Vehicle drive assist system

• US 7,640,107 B2
• Filed: 08/15/2006
• Issued: 12/29/2009
• Est. Priority Date: 06/25/1999
• Status: Expired due to Fees

• Current Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Original Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Inventors: Shimizu, Toshihiro, Sakiyama, Kazuhiro, Sako, Kazuya
• Primary Examiner(s): To; Tuan C
• Application Number:
  US11/503,899
• Publication Number:
  US 20060287825A1
• Time in Patent Office: 1,232 Days
• Field of Search: 701/116, 701/36, 701/216, 701/28, 382/104, 382/291, 382/106, 382/154, 340/932.2, 348/148, 348/207.99, 348/119, 342/70
• US Class Current: 701/216
• CPC Class Codes: B60K 2360/11 Instrument graphical user interfaces or menu aspects
• CPC Class Codes: B60K 2360/179 Distances to obstacles or vehicles
• CPC Class Codes: B60K 2360/21 using cameras
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60K 35/22 Display screens
• CPC Class Codes: B60K 35/28 characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• CPC Class Codes: B60Q 1/0023 the element being a sensor, e.g. distance sensor, camera
• CPC Class Codes: B60Q 1/484 for showing outline of vehicle
• CPC Class Codes: B60Q 9/005 using a video camera
• CPC Class Codes: B60Q 9/007 providing information about the distance to an obstacle, e.g. varying sound
• 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 1/28 with an adjustable field of view
• CPC Class Codes: B60R 2300/102 using 360 degree surveillance camera system
• CPC Class Codes: B60R 2300/103 using camera systems provided with artificial illumination device, e.g. IR light source
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/106 using night vision cameras
• CPC Class Codes: B60R 2300/207 using multi-purpose displays, e.g. camera image and navigation or video on same display
• 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 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/303 : using joined images, e.g. multiple camera images
• CPC Class Codes: B60R 2300/305 : merging camera image with lines or icons
• CPC Class Codes: B60R 2300/306 : using a re-scaling of images
• CPC Class Codes: B60R 2300/607 : from a bird's eye viewpoint
• CPC Class Codes: B60R 2300/70 : characterised by an event-triggered choice to display a specific image among a selection of captured images
• CPC Class Codes: B60R 2300/8053 : for bad weather conditions or night vision
• CPC Class Codes: B60R 2300/806 : for aiding parking
• CPC Class Codes: B60R 2300/8086 : for vehicle path indication
• CPC Class Codes: B60T 2201/10 : Automatic or semi-automatic parking aid systems
• CPC Class Codes: B60T 2210/32 : Vehicle surroundings
• CPC Class Codes: B60W 2050/146 : Display means
• CPC Class Codes: B60W 30/06 : Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/0275 : by overlaying a vehicle path based on present steering angle over an image without processing that image
• CPC Class Codes: B62D 15/028 : Guided parking by providing commands to the driver, e.g. acoustically or optically
• CPC Class Codes: G01C 21/005 : with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01C 21/3602 : Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera

Abstract

A vehicle drive assist system comprises a camera for picking up an image of an area existing in an advancing direction of a vehicle; display means for displaying the image picked up by the camera; steering angle detecting means for detecting a steering angle for steering the vehicle; traveling path predicting means for predicting a traveling path of the vehicle on the basis of the steering angle detected by the steering angle detecting means; and drive assist means for overlaying on the display means drive assist information containing the vehicle predictive traveling path predicted by the traveling path predicting means and guide lines prolonged from the lines defining the width of the vehicle body on the image of the area existing in the vehicle advancing direction.

Claims

1. A vehicle drive assist device adapted to be mounted on a vehicle, comprising:

a first camera installed at a rear side of the vehicle to pick up a first image;

a second camera installed at a right side of the vehicle to pick up a second image;

a third camera installed at a left side of the vehicle to pick up a third image;

a display having a screen on which at least one of the images picked up by the cameras is displayed; and

a drive assist controller operable to divide the screen into a plurality of display areas, and display the respective images on the respective display areas,

wherein the drive assist controller displays the first image, the second image and the third image simultaneously on an entire area of the screen;

wherein the drive assist controller displays a simplified figure of the vehicle, which indicates an entire appearance of the vehicle as viewed from above at the center of the entire area of the screen; and

the drive assist controller display respective photographing directions of the first to third cameras on the respective display areas so as to superimpose onto the respective first to third images.

2. The vehicle drive assist device according to claim 1, further comprising

a drive condition detector operable to detect a drive condition of the vehicle,

wherein the drive assist controller selectively changes an image to be displayed on the screen, which is picked up by one of the cameras in accordance with the drive condition detected by the drive condition detector.

3. The vehicle drive assist device according to claim 1, wherein the drive assist controller moves a display position of the simplified figure of the vehicle on the screen according to at least one of the images.

4. The vehicle drive assist device according to claim 1,

wherein the drive assist controller controls the display to display a direction and a photographing area of each of the cameras when the simplified figure is displayed.

5. The vehicle drive assist device as set forth in claim 1, wherein the vehicle on which the drive assist device is mounted has a car-carried device including at least one of a navigation device and audio device;

and wherein the images from the cameras and an image from the car-carried device are displayed on the display areas, respectively.

6. The vehicle drive assist device according to claim 1, wherein when one of the images which is picked up by one of the cameras is displayed on one of the display areas, the drive assist controller changes the one of the image to another image which is picked up by another of the cameras at a predetermined time interval.

7. The vehicle drive assist device according to claim 6, wherein the drive assist controller uses a wipe to change the images.

8. The vehicle drive assist device according to claim 1,

wherein one of the cameras is directed to a side of the vehicle for picking up an image of a side area of the vehicle;

and

wherein the drive assist controller controls the display to display the image of the side are being interconnected with an operation of a direction indicator mounted on the vehicle.

9. The vehicle drive assist device according to claim 1, wherein the drive assist controller changes an image to be displayed on the screen, which is picked up by one of the cameras in accordance with a steering angle of a steering wheel mounted on the vehicle.

10. The vehicle drive assist device according to claim 1, wherein when adjacent images of the cameras adjacently disposed are simultaneously displayed, the drive assist controller adjusts the display areas and positions of the adjacent images to connect the adjacent images continuously with each other.

11. The vehicle drive assist device according to claim 1, wherein the plurality of cameras are disposed to take scenes of the front, front left, front right, back or rear left and back or rear right areas of the vehicle.

12. The vehicle drive assist device according to claim 11, wherein the drive assist controller divides the display screen of the display into upper and lower display areas, and causes the display to display an image in front of the vehicle on the central region of the upper portion of the screen, images of front left and front right images on the left and right display areas of the upper display area, and an image of the rear area of the vehicle on the central area of the lower display area of the display screen, images of the rear left and rear right on the left and right display areas of the lower display area of the display screen of the display.

13. The vehicle drive assist device according to claim 11, wherein the drive assist controller causes the display to display an image selected from the images picked up by the plurality of cameras.

14. The vehicle drive assist device according to claim 11, wherein the drive assist controller causes the display the images output from the plurality of cameras having the photographing areas successively in scrolling manner.

15. The vehicle drive assist device according to claim 1, wherein the display includes a touch panel, and the drive assist controller changes an image display condition according to an input to the touch panel.

16. The vehicle drive assist device according to claim 15, wherein according to the input to the touch panel, the drive assist controller enlarges and displays an image at an input position at a predetermined time, and after the predetermined time elapses, the drive assist controller put back the image enlarged and displays the image on the display screen.

17. The vehicle drive assist device according to claim 1, wherein each of the display areas displays each of the images such that a location of each of the display areas relative to the display screen corresponds to a direction of each of the photographing areas relative to the vehicle.

18. The vehicle drive assist device according to claim 1,

wherein each of the cameras faces to a different direction relative to the vehicle;

wherein each of the display areas displays each of the images such that a location of each of the display areas relative to the simplified figure of the vehicle corresponds to the direction of each camera relative to the vehicle.

20. The vehicle drive assist device according to claim 1, further comprising an obstacle sensor for detecting presence or absence of an obstacle on a vehicle traveling path,

wherein when the obstacle sensor detects the obstacle, the drive assist controller causes the display to display a sensing direction of the obstacle sensor.

21. The vehicle drive assist device according to claim 20, wherein when the obstacle sensor detects an obstacle, the drive assist controller causes the display to display an image from camera picking up a sensing direction of the obstacle sensor.

22. The vehicle drive assist device according to claim 20, wherein when the obstacle sensor detects the obstacle, the drive assist controller causes the display to shift a display position of the image from the camera picking up the sensing direction of the obstacle sensor, to the center of the screen of the display or to expand the display.

23. The vehicle drive assist device according to claim 20, wherein the drive assist controller causes the display to overlay an alarm on a display of the sensing direction of the obstacle sensor.

19. A vehicle drive assist device adapted to be mounted on a vehicle, comprising:

a plurality of cameras covering different photographing areas from each other, to pick up images around the vehicle;

a display having a screen on which at least one of the images picked up by the cameras is displayed; and

a drive assist controller operable to divide the screen into a plurality of display areas, and display the respective images on the respective display areas,

wherein the drive assist controller displays a simplified figure of the vehicle on the screen with the images picked up by the cameras,

wherein the drive assist controller changes an image to be displayed on the screen, which is picked up by one of the cameras in accordance with a steering angle of a steering wheel mounted on the vehicle, and

wherein the drive assist controller changes a condition of dividing the screen in accordance with the steering angle of the steering wheel.