IMAGE PROCESSING DEVICE

• US 20180148072A1
• Filed: 11/17/2015
• Published: 05/31/2018
• Est. Priority Date: 12/01/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Kamiya, Akira, Kitagawa, Nozomi
• Granted Patent: US 10,166,998 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G02B 2027/0138 comprising image capture systems, e.g. camera
• CPC Class Codes: G02B 2027/014 comprising information/image processing systems
• CPC Class Codes: G02B 2027/0141 characterised by the informative content of the display
• CPC Class Codes: G02B 27/0101 characterised by optical features G02B27/0172 takes precedence
• CPC Class Codes: G06T 11/00 2D [Two Dimensional] image generation
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G06V 20/59 inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
• CPC Class Codes: G06V 40/193 Preprocessing; Feature extraction

Abstract

An image processing device applied to a driving assistance system, which includes: a driving assistance device that detects a relative position of a lane marking with respect to a vehicle and assists a driving of the vehicle based on a detected positional information; and a head-up display device that projects a display image on a projection area arranged on the vehicle to visually recognize a virtual image of the display image, includes: an acquisition device that acquires the positional information; and a generation device that generates the display image including a predetermined display element. The generation device generates the display image to visually recognize the display element at a position associated with the positional information and to visually recognize the display element as a shape inclined toward the vehicle from the lane marking.

Claims

1. An image processing device that generates a display image and is applied to a driving assistance system, which includes:

a driving assistance device that detects a relative position of a lane marking arranged on a traveling road with respect to a vehicle and assists a driving of the vehicle based on a detected positional information; and

a head-up display device that projects a display image on a projection area arranged on the vehicle to visually recognize a virtual image of the display image,

the image processing device comprising;

an acquisition device that acquires the positional information; and

a generation device that generates the display image including a predetermined display element, wherein;

the generation device generates the display image to visually recognize the display element at a position associated with the positional information acquired by the acquisition device and to visually recognize the display element as a shape inclined toward the vehicle from the lane marking; and

the generation device generates the display image to vary a shape of the display element according to a detection accuracy of the relative position detected by the driving assistance device.

2. The image processing device according to claim 1, wherein:

the generation device generates the display image to visually recognize the display element approaching a driver of the vehicle with an approach of the lane marking to the vehicle while the vehicle travels.

3. The image processing device according to claim 1, wherein:

the generation device generates the display image to visually recognize the display element to keep a distance between a driver of the vehicle and the display element constant even when the lane marking approaches the vehicle while the vehicle travels.

4. The image processing device according to claim 1, wherein:

the generation device generates the display image to visually recognize the display element as a first virtual plane and the lane marking as a second virtual plane and to visually recognize a virtual three-dimensional object including the first virtual plane and the second virtual plane.

5. The image processing device according to claim 1, wherein:

the generation device generates the display image to visually recognize the display element to be superimposed on the lane marking.

6. The image processing device according to claim 1, wherein:

when a plurality of lane markings are arranged at a predetermined pitch in a traveling direction of the traveling road, the generation device generates the display image to visually recognize a plurality of display elements to be arranged at the predetermined pitch in the traveling direction.

7. The image processing device according to claim 1, wherein:

when the driving assistance device detects each of lane markings located on a right side and a left side of the vehicle,

the generation device generates the display image to visually recognize the display element with respect to each of the lane markings.

8. The image processing device according to claim 1, wherein:

the generation device generates the display image to visually recognize the display element as a shape inclined in a direction of reducing an up-down direction height toward the vehicle from the lane marking.

10. The image processing device according to claim 1, wherein:

the generation device generates the display image to visually recognize the display element to have a steeper inclination angle or a higher up-down direction height as the detection accuracy becomes higher.

9. (canceled)

11. An image processing device that generates a display image and is applied to a driving assistance system, which includes:

a driving assistance device that detects a relative position of a lane marking arranged on a traveling road with respect to a vehicle and assists a driving of the vehicle based on a detected positional information; and

a head-up display device that projects a display image on a projection area arranged on the vehicle to visually recognize a virtual image of the display image,

the image processing device comprising;

an acquisition device that acquires the positional information; and

a generation device that generates the display image including a predetermined display element, wherein;

the generation device generates the display image to visually recognize the display element at a position associated with the positional information acquired by the acquisition device and to visually recognize the display element as a shape inclined toward the vehicle from the lane marking; and

the generation device generates the display image to vary a shape of the display element between a standby time when the driving assistance device stands by without starting a driving assistance although the driving assistance device detects the lane marking and an execution time when the driving assistance device executes the driving assistance.

12. The image processing device according to claim 11, wherein:

the generation device generates the display image to visually recognize the display element to have a steeper inclination angle or a higher up-down direction height at the execution time than at the standby time.

13. The image processing device according to claim 11, wherein:

the driving assistance device has a function of automatically controlling a traveling position in a vehicle width direction of the vehicle to be temporarily changed from a current position within a range where the vehicle does not depart from a part of the traveling road between a pair of lane markings;

a travelling section of the vehicle where the vehicle travels at the current position is defined as a reference traveling section, and another travelling section of the vehicle where the vehicle travels at a position temporarily changed from the current position is defined as a changed traveling section;

the display element includes a reference display part that is visually recognized at a position associated with the reference traveling section and a changed display part that is visually recognized at a position associated with the changed traveling section; and

the generation device generates the display image to visually recognize the changed display part and the reference display part as virtual three-dimensional objects having different shapes.

14. The image processing device according to claim 13, wherein:

the automatic control function temporarily changes the traveling position, toward a direction of expanding a distance between the external object and the vehicle in the vehicle width direction, in a traveling section where an external object existing an outside of the vehicle and the vehicle travel side by side in the vehicle width direction;

one of lane markings located on a right side and a left side of the vehicle, the one being located at a side where the external object exists with respect to the vehicle, is defined as an object side lane marking;

a part of the changed display part that is visually recognized at a position associated with the object side lane marking is defined as an object side changed display part;

a part of the reference display part that is visually recognized at a position associated with the object side lane marking is defined as an object side reference display part; and

the generation device generates the display image to visually recognize at least the object side changed display part and the object side reference display part as virtual three-dimensional objects having different shapes.

15. The image processing device according to claim 14, wherein:

the generation device generates the display image to visually recognize the objet side changed display part as a virtual three-dimensional object having a steeper inclination angle or a higher up-down direction height than the object side reference display part.

16. The image processing device according to claim 14, wherein:

one of the lane markings located on the right side and the left side of the vehicle, the one being located opposite to the side where the external object exists with respect to the vehicle, is defined as a counter object side lane marking;

a part of the changed display part that is visually recognized at a position associated with the counter object side lane marking is defined as a counter object side changed display part;

a part of the reference display part that is visually recognized at a position associated with the counter object side lane marking is defined as a counter object side reference display part; and

the generation device generates the display image visually recognize the counter object side changed display part and the counter object side reference display part as virtual three-dimensional objects having different shapes.

17. The image processing device according to claim 16, wherein:

the generation device generates the display image to visually recognize the counter objet side changed display part as a virtual three-dimensional object having a gentler inclination angle or a lower up-down direction height than the counter object side reference display part.

18. The image processing device according to claim 13, wherein:

the automatic control function temporarily changes the traveling position toward a direction of reducing a curve traveling radius, in a traveling section where the vehicle travels along a curve;

one of lane markings located on a right side and a left side of the vehicle, the one being located at a side where the curve traveling radius is larger with respect to the vehicle, is defined as an outer lane marking;

a part of the changed display part that is visually recognized at a position associated with the outer lane marking is defined as an outer changed display part;

a part of the reference display part that is visually recognized at a position associated with the outer lane marking is defined as an outer reference display part; and

the generation device generates the display image to visually recognize at least the outer changed display part and the outer reference display part as virtual three-dimensional objects having different shapes.

19. The image processing device according to claim 18, wherein:

the generation device generates the display image to visually recognize the outer changed display part as a virtual three-dimensional object having a steeper inclination angle or a higher up-down direction height than the outer reference display part.

20. The image processing device according to claim 18, wherein:

one of the lane markings located on the right side and the left side of the vehicle, the one being located at a side where the curve traveling radius is smaller with respect to the vehicle, is defined as an inner lane marking;

a part of the changed display part that is visually recognized at a position associated with the inner lane marking is defined as an inner changed display part;

a part of the reference display part that is visually recognized at a position associated with the inner lane marking is defined as an inner reference display part; and

the generation device generates the display image to visually recognize the inner changed display part and the inner reference display part as virtual three-dimensional objects having different shapes.

21. The image processing device according to claim 20, wherein:

the generation device generates the display image to visually recognize the inner changed display part as a virtual three-dimensional object having a gentler inclination angle or a lower up-down direction height than the inner reference display part.