined not to inhibit the passage of the other vehicle. The display control apparatus for a vehicle according to any one of claims 1 to 6, wherein a display position is determined.
  8. 　車両の周辺の状況を示す周辺情報を取得する周辺情報取得部と、
    　前記車両の車両情報を取得する車両情報取得部と、
    　前記車両の周辺状況を判定する周辺状況判定部と、
    　を備え、
    　前記周辺状況判定部は、前記周辺情報取得部が取得した周辺情報と前記車両情報取得部が取得した車両情報とに基づいて、前記車両によって他車両のスムースな通行を難しくする可能性があると判定される場合、前記他車両の通行を阻害しない前記車両の停止位置を示す情報を出力する、
    　ことを特徴とする車両用停止位置判定装置。     A peripheral information acquisition unit that acquires peripheral information indicating a condition around the vehicle;
    A vehicle information acquisition unit that acquires vehicle information of the vehicle;
    A surrounding condition determination unit that determines the surrounding condition of the vehicle;
    Equipped with
    The surrounding state determination unit may make it difficult for the vehicle to smoothly pass another vehicle based on the surrounding information acquired by the peripheral information acquiring unit and the vehicle information acquired by the vehicle information acquiring unit. When it is determined, information indicating the stop position of the vehicle that does not obstruct the passage of the other vehicle is output.
    A vehicle stop position determination device characterized in that.
  9. 　請求項１から請求項７のいずれか一項に記載の車両用表示制御装置と、
    　前記車両の周辺を撮影し前記映像データ取得部に周辺映像データを供給する撮影部と、
    　を備えることを特徴とする車両用表示制御システム。     A display control device for a vehicle according to any one of claims 1 to 7.
    A photographing unit that photographs the periphery of the vehicle and supplies the peripheral video data to the video data acquisition unit;
    A display control system for a vehicle, comprising:
  10. 　車両の周辺を撮影する撮影部が撮影した周辺映像データを取得する映像データ取得ステップと、
    　前記車両の周辺の状況を示す周辺情報を取得する周辺情報取得ステップと、
    　前記車両の車両情報を取得する車両情報取得ステップと、
    　前記周辺情報取得ステップによって取得した前記周辺情報、または、前記映像データ取得ステップによって取得した周辺映像に基づいて表示映像を生成する映像生成ステップと、
    　前記映像生成ステップによって生成した表示映像を表示部に表示させる表示制御ステップと、
    　を含み、
    　前記表示制御ステップは、前記周辺情報取得ステップによって取得した周辺情報と前記車両情報取得ステップによって取得した車両情報とに基づいて、前記車両によって他車両のスムースな通行を難しくする可能性があると判定される場合、前記映像生成ステップによって生成した、前記他車両の通行を阻害しない前記車両の停止位置を示す情報を含む表示映像を前記表示部に表示させる、
    　車両用表示制御方法。     A video data acquisition step of acquiring peripheral video data photographed by a photographing unit photographing the vicinity of the vehicle;
    A surrounding information acquisition step of acquiring surrounding information indicating a situation around the vehicle;
    A vehicle information acquisition step of acquiring vehicle information of the vehicle;
    A video generation step of generating a display video based on the peripheral information acquired in the peripheral information acquisition step or a peripheral image acquired in the video data acquisition step;
    A display control step of causing a display unit to display a display video generated by the video generation step;
    Including
    The display control step determines that the vehicle may make smooth passage of another vehicle difficult based on the surrounding information acquired in the peripheral information acquiring step and the vehicle information acquired in the vehicle information acquiring step. And displaying, on the display unit, a display video including information indicating the stop position of the vehicle which is generated in the video generation step and does not disturb the passage of the other vehicle.
    Vehicle display control method.
  11. 　車両の周辺を撮影する撮影部が撮影した周辺映像データを取得する映像データ取得ステップと、
    　前記車両の周辺の状況を示す周辺情報を取得する周辺情報取得ステップと、
    　前記車両の車両情報を取得する車両情報取得ステップと、
    　前記周辺情報取得ステップによって取得した前記周辺情報、または、前記映像データ取得ステップによって取得した周辺映像に基づいて表示映像を生成する映像生成ステップと、
    　前記映像生成ステップによって生成した表示映像を表示部に表示させる表示制御ステップと、
    　を含み、
    　前記表示制御ステップは、前記周辺情報取得ステップによって取得した周辺情報と前記車両情報取得ステップによって取得した車両情報とに基づいて、前記車両によって他車両のスムースな通行を難しくする可能性があると判定される場合、前記映像生成ステップによって生成した、前記他車両の通行を阻害しない前記車両の停止位置を示す情報を含む表示映像を前記表示部に表示させる、
    　ことを車両用表示制御装置として動作するコンピュータに実行させるためのプログラム。     A video data acquisition step of acquiring peripheral video data photographed by a photographing unit photographing the vicinity of the vehicle;
    A surrounding information acquisition step of acquiring surrounding information indicating a situation around the vehicle;
    A vehicle information acquisition step of acquiring vehicle information of the vehicle;
    A video generation step of generating a display video based on the peripheral information acquired in the peripheral information acquisition step or a peripheral image acquired in the video data acquisition step;
    A display control step of causing a display unit to display a display video generated by the video generation step;
    Including
    The display control step determines that the vehicle may make smooth passage of another vehicle difficult based on the surrounding information acquired in the peripheral information acquiring step and the vehicle information acquired in the vehicle information acquiring step. And displaying, on the display unit, a display video including information indicating the stop position of the vehicle which is generated in the video generation step and does not disturb the passage of the other vehicle.
    Program for causing a computer to operate as a display control device for a vehicle.
PCT/JP2018/011907 2017-08-10 2018-03-23 Display control device for vehicle, stop position determination device for vehicle, display control system for vehicle, display control method for vehicle and program WO2019030963A1 (en)

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