Blind spot image display apparatus and method thereof for vehicle

• US 8,345,095 B2
• Filed: 10/04/2006
• Issued: 01/01/2013
• Est. Priority Date: 10/07/2005
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Oizumi, Ken, Akatsuka, Takeshi
• Primary Examiner(s): Dastouri, Mehrdad
• Assistant Examiner(s): RAHAMAN, MOHAMMED S
• Application Number:
  US11/542,193
• Publication Number:
  US 20070081262A1
• Time in Patent Office: 2,281 Days
• Field of Search: 348/118
• US Class Current: 348/118
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/25 to the sides of the vehicle
• CPC Class Codes: B60R 2300/202 displaying a blind spot scene on the vehicle part responsible for the blind spot
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/60 characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
• 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 27/01 Head-up displays

Abstract

An apparatus for displaying an image of a blind spot area to which driver'"'"'s view is obstructed by a pillar, includes: an monitor on the pillar; a camera to take an image of a peripheral area including the blind spot area; and an image converting device to convert the camera image and create an output image to be displayed on the monitor. The image converting device sets in the peripheral area a reference surface defined as a surface of a sphere around a reference point at which the driver'"'"'s eye point is assumed to exist; obtains positions of intersecting points at which half-lines extending from the reference point and passing through respective screen pixels of the monitor intersect with the reference surface; identifies pixels of the camera image corresponding to the respective intersecting points based on the camera'"'"'s parameters; and creates the output image using data of the identified pixels.

Claims

1. A blind spot image display apparatus for a vehicle, which displays an image of a blind spot area to which a driver'"'"'s view is obstructed by a structural component of the vehicle, the apparatus comprising:

an image displaying device having a display screen which is disposed on a part of the structural component of the vehicle and creates a blind spot area together with the part of the structural component, the display screen being constituted by screen pixels arranged thereon;

an imaging device configured to take an image of a peripheral area of the vehicle, the imaging device having a field of view such that the peripheral area includes at least the blind spot area which is created by the part of the structural component and the display screen; and

an image converting device configured to convert the image taken by the imaging device, and to create an output image to be displayed on the image displaying device, based on first space coordinates of a reference point at which the driver'"'"'s eye point is assumed to exist and second space coordinates of each of the screen pixels, the first and second space coordinates being given in a coordinate system fixed to the vehicle, wherein;

the image converting device sets a spherical reference surface defined as a surface of a sphere around the reference point, in a predetermined position in the peripheral area,

the image converting device obtains positions respectively of intersecting points at which half-lines extending from the reference point as a start point and passing respectively through the screen pixels, intersect with the spherical reference surface,

the image converting device identifies pixels of the image taken by the imaging device corresponding to the respective intersecting points, based on parameters of the imaging device, and

the image converting device creates the output image by using data of the respective identified pixels of the taken image.

2. The blind spot image display apparatus for a vehicle as recited in claim 1, wherein:

the image converting device sets a flat reference surface defined as a flat surface which substantially coincides with a ground surface, in the predetermined position in the peripheral area of the vehicle including the blind spot area, in addition to the spherical reference surface,

the image converting device obtains positions respectively of intersecting points at which the respective half-lines extending from the reference point as the start point and passing respectively through the screen pixels, intersect with any one of the spherical reference surface and the flat reference surface,

the image converting device identifies pixels of an image taken by the imaging device corresponding to the respective intersecting points, based on parameters of the imaging device, and

the image converting device creates an output image to be displayed on the image displaying device by using data of the respective identified pixels of the taken image.

3. The blind spot image display apparatus for a vehicle as recited in claim 1, the apparatus further comprising:

an obstacle detecting device configured to detect an obstacle existing around the vehicle, and to measure a distance from the vehicle to the obstacle,

wherein the image converting device determines a radius of the sphere around the reference point, by using the distance from the vehicle to the obstacle measured by the obstacle detecting device as a reference.

4. A method of displaying an image of a blind spot for a vehicle, the blind spot area being an area to which a driver'"'"'s view is obstructed by a structural component of the vehicle, the method comprising the steps of:

providing an image displaying device having a display screen which is disposed on a part of the structural component of the vehicle and creates a blind spot area together with the part of the structural component, the display screen being constituted by screen pixels arranged thereon;

providing an imaging device configured to take an image of a peripheral area of the vehicle, the imaging device having a field of view such that the peripheral area includes at least the blind spot area which is created by the part of the structural component and the display screen; and

converting the image taken by the imaging device to create an output image to be displayed on the image displaying device, based on first space coordinates of a reference point at which the driver'"'"'s eye point is assumed to exist and second space coordinates of each of the screen pixels, the first and second space coordinates being given in a coordinate system fixed to the vehicle,

wherein, in the step of converting the image;

a spherical reference surface defined as a surface of a sphere around the reference point is set in a predetermined position in the peripheral area,

positions respectively of intersecting points at which half-lines extending from the reference point as a start point and passing respectively through the screen pixels, intersect with the spherical reference surface are obtained,

pixels of the image taken by the imaging device corresponding to the respective intersecting points, are identified based on parameters of the imaging device, and

the output image is created by using data of the respective identified pixels of the taken image.

5. A blind spot image display apparatus for a vehicle, which displays an image of a blind spot area to which a driver'"'"'s view is obstructed by a structural component of the vehicle, the apparatus comprising:

image displaying means for displaying an image, wherein the image displaying means comprises a display screen which is disposed on apart of the structural component of the vehicle and creates a blind spot area together with the part of the structural component, the display screen being constituted by screen pixels arranged thereon;

imaging means for taking an image of a peripheral area of the vehicle, the imaging means having a field of view such that the peripheral area includes at least the blind spot area which is created by the part of the structural component and the display screen; and

image converting means for converting the image taken by the imaging means, and to create an output image to be displayed on the image displaying means, based on first space coordinates of a reference point at which the driver'"'"'s eye point is assumed to exist and second space coordinates of each of the screen pixels, the first and second space coordinates being given in a coordinate system fixed to the vehicle, wherein;

the image converting means sets a spherical reference surface defined as a surface of a sphere around the reference point, in a predetermined position in the peripheral area,

the image converting means obtains positions respectively of intersecting points at which half-lines extending from the reference point as a start point and passing respectively through the screen pixels, intersect with the spherical reference surface,

the image converting means identifies pixels of the image taken by the imaging means corresponding to the respective intersecting points, based on parameters of the imaging means, and

the image converting means creates the output image by using data of the respective identified pixels of the taken image.