JP7037926B2 - Driving support system and rear guide image generation method - Google Patents

Description

The present invention relates to a technique for displaying a figure showing a positional relationship between each position on the road surface and the automobile on an image of the road surface behind the automobile.

As a technique for displaying a figure showing the positional relationship between each position on the road surface and the automobile on the photographed image which is an image of the road surface taken by a back camera behind the automobile, a predetermined method is specified from the rear end of the automobile to the rear of the automobile. A figure showing a virtual line on the road surface parallel to the left-right direction of the car at a distance, or parallel to the front-back direction of the car at a predetermined distance from the left / right end of the car to the left / right direction of the car. A technique is known in which a figure representing a virtual line on a road surface on a captured image is combined with a captured image and displayed (for example, Patent Documents 1 and 2).

Japanese Unexamined Patent Publication No. 2010-21502 Japanese Unexamined Patent Publication No. 2007-076496

As described above, in terms of visibility and design, when a figure representing a virtual line on a road surface parallel to the front-rear direction of an automobile is combined with a photographed image of the road surface behind the automobile and displayed. From the viewpoint of, it is a virtual line parallel to the front-rear direction of the car passing through the position provided at each position at different distances from the rear end of the car to the rear of the car, and is adjacent to the front-rear direction of the car. When a figure representing a virtual line provided so as to form a gap between the other virtual lines and the captured image is combined with the captured image and displayed, the following problems occur.

That is, if the length of each virtual line is fixedly determined in the real space, the length of the figure representing the virtual line displayed becomes shorter as the line is farther away, so that the length in the vertical direction of the back camera is shorter. When the depression angle is small, the displayed figure representing a distant virtual line may be too short to be clearly seen.

On the other hand, when the length of the figure representing each virtual line is fixedly determined, the vertical length of the figure representing the displayed virtual line depends on the depression angle of the shooting direction of the back camera. Since the relationship between the distance and the distance in the front-rear direction of the vehicle changes, when the depression angle in the shooting direction of the back camera is small, there may be no gap between figures representing adjacent virtual lines in the distance. It becomes impossible to display the figure representing the virtual line in the intended design.

Therefore, the present invention is a virtual line parallel to the front-rear direction of the automobile passing through the position, which is provided at each of a plurality of different distances and distant positions from the rear end of the automobile to the rear of the automobile. A figure representing a virtual line provided so as to create a gap between it and another virtual line adjacent in the front-rear direction of the car is taken by the back camera on the photographed image of the road surface taken by the back camera behind the car. The challenge is to provide a driving support system that can be well synthesized and displayed regardless of the depression angle of the direction.

In order to achieve the above task, a guide image is combined with a display, a back camera that captures the road surface behind the vehicle, and a captured image that is an image captured by the back camera in a driving support system mounted on the vehicle. However, it is provided with a guide image display means to be displayed on the display. Here, in the guide image, n line segments representing each of n different parts (where n is an integer of 3 or more) of lines parallel to the front-rear direction of the automobile are represented on the photographed image. include. Further, the center of the n line segments represents a position on the captured image in which the distance in the front-rear direction of the vehicle from the rear end of the vehicle is a predetermined distance different from each other, and is 2 from the top of the guide image. The vertical length from the center of each line segment from the th to the n-1st to both ends of the line segment is between the center of the line segment and the center of the line segment one below the line segment. A% of the vertical distance (however, A> 0) and B% of the vertical distance between the center of the line segment and the center of the line segment one above the line segment (however, B> It is 0 and matches A + B <100), whichever is smaller.

Here, in such a driving support system, the length of the guide image in the vertical direction from the center of the first line segment from the top to both ends of the line segment is the center of the line segment and the length of the guide image in the vertical direction. It may be matched with A% of the vertical distance between the center of the line segment one below the line segment.

Further, in the above driving support system, the length of the guide image in the vertical direction from the center of the nth line segment to both ends of the line segment is both on the captured image at the center of the line segment. A% of the vertical distance between the position and the lower end of the captured image, and B% of the vertical distance between the center of the line segment and the center of the line segment one above the line segment. You may try to match the smaller one.

Further, in the above driving support system, the A% may be 30% and the B% may be 50%.
Further, in the above driving support system, the line parallel to the front-rear direction of the automobile passes through a position in the left-right direction determined with respect to the end or center of the automobile in the left-right direction, and is a line parallel to the front-rear direction of the automobile. May be.

Further, in the above driving support system, the guide image may include a line segment in the left-right direction whose position in the vertical direction is the same as the center of the n line segments.
At the same time, in order to achieve the above-mentioned problem, the present invention is taken by the back camera in a driving support system mounted on the automobile, which is provided with a display and a back camera for photographing the road surface behind the automobile. Provided is a guide image generation method for generating a guide image displayed on the display by synthesizing it on a captured image which is an image. Here, in the guide image, n line segments representing each of n different parts (where n is an integer of 3 or more) of lines parallel to the front-rear direction of the automobile are represented on the photographed image. It includes. Then, in the guide image generation method, the position of the center of the n line segments on the guide image is placed in front of and behind the vehicle from the rear end of the vehicle on the parallel line with the center on the captured image. A center calculation step that determines a position where the distances in the directions are predetermined distances different from each other, and from the center of each of the second to n-1th line segments from the top on the guide image to both ends of the line segment. The length in the vertical direction is A% (however, A> 0) of the vertical distance between the center of the line segment and the center of the line segment one level below the line segment, and the line segment. B% (however, B> 0 and A + B <100) of the vertical distance between the center of the line and the center of the line one above the line segment is determined to match the smaller one. In addition, the vertical length calculation step for determining the vertical length from the center of the first line segment and the nth line segment on the guide image to both ends of the line segment according to a predetermined standard, and the n pieces. Each line segment has a center calculated for the line segment as a center, has a length in the vertical direction from the center calculated for the line segment to both ends, and has an inclination of the parallel line on the captured image. It includes a drawing step for drawing on the guide image so as to have the same inclination.

Here, in such an image generation method, in the vertical length calculation step, the length of the guide image in the vertical direction from the center of the first line segment from the top to both ends of the line segment is the same. It may be configured to match A% of the vertical distance between the center of the line segment and the center of the line segment one below the line segment.

Further, in the above guide image generation method, in the vertical length calculation step, the length of the guide image in the vertical direction from the center of the nth line segment to both ends of the line segment is both the length of the line segment. A% of the vertical distance between the center position on the captured image and the lower end of the captured image, and the top and bottom between the center of the line segment and the center of the line segment one above the line segment. It may be configured to match the B% of the line segment in the direction and the smaller of them.

Further, in the above guide image generation method, it is also preferable that the A% is 30% and the B% is 50%.
According to the guide image generation method of the driving support system as described above, each of n different parts (where n is an integer of 3 or more) of lines parallel to the front-rear direction of the automobile is displayed on the photographed image. The length of the n line segments represented by is set in the vertical direction so that there is always a gap between the line segments adjacent to the top and bottom according to the distance between the centers of the line segments adjacent to the top and bottom. Even if the depression angle of the back camera is small, it is prevented that each line segment is continuous without a gap.

In addition, since the lower limit of the vertical length of each line segment is set according to the distance between the centers of the vertically adjacent line segments, the length of the line segment determines the line segment when the depression angle of the back camera is small. It is possible to prevent the product from becoming excessively short so that it cannot be visually recognized.

As described above, according to the present invention, a virtual line parallel to the front-rear direction of the automobile passing through the position provided at each of a plurality of different distances and distant positions from the rear end of the automobile to the rear of the automobile. A figure representing a virtual line provided so as to create a gap between the vehicle and another virtual line adjacent to the vehicle in the front-rear direction is displayed on a photographed image of the road surface taken with a back camera behind the vehicle. , It is possible to provide a driving support system capable of satisfactorily synthesizing and displaying regardless of the depression angle in the shooting direction of the back camera.

It is a block diagram which shows the structure of the driving support system which concerns on embodiment of this invention. It is a figure which shows the arrangement of the display and the back camera of the driving support system which concerns on this invention. It is a figure which shows the relationship between the guide image displayed by the driving support system which concerns on this invention, and a real space. It is a figure which shows the mode of composition of the rear image displayed by the driving support system which concerns on this invention. It is a figure which shows the procedure of generating the guide image in the driving support system which concerns on this invention. It is a figure which shows the procedure of generating the guide image in the driving support system which concerns on this invention. It is a figure which shows the example of the guide image of the driving support system which concerns on this invention.

Hereinafter, embodiments of the present invention will be described.
FIG. 1 shows the configuration of the driving support system according to the present embodiment.
The driving support system is a system mounted on a car, and as shown in the figure, the driving support system includes a display 1, a control device 2, a back camera 3 for photographing the rear of the car, a state of a transmission of the car, and a shift lever. It is equipped with a reverse detection sensor 4 that detects whether or not the automobile is in a reverse state from a position or the like, and other peripheral devices 5 such as an input device, a GPS receiver, a storage device, and a broadcast receiver.

Further, the control device 2 includes a display control unit 21 that controls the display of the display 1 and a control unit 22 that controls the overall operation of the control device 2.
Further, the control device 2 includes a rear guide display application 23 (rear guide display APP23), a navigation application 24 (navigation APP24) that guides the current position and a route, and other applications as applications that operate under the control of the control unit 22. 25 (another APP25) is provided, and each application can display an output image of the application on the display 1 via the display control unit 21.

Next, as shown in FIG. 2a, the display 1 is installed in the dashboard at a central position in the left-right direction in front of the front seat in the vehicle.
Further, as shown in FIGS. 2b1 and 2b2, the back camera 3 is installed at the rear of the automobile and photographs the road surface behind the automobile in a diagonally downward direction. Here, as shown in FIGS. 2b1 and 2b2, the driving system applies the depression angle in the shooting direction of the back camera 3, that is, the angle formed with respect to the road surface in the shooting center direction (line-of-sight direction) S of the back camera 3. It differs depending on the vehicle to be used or the model of the vehicle.

Hereinafter, the rear image display processing performed by the rear guide display application 23 in such a configuration will be described.
The control unit 22 of the control device 2 guides the rear when the reverse detection sensor 4 detects that the vehicle has transitioned to the reverse state, or when the user inputs an instruction to start displaying a rear image via the input device. Instructs the display application 23 to start the rear image display process. Further, the control unit 22 detects when the reverse detection sensor 4 has changed from the reverse state to the non-reverse state, or when the user inputs an instruction to cancel the rear image display via the input device. , Instructs the rear guide display application 23 to end the rear image display process.

Then, the rear guide display application 23 executes the rear image display process after being instructed by the control unit 22 to start the rear image display process until the end of the rear image display process is instructed.

Here, the rear guide display application 23 shows the guide image shown in FIG. 3a on the captured image which is the image of the rear road surface captured by the back camera 3 shown in FIG. 3b in the rear image display processing. The combined image is displayed on the display 1 as a rear image.

As shown in FIG. 3a, the guide image is composed of nine horizontal line segments from h1 to h9 and non-horizontal line segments from t1 to t7.
Then, as shown in FIG. 4, h1 is a line extending to the left and right with a length of 0.3 m centered on the left-right center of the automobile located 0.5 m rearward from the rear end of the automobile. H1 is represented on the photographed image, and h2 extends to the left and right with a length of 0.3 m centered on the left-right center of the car located at a position 1.0 m rearward from the rear end of the car. The line H2 is shown on the photographed image, and h3 is 0.3 m in length with the center in the left-right direction of the car located 2.0 m behind the rear end of the car as the center in the left-right direction. The extending line H3 is represented on the captured image.

Further, h4 is a line H4 having a length of 0.2 m extending to the left from a position 0.25 m to the right from the right end of the vehicle in the left-right direction, which is located 0.5 m behind the rear end of the vehicle. Represented on the captured image, h5 is located 1.0 m rearward from the rear end of the vehicle, and has a length of 0 extending to the left from a position 0.25 m to the right of the right end of the vehicle in the left-right direction. The .2 m line H5 is shown on the captured image, and h6 is located 2.0 m rearward from the rear end of the vehicle, and is 0.25 m left from the right end of the vehicle in the left-right direction. A line H6 having a length of 0.2 m extending in the direction is shown on the captured image.

..
Further, h7 is a line H7 having a length of 0.2 m extending to the right from a position 0.25 m to the left from the left end of the vehicle in the left-right direction, which is located 0.5 m behind the rear end of the vehicle. Represented on the captured image, h8 is located 1.0 m rearward from the rear end of the vehicle, and has a length of 0 extending to the right from a position 0.25 m to the left of the left end of the vehicle in the left-right direction. The .2 m line H8 is shown on the captured image, and h9 is located 2.0 m rearward from the rear end of the vehicle, and is 0.25 m to the left and right from the left end of the vehicle in the left-right direction. A line H9 having a length of 0.2 m extending in the direction is shown on the captured image.

And t1 is a line extending in the front-rear direction passing through the center in the left-right direction of the automobile, and represents the line T1 having the position 0.5 m rearward from the rear end of the automobile as the center in the front-rear direction on the captured image. ing.

Further, t2 is a line extending in the front-rear direction passing through a position 0.25 m to the right from the right end of the vehicle in the left-right direction, and a position 0.5 m rearward from the rear end of the vehicle is defined as the center in the front-rear direction. The line T2 is represented on the photographed image, and t3 is a line extending in the front-rear direction passing through a position 0.25 m to the right from the right end of the automobile in the left-right direction, and 1. The line T3 whose center is in the front-rear direction at a position 0 m away is represented on the photographed image, and t4 is a line extending in the front-rear direction passing through a position 0.25 m away from the right end of the automobile in the left-right direction. , The line T4 whose center is in the front-rear direction at a position 2.0 m rearward from the rear end of the automobile is shown on the photographed image.

Further, t5 is a line extending in the front-rear direction passing through a position 0.25 m to the left from the left end of the vehicle in the left-right direction, and a position 0.5 m rearward from the rear end of the vehicle is defined as the center in the front-rear direction. The line T5 is represented on the photographed image, and t6 is a line extending in the front-rear direction passing through a position 0.25 m to the left from the left end of the automobile in the left-right direction, and 1. The line T6 whose center is in the front-rear direction at a position 0 m away is represented on the captured image, and t7 is a line extending in the front-rear direction passing through a position 0.25 m away from the left end of the automobile in the left-right direction. , The line T7 whose center is in the front-rear direction at a position 2.0 m behind the rear end of the automobile is shown on the photographed image.

Here, unlike the lengths of the nine horizontal line segments h1 to h9, the lengths of the non-horizontal line segments t1 to t7 are defined depending on the length of the lines in the real space represented by each line segment. Instead, it is defined on the guide image as described later.

The procedure for generating the guide image as described above is described below.
The guide image is generated at the time of initial setting work before the start of use of the driving support system, at the time of maintenance of the driving support system, and the like.
First, the shooting direction of the back camera 3 installed in the car is measured, and based on the characteristics of the back camera 3 such as the shooting direction and the angle of view of the back camera 3, the horizontal road surface behind the car is shot on each road surface. A function G representing the relationship between the position of the above and the position on the captured image on which the position on the road surface is projected is calculated and set in the rear guide display application 23.

Next, the rear guide display application 23 performs the following guide image generation processing.
That is, the rear guide display application 23 first generates a transparent guide image having the same size as the captured image in the guide image generation process.
Next, for each of the lines H1 to H9 shown in FIG. 4, both ends of the image of the line Hi on the photographed image will be photographed when the line Hi obtained by using the function G actually exists. Find the position of. Then, as shown in FIG. 5, a horizontal line segment hi having the same positions as both ends on the obtained captured image on the guide image is drawn.

Next, using the function G, the vertical position on the captured image (the vertical position where the centers of the lines T4 and T7 are projected) and the position 2.0 m away from the rear end of the automobile are projected. , The vertical position (the vertical position where the center of the lines T3 and T6 is projected) on the captured image where the position 1.0 m away from the rear end of the car is projected is calculated and calculated. The vertical distance L1 between the positions is calculated, and the length of 30% of L1 is defined as the vertical length d1 from the center to the end of the line segment t4 and the line segment t7.

Here, as shown in FIG. 6a, the distance L1 is from the horizontal line segments h3, h6, h9 appearing at the uppermost part of the guide image to the horizontal line segments h2, h5, h8 appearing at the second upper part. It can also be calculated as the vertical distance on the guide image.

Further, using the function G, the vertical position on the captured image where the position 0.5 m away from the rear end of the automobile is projected (the vertical position where the centers of the lines T1, T2, and T5 are projected). Is calculated, and the position in the vertical direction on the captured image where the position 1.0 m away from the rear end of the car is projected and the position 0.5 m away from the rear end of the car are projected on the captured image. Calculate the vertical distance L2 from the vertical position of, and set the smaller length of 50% of L1 and 30% of L2 from the center to the end of line segment t3 and line segment t6. The length in the vertical direction to the portion is d2.

Here, as shown in FIG. 6b, the distance L2 is from the horizontal line segments h2, h5, h8 appearing at the second upper side of the guide image to the horizontal line segments h1, h4, h7 appearing at the bottom. , It can also be calculated as a vertical distance on the guide image.

In addition, the vertical distance L3 between the vertical position on the captured image on which the position 0.5 m away from the rear end of the automobile is projected and the lower end of the guide image is calculated, and the length is 50% of L2. The smaller length of the 30% length of L3 is defined as the vertical length d3 from the center to the end of the line segment t1, the line segment t2, and the line segment t5.

Here, as shown in FIG. 6c, the distance L3 can also be calculated as the distance from the horizontal line segments h1, h4, h7 appearing at the bottom of the guide image to the lower end of the guide image.
Then, using the function G, the position on the captured image is projected at a position 0.25 m to the right from the right end of the vehicle in the left-right direction and 2.0 m away from the rear end of the vehicle in the front-rear direction as the center position. Obtain the slope θ1 of the line that appears on the captured image as an image of the line when there is actually a line extending in the front-rear direction of the car passing through a position 0.25 m to the right from the right end of the car in the left-right direction. .. Then, as shown in FIG. 6a, a line segment having the same position on the guide image as the obtained center position as the center c4 and having an inclination of θ1 and having equal lengths in the vertical direction from the center c4 to both ends is a line segment. It is drawn on the guide image as a line segment t4.

Further, using the function G, the center position is the position on the photographed image in which the position of the automobile is projected 0.25 m to the left from the left end in the left-right direction and 2.0 m to the rear from the rear end of the automobile in the front-rear direction. When there is actually a line extending in the front-rear direction passing through a position 0.25 m to the left from the left end of the automobile in the left-right direction, the slope θ2 of the line appearing on the captured image as an image of the line is obtained. Then, as shown in FIG. 6a, a line segment having the same position on the guide image as the obtained center position as the center c7 and having an inclination of θ2 and having equal lengths in the vertical direction from the center c7 to both ends is a line segment. It is drawn on the guide image as a minute t7.

Further, using the function G, the center position is a position on the captured image in which a position 0.25 m away from the right end of the vehicle in the left-right direction and 1.0 m away from the rear end of the vehicle in the front-rear direction is projected. As shown in FIG. 6b, a line segment having the same position on the guide image as the obtained center position as the center c3 and having an inclination of θ1 and having the same vertical length from the center c3 to both ends is a line segment. It is drawn on the guide image as a line segment t3.

Further, using the function G, the center position is the position on the captured image in which the position of the vehicle in the left-right direction is 0.25 m away from the left end to the left and 1.0 m away from the rear end of the vehicle in the front-rear direction. As shown in FIG. 6b, a line segment having the same position on the guide image as the obtained center position as the center c6 and having an inclination of θ2 and having the same vertical length from the center c6 to both ends is d2. It is drawn on the guide image as a line segment t6.

Further, using the function G, the center position is a position on the captured image in which a position 0.25 m away from the right end of the vehicle in the left-right direction and 0.5 m away from the rear end of the vehicle in the front-rear direction is projected. As shown in FIG. 6c, a line segment having the same position on the guide image as the obtained center position as the center c2 and having an inclination of θ1 and having the same vertical length from the center c2 to both ends is a line segment. It is drawn on the guide image as a minute t2.

Further, using the function G, the center position is the position on the captured image in which the position of the vehicle in the left-right direction is 0.25 m away from the left end to the left and 0.5 m away from the rear end of the vehicle in the front-rear direction. As shown in FIG. 6c, a line segment having the same position on the guide image as the obtained center position as the center c5 and having an inclination of θ2 and having the same vertical length from the center c5 to both ends is d3. It is drawn on the guide image as a line segment t5.

Further, using the function G, the position on the photographed image is projected at the same position as the center of the vehicle in the left-right direction in the left-right direction and 0.5 m behind the rear end of the vehicle in the front-rear direction. A line segment extending in the vertical direction, which is obtained as a position and, as shown in FIG. 6c, has the same position on the guide image as the obtained center position as the center c1, and the vertical lengths from the center c1 to both ends are equal to d3. Is drawn on the guide image as the line segment t1.

Then, when the guide image is completed by this, the rear guide display application 23 saves the completed guide image and ends the guide image generation process.
The guide image saved here is combined with the captured image in the subsequent rear image display processing as described above, and is displayed on the display 1.
Here, as described above, according to the present embodiment, in the guide image, a line segment t4 and a line segment representing a part of a line extending in the front-rear direction passing through a position 0.25 m to the right from the right end of the automobile, respectively. The vertical lengths of t3 and the line segment t2 are set as follows.

That is, first, the vertical lengths of the portion below the center of the uppermost line segment t4 and the length in the vertical direction are both the center of the line segment t4 and the center of the line segment t3 below the line segment t4. It is set to 30% of the vertical distance between them.

By setting the lower limit in the upper limit direction length of the line segment t4 in this way, it is possible to prevent the line segment t4 from becoming excessively short when the depression angle of the back camera 3 is small so that the line segment t4 cannot be visually recognized. can.

Next, the vertical lengths of the portion above and below the center of the line segment t3 are both 50% of the vertical distance between the center of the line segment t4 and the center of the line segment t3. It is set to the same length as the smaller of 30% of the vertical distance between the center of the line segment t3 and the center of the line segment t2 below the line segment t3.

By setting the lower limit in the upper limit direction length of the line segment t3 in this way, it is possible to prevent the line segment t3 from becoming excessively short when the depression angle of the back camera 3 is small so that the line segment t3 cannot be visually recognized. can.

Further, the length of the portion above the center of the line segment t3 does not exceed 50% of the vertical distance between the center of the line segment t4 and the center of the line segment t3, and is below the center of the line segment t4. Since the length of the portion is set to 30% of the vertical distance between the center of the line segment t4 and the center of the line segment t3, the vertical distance between the line segment t4 and the line segment t3. A gap of 20% or more of the vertical distance between the center of the line segment t4 and the center of the line segment t3 is always secured.

Therefore, when the depression angle of the back camera 3 is small, it is prevented that the line segment t4 and the line segment t3 are continuous without a gap.
Next, the vertical lengths of the portion above and below the center of the line segment t2 are both 50% of the vertical distance between the center of the line segment t3 and the center of the line segment t2. The length is set to be the same as the smaller of 30% of the vertical distance between the center of the line segment t2 and the lower end of the image.

By setting the lower limit in the upper limit direction length of the line segment t2 in this way, it is possible to prevent the line segment t2 from becoming excessively short when the depression angle of the back camera 3 is small so that the line segment t2 cannot be visually recognized. can.

Further, the length of the portion above the center of the line segment t2 does not exceed 50% of the vertical distance between the center of the line segment t3 and the center of the line segment t2, and is below the center of the line segment t3. Since the length of the portion is set so as not to exceed the vertical distance of 30% between the center of the line segment t3 and the center of the line segment t2, the length between the line segment t3 and the line segment t2 is set. A gap having a vertical distance of 20% or more of the vertical distance between the center of the line segment t3 and the center of the line segment t3 is always secured.

Therefore, when the depression angle of the back camera 3 is small, it is prevented that the line segment t3 and the line segment t2 are continuous without a gap.
Next, the vertical lengths of the line segment t7, the line segment t6, and the line segment t5, which represent a part of the line extending in the front-rear direction passing through a position 0.25 m to the left from the left end of the automobile, are also the lengths of the automobile. Since it is set in the same manner as the line segment t7, the line segment t6, and the line segment t5 representing a part of the line extending in the front-rear direction passing through the position 0.25 m away from the right end to the right, the line segment t7, the line segment t6, As for the line segment t5, when the depression angle of the back camera 3 is small, it is possible to prevent the line segment t5 from becoming excessively short so that it cannot be visually recognized.

Further, a gap can always be secured between the line segment t7 and the line segment t6, and between the line segment t6 and the line segment t5, and when the depression angle of the back camera 3 is small, the line segment t7 and the line segment t6, the line segment It is suppressed that the line segment t6 and the line segment t5 are continuous without a gap.

Therefore, according to the guide image generation process as described above, FIG. 7a1 shows an example of a guide image generated when the depression angle of the back camera 3 is large as shown in FIG. 7a2, and FIG. 7b1 shows an example in FIG. 7b2. As shown in the example of the guide image generated when the depression angle of the back camera 3 is small, the line segment is suppressed from being excessively shortened regardless of the depression angle of the back camera 3 and is also suppressed. It is prevented that the line segments are continuous without any gaps.

The embodiment of the present invention has been described above.
By the way, in the above embodiment, three line segments (line segment t4 and line segment t3 and line segment t2, or line segment t7 and line segment t6 and line segment) are used for one line extending in the front-rear direction of the automobile. Although t5) is displayed on the guide image, the number of line segments displayed on the guide image may be arbitrary with respect to the lines extending in the front-rear direction of one automobile.

Further, in the above embodiment, 30% and 50% used for calculating the vertical lengths of the line segment t7, the line segment t6, the line segment t5, the line segment t4, the line segment t3, the line segment t2, and the line segment t1. The coefficient of is an example, and the other coefficient may be used in place of the two coefficients or in place of one of the coefficients. However, where A is the coefficient used instead of 30% and B is the coefficient used instead of 50%, A> 0 and B> 0 and A + B <100, more preferably A> 20% and B> 20% and A + B. <80.

1 ... Display, 2 ... Control device, 3 ... Back camera, 4 ... Reverse detection sensor, 5 ... Peripheral device, 21 ... Display control unit, 22 ... Control unit, 23 ... Rear guide display application, 24 ... Navigation application, 25 ... Other applications.

Claims (10)

It is a driving support system installed in automobiles.
With the display
A back camera that shoots the road surface behind the car,
It has a guide image display means for synthesizing a guide image on a captured image which is an image captured by the back camera and displaying the guide image on the display.
The guide image includes n line segments representing each of n different parts (where n is an integer of 3 or more) of lines parallel to the front-rear direction of the automobile on the captured image.
The center of the n line segments represents a position on the photographed image in which the distances in the front-rear direction of the automobile from the rear end of the automobile are predetermined distances different from each other.
The length of the guide image in the vertical direction from the center of each of the second to n-1 line segments from the top to both ends of the line segment is both the center of the line segment and one below the line segment. A% of the vertical distance between the center of the line segment (where A> 0) and the vertical distance between the center of the line segment and the center of the line segment one above the line segment. B% (however, B> 0 and A + B <100), which is the smaller of the two, is the driving support system. The driving support system according to claim 1.
The length of the guide image in the vertical direction from the center of the first line segment from the top to both ends of the line segment is the center of the line segment and the center of the line segment one below the line segment. A driving support system characterized in that it matches A% of the vertical distance between the two. The driving support system according to claim 1 or 2.
The vertical length of the guide image from the center of the nth line segment to both ends of the line segment is both between the position of the center of the line segment on the captured image and the lower end of the captured image. Matches A% of the vertical distance of and B% of the vertical distance between the center of the line segment and the center of the line segment one above the line segment, whichever is smaller. A driving support system featuring. The driving support system according to claim 1, 2 or 3.
A driving support system characterized in that the A% is 30% and the B% is 50%. The driving support system according to claim 1, 2, 3 or 4.
The driving support characterized in that the line parallel to the front-rear direction of the automobile is a line parallel to the front-rear direction of the automobile passing through a position in the left-right direction determined with respect to the end or center of the automobile in the left-right direction. system. The driving support system according to claim 1, 2, 3, 4 or 5.
The guide image is a driving support system characterized in that the position in the vertical direction is the same as the center of the n line segments and includes the line segments in the horizontal direction. In a driving support system mounted on an automobile equipped with a display and a back camera for photographing the road surface behind the automobile, the image is combined with a photographed image taken by the back camera and displayed on the display. It is a guide image generation method that generates a guide image.
The guide image includes n line segments representing each of n different parts (where n is an integer of 3 or more) of lines parallel to the front-rear direction of the automobile on the captured image.
The guide image generation method is
A predetermined position on the guide image of the center of the n line segments is such that the center is on the parallel line and the distance in the front-rear direction of the vehicle from the rear end of the vehicle is different from each other. A central calculation step that defines a position that is a distance,
The length in the vertical direction from the center of each of the second to n-1th line segments on the guide image to both ends of the line segment is the center of the line segment and one below the line segment. A% of the vertical distance between the center of the line segment (where A> 0) and the vertical distance between the center of the line segment and the center of the line segment one above the line segment. B% (however, B> 0 and A + B <100) and the smaller of the two are set to match, and from the center of the first line segment and the nth line segment from the top on the guide image. A vertical length calculation step that determines the vertical length to both ends of the line segment according to a predetermined standard, respectively.
Each of the n line segments has a center calculated for the line segment as a center, has a length in the vertical direction from the center calculated for the line segment to both ends, and is on the captured image of the parallel line. A method for generating a guide image, which comprises a drawing step for drawing on the guide image so as to have the same inclination as the inclination of. The guide image generation method according to claim 7.
In the vertical length calculation step, the length of the guide image in the vertical direction from the center of the first line segment from the top to both ends of the line segment is both the center of the line segment and one of the line segments. A guide image generation method characterized in that it is determined to match A% of the vertical distance between the center of the lower line segment. The guide image generation method according to claim 7 or 8.
In the vertical length calculation step, the vertical lengths of the guide image from the center of the nth line segment to both ends of the line segment are both the position of the center of the line segment on the captured image and the above. A% of the vertical distance between the lower end of the captured image and B% of the vertical distance between the center of the line segment and the center of the line segment one above the line segment, which is small. A guide image generation method characterized in that it is determined to match the line segment. The guide image generation method according to claim 7, 8 or 9 .
A guide image generation method, wherein the A% is 30% and the B% is 50%.

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