阅读说明：本技术 图像生成装置、摄像机、显示系统以及车辆 (Image generation device, camera, display system, and vehicle ) 是由 松下正寿 于 2019-12-09 设计创作，主要内容包括：图像生成装置具备：图像获取部,获取车辆的后方的后方图像；以及图像生成部,对于将用于辅助所述车辆的后退驾驶的辅助线重叠的图像区域与特定的对象物所处的图像区域的重复部分,在所述后方图像中包含有所述重复部分的情况下,所述图像生成部生成至少在所述重复部分未重叠所述辅助线或者以半透明状态重叠有所述辅助线的图像,在所述后方图像中未包含所述重复部分的情况下,所述图像生成部生成在所述后方图像上重叠有所述辅助线的图像。(The image generation device is provided with: an image acquisition unit that acquires a rear image of the rear of the vehicle; and an image generating unit that generates an image in which an auxiliary line for assisting backward driving of the vehicle is superimposed on an image region in which a specific object is located, the image generating unit generating an image in which the auxiliary line is not superimposed on at least the superimposed portion or is superimposed in a translucent state when the superimposed portion is included in the backward image, and the image generating unit generating an image in which the auxiliary line is superimposed on the backward image when the superimposed portion is not included in the backward image.)

1. An image generation device is provided with:

an image acquisition unit that acquires a rear image of the rear of the vehicle; and

and an image generating unit that generates an image in which the auxiliary line is not superimposed or is superimposed in a translucent state at least in an overlapping portion of an image region where an image region in which an auxiliary line for assisting backward driving of the vehicle is superimposed and an image region where a specific object is located, the overlapping portion being included in the backward image, and that generates an image in which the auxiliary line is superimposed on the backward image when the overlapping portion is not included in the backward image.

2. The image generating apparatus according to claim 1,

the auxiliary line is composed of a plurality of lines,

the image generating section generates an image in which a first line of the auxiliary lines is superimposed and a second line of the plurality of lines is not superimposed or is superimposed in a translucent state on the rearward image in a case where the overlapping portion is included in the rearward image,

the image area overlapping the first line does not contain the repeated portion,

an image area overlapping the second line includes the repeated portion.

3. The image generating apparatus according to claim 2,

further comprising an object detection unit that detects an increase or decrease in the number of the specific objects included in the rearward image,

the image generating unit generates an image in which the auxiliary line is not superimposed on the rearward image or is superimposed in a translucent state on the rearward image when the number of the specific objects detected by the object detecting unit increases from a first number to a second number greater than the first number, the first number being 1 or more.

4. The image generating apparatus according to claim 3,

the image generating unit generates an image in which the first line is superimposed and the second line is not superimposed or is superimposed in a translucent state on the rearward image when the number of the specific objects detected by the object detecting unit is reduced from a third number to a fourth number, the third number being a number of 2 or more, and the fourth number being a number of 1 or more and less than the third number.

5. The image generation apparatus according to any one of claims 1 to 4,

when the overlapping portion is included in the rearward image, the image generating unit generates an image in which the auxiliary line is superimposed so that the transparency decreases as the distance from the overlapping portion increases.

6. The image generating apparatus according to claim 1,

when the overlapping portion is included in the rearward image, the image generating unit generates an image in which the auxiliary line is not superimposed on the rearward image or is superimposed in a translucent state on the rearward image.

7. A camera is provided with:

a photographing unit that photographs a rear image of the rear of the vehicle; and

the image generation apparatus of any one of claims 1 to 6.

8. A display system is provided with:

a photographing unit that photographs a rear image of the rear of the vehicle;

the image generation apparatus of any one of claims 1 to 6; and

and a display unit that displays the image generated by the image generation device.

9. A vehicle provided with the camera of claim 7 or the display system of claim 8.

Technical Field

The invention relates to an image generation device, a camera, a display system, and a vehicle.

Background

A rear view monitor device is a device that displays an image captured by a camera provided behind a vehicle on a monitor in the vehicle. Some of the rear view monitor devices include a driving support function for displaying an auxiliary line indicating a traveling direction of the vehicle in a state of being superimposed on an image behind the vehicle when the vehicle moves backward as disclosed in patent document 1.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open No. 2012 and 147285 publication

Disclosure of Invention

Problems to be solved by the invention

However, when the auxiliary line is superimposed on the image, the auxiliary line may be superimposed on an object to be avoided, such as a person, and therefore the object is not easily visible to the driver of the vehicle. In this case, the driver's recognition of the object is delayed, and safe backward driving is not possible.

On the other hand, when the auxiliary line is not completely superimposed on the image, the rear view monitor device cannot support the backward driving by the driver, and therefore, the convenience is low.

The present invention has been made in view of such circumstances, and an object thereof is to provide an image generating device capable of generating an image capable of supporting reverse driving without hindering safe reverse driving of a vehicle by a driver, a camera and a display system provided with the image generating device, and a vehicle provided with the display system.

Means for solving the problems

An image generation device disclosed by the present invention includes: an image acquisition unit that acquires a rear image of the rear of the vehicle; and an image generating unit that generates an image in which an auxiliary line for assisting backward driving of the vehicle is superimposed on an image region in which a specific object is located, the image generating unit generating an image in which the auxiliary line is not superimposed on at least the superimposed portion or is superimposed in a translucent state when the superimposed portion is included in the backward image, and the image generating unit generating an image in which the auxiliary line is superimposed on the backward image when the superimposed portion is not included in the backward image.

The camera disclosed by the invention comprises: a photographing unit that photographs a rear image of the rear of the vehicle; and the image generating device.

The display system disclosed by the invention comprises: a photographing unit that photographs a rear image of the rear of the vehicle; the image generating device described above; and a display unit that displays the image generated by the image generation device.

The vehicle disclosed by the invention is provided with the camera or the display system.

Effects of the invention

According to the present invention, it is possible to provide an image generation device capable of supporting reverse driving without hindering safe reverse driving of a vehicle by a driver, a camera and a display system provided with the image generation device, and a vehicle provided with the display system.

Drawings

Fig. 1 is a schematic diagram showing a vehicle including a rear camera according to a first embodiment of the present invention.

Fig. 2 is a diagram showing an example of an image (driving support image) in which an auxiliary line is superimposed on an image (rear image) behind a vehicle.

Fig. 3 is a block diagram showing a configuration of a display system according to a first embodiment of the present invention.

Fig. 4 is a flowchart showing the operation performed by the image generating apparatus according to the first embodiment of the present invention.

Fig. 5 is a diagram showing an example of a driving support image generated by the image generation device according to the first embodiment of the present invention.

Fig. 6 is a diagram showing an example of a driving support image generated by the image generation device according to the first embodiment of the present invention.

Fig. 7 is a diagram showing an example of a driving support image generated by the image generation device according to the modification.

Fig. 8 is a diagram showing an example of a driving support image generated by the image generation device according to the second embodiment of the present invention.

Fig. 9 is a diagram showing an example of a driving support image generated by the image generation device according to the third embodiment of the present invention.

Fig. 10 is a flowchart showing an operation performed by the image generating apparatus according to the fourth embodiment of the present invention.

Fig. 11 is a diagram showing an example of a driving support image generated by an image generating apparatus according to a fourth embodiment of the present invention.

Fig. 12 is a diagram showing an example of a driving support image generated by an image generating apparatus according to a fourth embodiment of the present invention.

Fig. 13 is a diagram showing an example of a driving support image generated by an image generating apparatus according to a fifth embodiment of the present invention.

Fig. 14 is a block diagram showing a configuration of a display system according to a sixth embodiment of the present invention.

Fig. 15 is a diagram showing an example of a driving support image generated by a conventional image generation device when a rear camera is mounted at a design position of a vehicle.

Fig. 16 is a diagram showing an example of a driving support image generated by a conventional image generation device in a case where a rear camera is mounted at a position deviated from a design position of a vehicle.

Detailed Description

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(first embodiment)

Fig. 1 is a schematic diagram showing a vehicle 1 including a rear camera 10 according to a first embodiment of the present invention.

The vehicle 1 includes a rear camera 10 at the rear of the vehicle 1. The rear camera 10 captures an image of the rear of the vehicle 1. The image captured by the rear camera 10 is displayed on a display unit 50 (see fig. 3) in the vehicle 1. When the driver of the vehicle 1 drives backward, the image captured by the rear camera 10 is displayed on the display unit 50 in the vehicle 1 after superimposing an auxiliary line for assisting the driver in driving backward.

Fig. 2 is a diagram showing an example of an image (driving support image P1) in which the auxiliary line 100 is superimposed on an image (rear image) behind the vehicle 1.

The auxiliary line 100 is composed of a plurality of lines. For example, the auxiliary line 100 is composed of vehicle width extension lines 101 and 102 and rear distance reference lines 103, 104, and 105. The vehicle width extension lines 101 and 102 indicate positions of one end and the other end of the vehicle width when the vehicle 1 is retracted. The rear distance reference lines 103, 104, 105 represent positions distant from the rear end of the vehicle 1 by a predetermined distance. For example, the rear distance reference line 103 indicates a position of X1 meters from the rear end of the vehicle 1, the rear distance reference line 104 indicates a position of X2(> X1) meters from the rear end of the vehicle 1, and the rear distance reference line 105 indicates a position of X3(> X2) meters from the rear end of the vehicle 1. Hereinafter, the vehicle width extension line and the rear distance reference line are simply referred to as "lines".

In this way, by displaying the image in which the auxiliary line 100 is superimposed on the image behind the vehicle 1 on the display unit 50 in the vehicle interior 1, the driver can easily perform the backward driving when entering a garage or parking a vehicle.

However, as shown in fig. 2, when the auxiliary line 100 is superimposed on the rear image of the vehicle 1, the auxiliary line 100 may be superimposed on the pedestrian W1 or the driver D1 of the bicycle captured in the rear image. In this case, when the driver observes the driving support image P1, it is difficult to recognize that the pedestrian W1 or the driver D1 of the bicycle are present.

According to the present invention, when a specific object such as a person is present behind the vehicle 1, it is possible to display a driving support image that does not hinder the recognition of the specific object by the driver of the vehicle 1. A first embodiment of the present invention will be explained below.

Fig. 3 is a block diagram showing the configuration of the display system 2 according to the first embodiment of the present invention. A vehicle 1 shown in fig. 1 is provided with a display system 2. The display system 2 includes a rear camera 10, an ECU (Electronic Control Unit) 20, and a display Unit 50. In the present embodiment, the ECU20 functions as the image generating device 3 that generates the driving support image on which the auxiliary line 100 is superimposed.

The rear camera 10 captures a rear image of the vehicle 1. In addition, the rear camera 10 transmits the captured image to the ECU 20.

The ECU20 includes a CPU (Central Processing Unit) and a memory including a ROM and a RAM. The CPU reads out the control program stored in the ROM, expands the control program in the RAM, and executes the expanded program, thereby functioning as the imaging control unit 31, the image acquisition unit 32, the object detection unit 33, the image generation unit 34, and the communication unit 35.

The imaging control unit 31 controls imaging of the rearward image by the rear camera 10. Specifically, when the driving mode of the vehicle 1 is set to the reverse driving mode, the image capture control unit 31 transmits a signal (image capture start signal) to start image capture to the rear camera 10. Further, when the driving mode of the vehicle 1 is switched from the reverse driving mode to another driving mode, the image capture control unit 31 transmits a signal (image capture stop signal) to stop image capture to the rear camera 10.

The driving modes include a forward driving mode for advancing the vehicle 1, a reverse driving mode for reversing the vehicle 1, a stop mode for stopping the vehicle 1, and the like. The case where the driving mode is set to the reverse driving mode includes a case where the driving mode is switched from the forward driving mode to the reverse driving mode, and a case where the driving mode is switched from the stop mode to the reverse driving mode.

The image acquisition unit 32 acquires the rearward image of the vehicle 1 captured by the rear camera 10 via the communication unit 35.

The object detection unit 33 detects the specific object captured by the rearward image acquired by the image acquisition unit 32 and the position of the specific object in the rearward image. The specific object is preset, and is, for example, a pedestrian, a person who drives a bicycle (hereinafter, a driver of a bicycle), or the like, and a moving body. Settings relating to a specific object are stored in the memory of the ECU 20.

The image generating unit 34 generates an image to be displayed on the display unit 50. Specifically, the image generator 34 generates the driving support image based on the detection result of the object detector 33 and the backward image. Further, the image generating unit 34 transmits the generated driving support image to the display unit 50 via the communication unit 35. Details of the image generating unit 34 will be described later.

The communication unit 35 CAN communicate with devices provided in the vehicle 1 such as the rear camera 10 and the display unit 50 via an in-vehicle Network such as a CAN (Controller Area Network).

The display unit 50 is a monitor provided in the vehicle 1. The display unit 50 displays the driving support image generated by the ECU 20.

Next, the operation of the display system 2 according to the first embodiment of the present invention will be described with reference to fig. 4, 5, and 6. Fig. 4 is a flowchart showing the operation performed by the image generating apparatus 3 according to the first embodiment of the present invention. Fig. 5 and 6 are diagrams showing an example of the driving support image generated by the image generation device 3.

The imaging control unit 31 determines whether or not the driving mode of the vehicle 1 is set to the reverse driving mode (step a 11). Here, the imaging control unit 31 can determine whether the driving mode of the vehicle 1 is set to the reverse driving mode by detecting whether the gear of the transmission mechanism is set to the reverse gear.

When the driving mode of the vehicle 1 is not set to the reverse driving mode (no in step a11), the operation of the image generation device 3 is ended.

When the driving mode of the vehicle 1 is switched to the reverse driving mode (yes in step a11), the imaging control unit 31 transmits an imaging start signal to the rear camera 10 (step a 12). Upon receiving the shooting start signal, the rear camera 10 starts shooting a rear image of the vehicle 1. The captured rearward images are sequentially sent to the ECU 20.

Next, the image acquiring unit 32 acquires the rearward image captured by the rear camera 10 (step a 13). Then, the object detection unit 33 determines whether or not the specific object stored in the memory is included in the backward image (step a 14).

If the specific object is not included in the backward image (no in step a14), the image generator 34 generates an image in which the auxiliary line 100 is superimposed on the backward image (step a 16).

Here, the image generating unit 34 estimates the traveling direction of the vehicle 1 based on the steering angle of the vehicle 1. Next, the image generating unit 34 determines an image area in which the auxiliary line 100 is superimposed in the backward image, based on the result of the estimation, the entire width of the vehicle 1, and the like. Then, the image generating unit 34 superimposes the auxiliary line 100 on the determined image area.

Next, the image generator 34 transmits the generated driving support image to the display unit 50 (step a 17). The driving support image transmitted from the ECU20 is displayed on the display unit 50. After the driving support image is transmitted from the ECU20, the process proceeds to step a 20.

When the specific object is included in the backward image (yes in step a14), the image generator 34 determines whether or not an overlapping portion between the image area where the auxiliary line 100 is superimposed and the image area where the specific object is located is included in the backward image (step a 15). Hereinafter, an overlapping portion between the image area of the superimposition auxiliary line 100 in the backward image and the image area where the specific object in the backward image is located is referred to as an "overlapping portion".

Here, the object detection unit 33 detects a specific object and detects the position of the specific object in the rearward image. In addition, the image generating section 34 determines the image area in which the auxiliary lines 100 are to be superimposed by the above-described method. Then, the image generating unit 34 determines whether or not the overlapping portion is in the rearward image based on the image region in which the specific object detected by the object detecting unit 33 is located and the image region in which the determined auxiliary line 100 is to be superimposed.

When the overlap portion is not included in the rearward image (no in step a15), the image generator 34 superimposes the auxiliary line 100 on the rearward image to generate the driving support image (step a 16). Next, the image generator 34 transmits the generated driving support image to the display unit 50 (step a 17). The driving support image transmitted from the ECU20 is displayed on the display unit 50.

Fig. 5 shows a driving support image P2 as an example of the driving support image displayed on the display unit 50 at this time. The driving support image P2 is superimposed with the auxiliary line 100, and the pedestrian W1 is captured. Further, the specific object is not included in the rearward image, and the pedestrian W1 included in the driving support image P2 is not included in the driving support image generated in step a 16.

After the driving support image P2 is transmitted from the ECU20, the process proceeds to step a 20.

When the overlapping portion is included in the backward image (yes at step a15), the image generator 34 generates a driving support image in which the auxiliary line 100 is not superimposed on the backward image (step a 18). Next, the image generator 34 transmits the generated driving support image to the display unit 50 (step a 19). Then, the driving support image is displayed on the display unit 50.

Fig. 6 shows a driving support image P3 as an example of the driving support image displayed on the display unit 50 at this time. The image area 100R in fig. 6 represents an image area in which the auxiliary lines 100 are superimposed on the backward image, that is, an image area in which the auxiliary lines 100 are superimposed on the backward image. The broken line that is the boundary of the image area 100R in fig. 6 is shown for convenience of explanation only, and is not actually displayed in the driving support image P3. Therefore, the driving support image P3 does not include any auxiliary line 100.

After the driving support image P3 is transmitted from the ECU20, the process proceeds to step a 20.

In step a20, the photographing control part 31 determines whether the reverse driving mode is released, that is, whether the driving mode of the vehicle 1 is switched from the reverse driving mode to another driving mode (step a 20). Here, the other driving modes are, for example, a forward driving mode and a stop mode. The imaging control unit 31 performs the determination in the same manner as the method described in step a 11.

If the reverse drive mode is not canceled (no in step a20), the routine proceeds to step a 13. On the other hand, when the reverse driving mode is released (yes in step a20), the imaging control unit 31 transmits an imaging stop signal to the rear camera 10 (step a 21). Upon receiving the shooting stop signal, the rear camera 10 stops shooting of the rearward image. After the shooting is stopped, the image generating apparatus 3 cannot acquire the rearward image from the rear camera 10, and therefore the driving support image to be displayed on the display unit 50 cannot be transmitted to the display unit 50, and the display of the driving support image on the display unit 50 is stopped. After that, the operation of the image generating apparatus 3 is ended.

The auxiliary lines 100 need not be constituted by the lines 101, 102, 103, 104, and 105. For example, the auxiliary line 100 may not include the line 104.

As described above, according to the first embodiment, when the overlapping portion is included in the rearward image, the driving support image P3 is generated such that the auxiliary line 100 is not superimposed on the rearward image. Therefore, by displaying the driving support image P3 on the display unit 50 in the vehicle 1, the driver of the vehicle 1 can easily recognize a specific object such as a pedestrian, and the driver can perform safe backward driving of the vehicle 1.

On the other hand, when the overlapping portion is not included in the rearward image, the driving support image (the driving support image P2, etc.) in which the auxiliary line 100 is superimposed on the rearward image is generated. Therefore, by displaying the driving support image P2 on the display unit 50 in the vehicle 1, the driver can perform the backward driving while viewing the auxiliary line 100, and therefore the driver can easily perform the backward driving.

That is, according to the first embodiment, it is possible to generate an image capable of supporting the reverse driving without interfering with the safe reverse driving of the vehicle 1 by the driver.

In the present embodiment, instead of generating the driving support image P3 on which the auxiliary line 100 is not superimposed, the driving support image P4 shown in fig. 7 may be generated. Fig. 7 is a diagram showing an example of the driving support image generated by the image generation device 3 of the modification.

The driving support image P4 is an image in which the auxiliary line 100 is superimposed in a translucent state on the rearward image. Even if the pedestrian W1 and the driver D1 of the bicycle, which are specific objects, are superimposed, the driver of the vehicle 1 can easily recognize the specific object as long as the auxiliary line 100 is in the translucent state. In the image area where the specific object is not present, the translucent auxiliary line 100 is visible to the driver. Therefore, when the overlapping portion is included in the rearward image, the same operational effects as those of the above-described embodiment can be obtained by generating the driving support image in which the auxiliary line 100 is superimposed in a translucent state on the rearward image.

(second embodiment)

A second embodiment of the present invention will be described below with reference to fig. 8. In the embodiments to be described below, the same reference numerals are given to portions that exhibit the same operational effects as those of the first embodiment, and the description of the portions is omitted, and the differences from the first embodiment will be mainly described in the following description. The display system 2 and the image generating apparatus 3 according to the second embodiment have the same configurations as those shown in fig. 3.

Fig. 8 is an example of an image generated by the image generation device 3 according to the second embodiment of the present invention when an image area in which the auxiliary line 100 for assisting the backward driving of the vehicle 1 overlaps an image area in which a specific object is located in the backward image.

In the second embodiment, when the overlapping portion is included in the backward image, the image generator 34 generates the driving support image P5 in which the lines 101 to 104 are overlapped and the line 105 is not overlapped. At this time, the image areas of the overlapping lines 101, 102, 103, and 104 in the backward image do not include overlapping portions. On the other hand, the image area of the overlap line 105 in the backward image includes an overlapping portion.

That is, the image generating unit 34 superimposes only the other lines of the auxiliary lines 100 on the rearward image, without superimposing the other lines on the rearward image, the lines which would be superimposed on the image region where the specific object is located when superimposed on the rearward image.

Therefore, the driving support image P5 includes the lines 101, 102, 103, and 104. The image area 105R of fig. 8 is an image area where the line 105 overlaps in the backward image, that is, an image area where the line 105 is located in the case of overlapping on the backward image. The broken line showing the boundary of the image area 105R in fig. 8 is shown for convenience of explanation only, and is not actually displayed in the driving support image P5.

The operation of the image generating device 3 according to the second embodiment is the same as the operation shown in fig. 4, except that the driving support image P5 is generated in step a18 of fig. 4.

As described above, according to the second embodiment, when the overlapping portion is included in the rearward image, the driving support image P5 is generated without overlapping the line 105 that overlaps the image region where the specific object is located when the rearward image overlaps the rearward image. Therefore, in the second embodiment as well, as in the first embodiment, it is possible to generate an image capable of supporting the reverse driving without interfering with the safe reverse driving of the vehicle 1 by the driver. Further, by displaying the driving support image P5 on the display unit 50, it is possible to support the backward driving without interfering with the safe backward driving of the vehicle 1 by the driver.

Further, the driving support image P5 generated in the second embodiment includes lines 101 to 104 that do not overlap with the image area where the specific object is located. Therefore, it is possible to generate an image that can perform more effective driving support for the driver of the vehicle 1 than the driving support image P3 in which all the lines 101 to 105 are not overlapped.

Instead of generating the driving support image P5, the image generator 34 may generate the driving support image in which the lines 101 to 104 are superimposed on the rearward image and the line 105 is superimposed in a translucent state. In this case, the same operational effects as those of the second embodiment are also obtained.

(third embodiment)

A third embodiment of the present invention will be described below with reference to fig. 9. In the embodiments to be described below, the same reference numerals are given to portions that exhibit the same operational effects as those of the first embodiment, and the description of the portions is omitted, and the differences from the first embodiment will be mainly described in the following description. The display system 2 and the image generating apparatus 3 according to the third embodiment have the same configurations as those shown in fig. 3.

Fig. 9 is a diagram showing an example of the driving support image generated by the image generation device 3 according to the third embodiment of the present invention when the image area in which the auxiliary line 100 for assisting the backward driving of the vehicle 1 overlaps the image area in which the specific object is located in the backward image.

In the third embodiment, when the overlapping portion is included in the backward image, the image generator 34 generates the driving support image P6 in which the auxiliary line 100 is not superimposed in the overlapping portion.

The driving support image P6 is an image in which the lines 101, 102, 103, and 104 are superimposed on the rear image, and the line 105 is superimposed in the image region other than the overlapped portion. Therefore, the driving support image P6 appears as if the pedestrian W1 and the driver D1 of the bicycle are disposed on the front side of the line 105.

The operation of the image generating device 3 according to the third embodiment is the same as the operation shown in fig. 4, except that the driving support image P6 is generated in step a18 of fig. 4.

As described above, according to the third embodiment, when the overlapping portion is included in the backward image, the driving support image P6 is generated such that the auxiliary line is not superimposed on the overlapping portion. Therefore, in the third embodiment as well, as in the first embodiment, it is possible to generate an image capable of supporting the reverse driving without interfering with the safe reverse driving of the vehicle 1 by the driver. Further, by displaying the driving support image P6 on the display unit 50, it is possible to support the backward driving without interfering with the safe backward driving of the vehicle 1 by the driver.

Further, in the driving support image P6 generated in the third embodiment, the auxiliary line 100 is superimposed on the image region except for the overlapping portion. Therefore, in the third embodiment as well, as in the second embodiment, it is possible to generate an image that enables more effective driving assistance to be performed on the driver of the vehicle 1.

Instead of generating the driving support image P6, the image generator 34 may generate a driving support image in which the auxiliary line 100 is superimposed in a translucent state on the overlapping portion. In this case, the same operational effects as those of the third embodiment are also obtained.

(fourth embodiment)

A fourth embodiment of the present invention will be explained below. In the embodiments to be described below, the same reference numerals are given to portions that exhibit the same operational effects as those of the first embodiment, and the description of the portions is omitted, and the differences from the first embodiment will be mainly described in the following description. The display system 2 and the image generating apparatus 3 according to the fourth embodiment have the same configuration as that shown in fig. 3.

The object detection unit 33 of the fourth embodiment detects an increase or decrease in the number of specific objects included in the rearward image. The image generation unit 34 according to the fourth embodiment switches the image generation mode according to an increase or decrease in the number of specific objects included in the rearward image. The image generation mode includes a first image generation mode and a second image generation mode. The first image generation mode is an image generation mode in which: when the overlapping portion is included in the rearward image, the driving support image is generated such that only a line that overlaps with the image area where the specific object is located when the line overlaps with the rearward image does not overlap with the image area, and the other lines overlap with each other. That is, the first image generation mode is an image generation mode for generating the driving support image P5 in the second embodiment. The second image generation mode is an image generation mode for generating a driving support image in which the auxiliary line 100 is not superimposed when the background image includes an overlapping portion. That is, the second image generation mode is an image generation mode for generating the driving support image P3 in the first embodiment.

The operation of the display system 2 according to the fourth embodiment will be described below with reference to fig. 10, 11, and 12. Fig. 10 is a flowchart showing the operation performed by the image generating apparatus 3 according to the fourth embodiment of the present invention. Fig. 11 and 12 are diagrams showing an example of a driving support image generated by the image generation device 3 according to the fourth embodiment of the present invention. In fig. 11 and 12, image areas 101R, 102R, 103R, 104R, and 105R respectively show image areas when lines 101, 102, 103, 104, and 105 are superimposed on the backward image. The broken line indicating the boundary of the image region 105R in fig. 11 is not displayed in the actual driving support image P7. In addition, broken lines indicating the boundaries of the image regions 101R, 102R, 103R, 104R, and 105R in fig. 12 (the boundary of the image region 100R) are not displayed in the actual driving support image P8.

Note that, in fig. 10, the same reference numerals are attached to the same processes as those in the flowchart shown in fig. 4. The image generation apparatus 3 in the fourth embodiment executes steps B11 to B19 instead of executing steps a18 and a19 enclosed by a dashed line frame in fig. 4.

When the specific object is included in the backward image (yes at step a14), the image generator 34 determines whether or not the overlapping portion is included in the backward image (step a 15). When the overlapping portion is included in the backward image (yes at step a15), the image generator 34 determines the current image generation mode (step B11).

When the current image generation mode is the first image generation mode (yes at step B11), the object detection unit 33 determines whether or not the number of specific objects included in the rearward image is increased (step B12).

Further, since it is detected in step a14 that a specific object is included in the backward image, it is inevitable that at least one specific object is included in the backward image when the processing of step B12 is performed. Therefore, in step B12, an increase in the number of specific objects means an increase from a first number of 1 or more to a second number larger than the first number.

If the number of specific objects included in the backward image is not increased (no in step B12), the image generator 34 generates the driving support image P7 in which a part of the auxiliary line is superimposed as illustrated in fig. 11 (step B18). Here, the partial auxiliary lines are lines (lines 101 to 104) of the auxiliary lines 100 except for a line (line 105) which overlaps with an image area where a specific object is located when the auxiliary line is superimposed on the rear image. After generating the driving support image P7, the image generator 34 transmits the generated driving support image to the display unit 50 (step B19). Thereafter, the process proceeds to step A20.

When the number of specific objects included in the backward image increases (yes in step B12), the following processing is performed. For example, as shown in fig. 11, in the rear image, only the pedestrian W1 is included as the specific object, but the other pedestrians W2, W3, W4, and W5 cross the rear of the vehicle 1, and as shown in fig. 12, the pedestrians W2, W3, W4, and W5 are reflected in the rear image.

The image generating section 34 switches the image generation mode from the first image generation mode to the second image generation mode (step B13). Then, the image generator 34 generates the driving support image P8 in which the auxiliary line 100 is not superimposed as illustrated in fig. 12 (step B14). After generating the driving support image P8, the image generator 34 transmits the generated driving support image P8 to the display unit 50 (step B15). Thereafter, the process proceeds to step A20.

When the current image generation mode is the second image generation mode (no in step B11), the object detection unit 33 determines whether the number of specific objects included in the rearward image decreases (step B16).

Further, since it is detected in step a14 that a specific object is included in the backward image, it is inevitable that at least one specific object is included in the backward image when the processing of step B16 is performed. Therefore, in step B16, the reduction in the number of specific objects means a reduction from the third number, which is a number equal to or greater than 2, to the fourth number, which is a number equal to or greater than 1 and smaller than the third number.

If the number of specific objects included in the backward image is not reduced (no in step B16), the image generation unit 34 generates a driving support image in which the auxiliary line 100 is not generated as illustrated in fig. 12 (step B14). Then, the image generator 34 transmits the generated driving support image to the display unit 50 (step B15). Thereafter, the process proceeds to step A20.

On the other hand, when the number of specific objects included in the backward image decreases (yes at step B16), the image generator 34 switches the image generation mode from the second image generation mode to the first image generation mode (step B17). Then, the image generator 34 generates the driving support image P7 on which the partial assist line 100 is superimposed as illustrated in fig. 11 (step B18), and transmits the generated driving support image to the display unit 50 (step B19). Thereafter, the process proceeds to step A20.

As described above, according to the fourth embodiment, when the overlapping portion is included in the backward image, the driving support image P7 on which the lines 101 to 104 that do not overlap with the image area in which the specific object is located are superimposed or the driving support image P8 on which the auxiliary line 100 is not superimposed is generated. Therefore, in the fourth embodiment as well, as in the first embodiment, it is possible to generate an image capable of supporting the reverse driving without interfering with the safe reverse driving of the vehicle 1 by the driver. Further, by displaying the driving support image P7 and the driving support image P8 on the display unit 50, it is possible to support the backward driving without interfering with the safe backward driving of the vehicle 1 by the driver.

Further, according to the fourth embodiment, the image generation mode is switched according to increase or decrease of the specific object included in the rearward image. Therefore, since it can be estimated that the vehicle 1 cannot move backward temporarily when there are more people crossing behind the vehicle 1, the vehicle 1 can be urged to temporarily stop by stopping the driving assistance by displaying the image in which the auxiliary line 100 is not superimposed. On the other hand, when the number of people crossing behind the vehicle 1 is reduced, it can be estimated that the vehicle 1 can be retracted soon, and therefore, the driving support can be started by displaying the image on which a part of the auxiliary line is superimposed, and the preparation of the start of the vehicle 1 can be prompted to the driver of the vehicle 1.

Instead of generating the driving support image P7, the image generator 34 may generate a driving support image in which the lines 101 to 104 are superimposed on the rear image and the line 105 is superimposed in a translucent state. Instead of generating the driving support image P8, the image generator 34 may generate a driving support image in which the auxiliary line 100 is superimposed in a translucent state on a background image. In this case, the same operational effects as those of the fourth embodiment are also exhibited.

(fifth embodiment)

A fifth embodiment of the present invention will be described below with reference to fig. 13. In the embodiments to be described below, the same reference numerals are given to portions that exhibit the same operational effects as those of the first embodiment, and the description of the portions is omitted, and the differences from the first embodiment will be mainly described in the following description. The display system 2 and the image generating apparatus 3 according to the fifth embodiment have the same configurations as those shown in fig. 3.

In the fifth embodiment, when the overlapping portion is included in the backward image, the image generating unit 34 generates the driving support image P9 in which the auxiliary line 100 is superimposed such that the transparency decreases as the distance from the overlapping portion increases, as illustrated in fig. 13. Fig. 13 is a diagram showing an example of a driving support image generated by an image generating apparatus according to a fifth embodiment of the present invention.

In the driving support image P9, the transparency of the lines and portions of the lines included in the auxiliary line 100 is a high value in the following order.

(1) Line 105

(2) A portion 101a being part of the line 101 and a portion 102a being part of the line 102

(3) Line 104, portion 101b as part of line 101, and portion 102b as part of line 102

(4) Line 103, portion 101c as part of line 101, and portion 102c as part of line 102

That is, the transparency of the line 105 overlapping with the repeated portion is highest, the transparency of the line becomes lower as it goes away from the repeated portion, and the transparency of the line 103, the portion 101c, and the portion 102c which are farthest from the repeated portion is lowest. The determination method of the transparency of the auxiliary line 100 is not limited to this. For example, instead of determining the transparency in units of lines or line portions as described above, the transparency of the auxiliary line 100 may be determined so that the transparency continuously increases as the line or line portion approaches the overlap portion.

As described above, according to the fifth embodiment, when the overlapping portion is included in the backward image, the driving support image P9 is generated such that the transparency of the auxiliary line 100 is higher as the overlapping portion is closer. Therefore, when the driving support image P9 is displayed on the display unit 50, the driver of the vehicle 1 is not prevented from recognizing the specific object in the image area near the overlapping portion. Therefore, in the fifth embodiment as well, as in the first embodiment, it is possible to generate an image capable of supporting the reverse driving without interfering with the safe reverse driving of the vehicle 1 by the driver. Further, by displaying the driving support image P9 on the display unit 50, it is possible to support the backward driving without interfering with the safe backward driving of the vehicle 1 by the driver.

Further, according to the fifth embodiment, the driving support image P9 is an image in which the transparency of the auxiliary line is made lower as the distance from the overlapping portion becomes longer. Therefore, when the driving support image P9 is displayed on the display unit 50, the driver of the vehicle 1 can easily recognize the assist line 100 in the image area distant from the overlapping portion. Therefore, it is possible to perform more effective driving assistance for the driver of the vehicle 1 than in the case of the driving assistance image P3 in which none of the generation lines 101 to 105 are overlapped or in the case of the driving assistance image in which all of the generation lines 101 to 105 are overlapped in a translucent state.

Instead of generating the driving support images P5, P6, and P7 generated in the second, third, and fourth embodiments, a driving support image in which a part of the auxiliary line 100 is superimposed so that the transparency increases as the overlapping portion is closer to the overlapping portion may be generated.

(sixth embodiment)

A sixth embodiment of the present invention will be described below with reference to fig. 14. In the embodiments to be described below, the same reference numerals are given to portions that exhibit the same operational effects as those of the first embodiment, and the description of the portions is omitted, and the differences from the first embodiment will be mainly described in the following description.

Fig. 14 is a block diagram showing a configuration of a display system 2 according to a sixth embodiment of the present invention. The display system 2 of the sixth embodiment includes a rear camera 60 and a display unit 50.

The rear camera 60 includes an imaging unit 70 and an image generating device 80. In the first embodiment, the ECU20 functions as the image generating device 3, but in the sixth embodiment, the image generating device 80 is incorporated in the rear camera 60.

The imaging unit 70 captures a rearward image of the vehicle 1. The image generating device 80 generates a driving support image based on the rearward image captured by the imaging unit 70, and transmits the generated driving support image to the display unit 50.

The image generating apparatus 80 includes a CPU and a memory including a ROM and a RAM. The CPU reads out the control program stored in the ROM, expands the control program in the RAM, and executes the expanded control program, thereby functioning as the imaging control unit 81, the image acquisition unit 82, the object detection unit 83, the image generation unit 84, and the communication unit 85.

The imaging control unit 81, the image acquisition unit 82, the object detection unit 83, the image generation unit 84, and the communication unit 85 have the same functions as the imaging control unit 31, the image acquisition unit 32, the object detection unit 33, the image generation unit 34, and the communication unit 35 in the first embodiment, respectively.

As described above, as in the sixth embodiment, even when the driving support image is generated in the rear camera 60, the reverse driving can be supported without hindering the safe reverse driving of the vehicle 1 by the driver, as in the first embodiment.

Further advantages obtained by the image generating apparatus of the present invention generating an image in which the auxiliary line 100 is not superimposed at least on an overlapping portion or an image in which the auxiliary line 100 is superimposed in a semi-transparent state when the overlapping portion is included in the backward image will be described below.

Fig. 15 is a diagram showing an example of a driving support image generated by a conventional image generation device when the rear camera 10 is mounted at a design position of the vehicle 1. It is assumed that the vehicle 1 is retracted by driving backward to a place where the vertical rods PL1, PL2, PL3, PL4, PL5, PL6, and PL7 are arranged as shown in fig. 15.

The auxiliary line 100 is superimposed on the image captured by the rear camera 10

Thereby generating the driving support image P10. Since the rear camera 10 is mounted at the design position of the vehicle 1, the auxiliary line 100 does not overlap the uprights PL1 to PL 7.

However, when the mounting position of the rear camera 10 to the vehicle 1 is deviated from the design position, the auxiliary line 100 may overlap the uprights PL1 to PL7 in the driving support image generated by the conventional image generation device.

Fig. 16 is a diagram showing an example of a driving support image generated by a conventional image generation device in a case where the rear camera 10 is mounted at a position deviated from the design position of the vehicle 1. In the driving support image P11, the auxiliary line 100 is shifted to the left and overlaps the upright PL 2.

That is, although the auxiliary line 100 does not overlap the specific object when the rear camera 10 is mounted at the design position, if the mounting position of the rear camera 10 is deviated from the design position, the auxiliary line 100 may overlap the specific object. When an image in which the auxiliary line 100 overlaps with a specific object is generated, it is difficult for the driver to recognize the specific object even if the image is displayed on the display unit 50.

However, according to the image generating apparatus disclosed in the present invention, the generated driving support image is a driving support image in which the auxiliary line 100 is not superimposed on the image region in which the specific object is located in the rearward image, or a driving support image in which the auxiliary line 100 is superimposed in a translucent state. Therefore, even when the mounting position of the rear camera 10 is deviated from the design position, it is possible to generate an image capable of supporting the backward driving without hindering the safe backward driving of the vehicle 1 by the driver. Further, by displaying the image on the display unit, it is possible to support the backward driving without interfering with the safe backward driving of the vehicle 1 by the driver.

< Note >

The above embodiments are merely examples of embodying the present invention, and the technical scope of the present invention should not be limited by these embodiments. That is, the present invention can be implemented in various forms without departing from the gist or main features thereof.

The disclosures of the description, claims, drawings and abstract contained in japanese patent application laid-open No. 2019-056211, filed on 25/3/2019, are all incorporated into this application.

Industrial applicability

The present invention is applicable to an image generation device capable of generating an image capable of supporting reverse driving without hindering safe reverse driving of a vehicle by a driver.

Description of the reference numerals

1 vehicle

2 display system

3. 80 image generating apparatus

10. 60 rear camera

20 ECU

31. 81 shooting control part

32. 82 image acquisition part

33. 83 object detecting part

34. 84 image generating part

35. 85 communication unit

50 display part

70 shooting part

P1, P2, P3, P4, P5, P6, P7, P8, P9, P10, and P11 driving support images

Upright stanchions PL1, PL2, PL3, PL4, PL5, PL6 and PL7

100 auxiliary line

101. 102 vehicle width extension line

103. 104, 105 rear distance reference line

101a, 101b, 101c, 102a, 102b, 102c

W1, W2, W3, W4 and W5 pedestrians

Driver of D1 bicycle

100R, 101R, 102R, 103R, 104R, 105R image areas