Underfloor image display system

Abstract

The invention provides an under-floor image display system capable of performing appropriate parking assistance through an under-floor image. An under-floor image display system (1) is provided with: an outside information acquisition means (2) for acquiring outside information of a vehicle (V); an under-floor image generation means (31) for generating an under-floor image of the vehicle (V) on the basis of the outside information acquired by the outside information acquisition means (2); and an under-floor image display means (4) for displaying the under-floor image generated by the under-floor image generation means (31), the under-floor image generation means (31) generating, when the vehicle (V) is stopped, an under-floor image in which the vehicle (V) travels in the traveling direction of the vehicle (V) at the time of the stopping for a predetermined amount of time.

Description

Technical Field

[0001] The present invention relates to an underfloor image display system for displaying an underfloor image of a vehicle. Background Art

[0002] In recent years, as a specific measure to address global climate change, initiatives towards a low-carbon society or a decarbonized society have been very active. In vehicles such as automobiles, reduction of CO 2 emissions and improvement of energy efficiency are also required, and research and development of electrification technologies for making their drive sources electric are underway. Specifically, development of electric vehicles such as electric vehicles (Electrical Vehicle) and hybrid electric vehicles (Hybrid Electrical Vehicle) that use an electric motor as a drive source is underway.

[0003] In addition, research and development related to technologies for non-contact charging of the battery of an electric vehicle have also been conducted. As an example, a parking assistance system has been proposed for assisting the alignment of the power receiving unit of a vehicle with the power supply unit of a parking lot during non-contact charging.

[0004] For example, in Patent Document 1 and Patent Document 2, the following parking assistance system is disclosed: when displaying the relative position between the power receiving unit and the power supply unit, the delay time caused by image processing and / or the delay time caused by user recognition are inferred, and the displayed relative position is corrected based on the delay time.

[0005] Prior Art Documents

[0006] Patent Documents

[0007] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2020-18156

[0008] Patent Document 2: Japanese Unexamined Patent Application Publication No. 2021-150997 Summary of the Invention

[0009] Problems to be Solved by the Invention

[0010] However, in the conventional parking assistance system, since the relative position between the power receiving unit and the power supply unit is displayed as a graphic, a top view image, or an image of the rear of the vehicle, it may be difficult to recognize the relative position between the power receiving unit and the power supply unit, and there is room for improvement.

[0011] The present invention provides an underfloor image display system capable of appropriately assisting parking through an underfloor image.

[0012] Means for Solving the Problems

[0013] The present invention relates to an underfloor image display system, wherein

[0014] The under-floor image display system includes:

[0015] An external information acquisition mechanism for acquiring external information of the vehicle;

[0016] An under-floor image generation mechanism for generating an under-floor image of the vehicle based on the external information acquired by the external information acquisition mechanism; and

[0017] An under-floor image display mechanism for displaying the under-floor image generated by the under-floor image generation mechanism, where

[0018] when the vehicle is parked, the under-floor image generation mechanism generates the under-floor image of the vehicle that has traveled a specified amount of time in the traveling direction of the vehicle during the parking.

[0019] Advantages of the Invention

[0020] According to the present invention, an under-floor image display system can be provided, which can appropriately assist in parking through the under-floor image. Description of the Drawings

[0021] Figure 1 is a block diagram showing a structural example of the under-floor image display system 1 of the present embodiment.

[0022] Figure 2 is a schematic top view showing the power receiving part VA of the vehicle V and the power supply part GA of the parking lot.

[0023] Figure 3 is a diagram showing a display example of the under-floor image assuming that the traveling process is not performed.

[0024] Figure 4 is a diagram showing a display example of the under-floor image in the case where the traveling process is performed.

[0025] Description of Reference Numerals

[0026] 1 Under-floor image display system

[0027] 2 External information acquisition mechanism

[0028] 31 Under-floor image generation mechanism

[0029] 36 Sub-user storage mechanism

[0030] 4 Under-floor image display mechanism

[0031] V Vehicle

[0032] GA Power supply part

[0033] VA power receiving unit Detailed implementation mode

[0034] A detailed description of an embodiment of the present invention will be given below with reference to the accompanying drawings. In addition, the features described in the following embodiments are not all essential to the present invention. In addition, two or more of the multiple features described in the following embodiments can be arbitrarily combined. The same or similar reference numerals will be used to label the same or similar elements below, and their descriptions will sometimes be appropriately omitted or simplified.

[0035] Figure 1 It is a block diagram showing a structural example of the underfloor image display system 1 of this embodiment. Figure 1 The shown underfloor image display system 1 is mounted on the vehicle V. Here, the vehicle V is an electric vehicle such as an electric vehicle or a hybrid electric vehicle, and has a motor (not shown) as a drive source and a storage battery (not shown) as a power source for the motor.

[0036] Figure 2 It is a schematic top view showing the power receiving unit VA of the vehicle V and the power supply unit GA of the parking lot. As Figure 2 shown, the vehicle V is equipped with a power receiving unit VA for non-contact charging of the storage battery. The power receiving unit VA is composed of a power receiving coil, for example, and is arranged under the floor of the vehicle V (in other words, below the bottom panel).

[0037] In the case of non-contact charging of the storage battery, the user driving the vehicle V parks the vehicle V and makes the power supply unit GA (for example, a power transmission coil) of the parking lot (hereinafter also simply referred to as "parking lot"), which is a non-contact charging facility, face the power receiving unit VA of the vehicle V. After that, when the power supply starts from the power supply unit GA, the power receiving unit VA receives the power and charges the storage battery. In addition, as Figure 2 shown, a linear pattern L is provided on the ground of the parking lot, for example, to guide the position of the power supply unit GA.

[0038] When the vehicle V is parked in a parking lot of a non-contact charging facility, the underfloor image display system 1 displays the underfloor image of the vehicle V to assist the user in vehicle operation. Here, the underfloor image of the vehicle V (hereinafter also simply referred to as "underfloor image") is, for example, an image showing the location where the vehicle V is located and / or the ground in its vicinity. In addition, the image showing the part facing the power receiving unit VA of the vehicle V may also be included in the underfloor image. In addition, the underfloor image will be described again below.

[0039] In the above parking assistance, due to the delay time caused by the image processing for generating the under-floor image and the delay time caused by the user's recognition when operating the vehicle while observing the displayed under-floor image, the vehicle V may travel excessively by the amount of this delay time, and the relative position between the power receiving unit VA and the power supply unit GA may shift. Such a position shift affects the output characteristics of non-contact charging, and thus it is preferably as small as possible. Therefore, in the under-floor image display system 1, it is necessary to suppress the position shift between the power receiving unit VA and the power supply unit GA caused by the above-mentioned delay time.

[0040] Specifically, as Figure 1 shown, the under-floor image display system 1 includes, for example: an external information acquisition mechanism 2 for acquiring external information of the vehicle V; a control unit 3 for generating an under-floor image of the vehicle V based on the external information acquired by the external information acquisition mechanism 2; and an under-floor image display mechanism 4 for displaying the under-floor image generated by the control unit 3.

[0041] As Figure 2 shown, the external information acquisition mechanism 2 is constituted by using, for example, a camera module as an imaging mechanism for imaging a predetermined range Ar1 in the traveling direction (e.g., the front or the rear) of the vehicle V. In this case, image data representing the image captured by the camera module (i.e., the imaging mechanism) is acquired as external information. The camera module as the imaging mechanism, for example, captures video of the predetermined range Ar1 during the start-up of the vehicle V. In addition, the external information acquisition mechanism 2 may include, for example, a plurality of camera modules such as a camera module for imaging the front of the vehicle V and a camera module for imaging the rear of the vehicle V, and may further include sensors other than the camera module.

[0042] The under-floor image display mechanism 4 is constituted by using a display device such as a liquid crystal panel. In addition, the under-floor image display mechanism 4 may also serve as an existing display unit (navigation display unit, meter display unit, etc.) provided in the vehicle V.

[0043] The control unit 3 is constituted by using, for example, an ECU (Electronic Control Unit) including a processor for performing various operations, a memory for storing various information, and an I / F (Interface) for controlling the input / output of data inside and outside the control unit 3. The control unit 3 includes, for example, an under-floor image generation mechanism 31, a user setting mechanism 32, a position offset amount detection mechanism 33, a user recognition calculation mechanism 34, a change amplitude limitation mechanism 35, and a sub-user storage mechanism 36 as functional structures realized through the cooperation of hardware and software, that is, functional structures realized by the processor executing programs stored in the memory and the like.

[0044] The under-floor image generation mechanism 31 generates an under-floor image of the vehicle V based on the external information acquired by the external information acquisition mechanism 2. Moreover, when generating this under-floor image, when the vehicle V is parked, the under-floor image generation mechanism 31 generates an under-floor image of the vehicle V that has traveled a quantity corresponding to a specified time T (where the specified time T > 0) in the traveling direction of the vehicle V at the time of this parking. Here, the specified time T can be a fixed value determined by the manufacturer of the vehicle V or the like, but is preferably set to a value that can be changed according to user input or the like, as described later.

[0045] In other words, the under-floor image generation mechanism 31 generates an image of the ground representing a location slightly ahead in the traveling direction of the vehicle V than the actual location where the vehicle V is located as the under-floor image. Thereby, an under-floor image can be generated such that the vehicle V appears to be located at a location slightly ahead in the traveling direction than the actual location. Therefore, an under-floor image that takes into account the delay time caused by image processing and the delay time caused by user perception can be generated, and by displaying this under-floor image, appropriate parking assistance can be performed.

[0046] More specifically, as Figure 2 shown, the under-floor image generation mechanism 31 is configured, for example, to be able to generate an under-floor image including an image of the ground representing a specified area Ar2 included in a specified range Ar1, based on an image captured by a capturing mechanism that captures a specified range Ar1 in the traveling direction of the vehicle V, and generates this under-floor image a specified time T before the vehicle V is located on the ground of the specified area Ar2.

[0047] In addition, here, the specified area Ar2 can be set, for example, as an area based on a location that is a specified distance away from the vehicle V in its traveling direction. The period when the vehicle V is located on the ground of the specified area Ar2 can be predicted, for example, based on the distance between the vehicle V and the specified area Ar2 and the vehicle speed at this time. Also, the image of the ground representing the specified area Ar2 can be set, for example, as an image of observing the ground of the specified area Ar2 from directly above. Such an image is obtained by performing image processing of coordinate transformation on the image captured by the capturing mechanism.

[0048] The user setting mechanism 32 can set the specified time T based on user input or the like. For example, the user setting mechanism 32 can display a setting screen for the specified time T on the under-floor image display mechanism 4 and change the specified time T according to the user's input. Also, the user setting mechanism 32 can receive data input by the user through a dedicated application of a portable terminal (such as a smartphone) and change the specified time T based on the received data. Thereby, the degree of advancement of the under-floor image can be adjusted according to the user's driving skills and preferences.

[0049] The position offset detection mechanism 33 detects the relative position offset between the power receiving unit VA of the vehicle V and the power supply unit GA of the parking lot at the end of parking. For example, the position offset detection mechanism 33 calculates the position offset between the power receiving unit VA and the power supply unit GA at the end of parking (for example, when the gear of the vehicle V is in the parking position) based on the position of the vehicle V and the image acquired by the external information acquisition mechanism 2. In addition, when determining the position of the vehicle V, the position offset detection mechanism 33 may also refer to the operations of the user on the accelerator pedal, brake pedal, or steering device of the vehicle V (for example, the timing of the final braking operation to stop the vehicle V).

[0050] The user recognition calculation mechanism 34 calculates the user's recognition judgment time (in other words, the operation delay time) based on past parking results, and changes the specified time T based on the calculated recognition judgment time. For example, the user's recognition judgment time can be calculated by the following formula (1).

[0051] User's recognition judgment time = Position offset detected by the position offset detection mechanism 33 (i.e., the actual position offset) / Average vehicle speed of the vehicle V in the user's recognition judgment... (1)

[0052] In the above formula (1), "in the user's recognition judgment" is, for example, the period from when the underfloor image showing a position offset of 0 is displayed (or when the actual position offset is 0) until the vehicle V stops.

[0053] By providing such a position offset detection mechanism 33 and a user recognition calculation mechanism 34, the progress degree of the underfloor image can be appropriately adjusted based on past parking results.

[0054] In addition, it is also possible to measure the time from when the actual position offset becomes 0 until the vehicle V stops, and use this measured time as the user's recognition judgment time. Furthermore, it is also possible to measure the time from when the underfloor image including the power supply unit GA is displayed until the user performs a specified operation (for example, a braking operation), and use this measured time as the user's recognition judgment time.

[0055] The change amplitude limiting mechanism 35 limits the change amplitude of the specified time T based on past parking results. For example, for each change in the specified time T, the change amplitude limiting mechanism 35 allows a change from the value before the change to ±10%, and limits changes exceeding this. Thereby, it is possible to limit a large change in the specified time T based on past parking results (in other words, a sudden change in the specified time T), and suppress the discomfort of the user with respect to the progress degree of the underfloor image.

[0056] The per-user storage mechanism 36 stores the specified time T for each user and the past parking results. For example, the per-user storage mechanism 36 identifies the user driving the vehicle V based on the seat position or the like, and stores for each user the specified time T set by the user, the cognitive judgment time calculated based on the past parking results of the user, and the like. More specifically, the per-user storage mechanism 36 stores, for example, the user identifier, the specified time T set by the user, the cognitive judgment time based on the past parking results of the user, and the like in association with each other.

[0057] Moreover, the under-floor image display system 1 is configured to be able to set the specified time T corresponding to the user driving the vehicle V with reference to the per-user storage mechanism 36. More specifically, for example, if the user driving the vehicle V is identified based on the seat position or the like, the user setting mechanism 32 refers to the per-user storage mechanism 36 and sets the specified time T corresponding to the user. Thus, the under-floor image display system 1 can switch the specified time T and the like according to the user driving the vehicle V, and appropriately adjust the progress degree of the under-floor image for each user.

[0058] Next, Figure 3 and Figure 4 an example of the display of the under-floor image will be described.

[0059] Figure 3 An example of the display of the under-floor image in the case where no progress process is performed (in other words, the case where the specified time T = 0) is shown.

[0060] As Figure 3 shown, when the vehicle V stops, the control unit 3 identifies the positions of the power receiving unit VA and the power supply unit GA based on the image acquired by the external information acquisition mechanism 2 and the vehicle speed of the vehicle V, generates an under-floor image including them, and displays it on the display screen 4a of the under-floor image display mechanism 4. In addition, Figure 3 the acquired image 2a in is, for example, an image representing the ground of the specified area Ar2 based on the point at a specified distance from the vehicle V in its traveling direction at each period. In addition, for example, an image representing the part opposed to the power receiving unit VA of the vehicle V is fixedly displayed at the center of the display screen 4a.

[0061] When the relative positions of the power receiving unit VA and the power supply unit GA approach, the power supply unit GA and the pattern L are dynamically displayed within the display screen 4a. When the power supply unit GA enters the display screen 4a, the user performs a deceleration operation. At this time, an operation delay of the amount of the above-mentioned cognitive judgment time occurs from when the user recognizes the power supply unit GA to when the deceleration operation is performed.

[0062] When the centers of the power supply unit GA and the power receiving unit VA overlap in the display screen 4a, the user performs a final braking operation to stop the vehicle V. At this time, from when the user recognizes the overlap of the power supply unit GA and the power receiving unit VA until the braking operation is performed, there is an operation delay of the amount of the aforementioned cognitive judgment time. As a result, without performing the traveling process, the vehicle V will pass the ideal stop position, and a position offset (for example, +10 mm) will occur between the power supply unit GA and the power receiving unit VA.

[0063] Figure 4 Shows a display example of the underfloor image in the case of performing the traveling process (in other words, the case where the specified time T > 0). In addition, hereinafter, the description of the parts common to Figure 3 will be appropriately omitted or simplified.

[0064] As Figure 4 shown, in the case of performing the traveling process, the control unit 3, for example, obtains the user's cognitive judgment time as described above, and generates an underfloor image that has traveled the amount of the cognitive judgment time (specified time T), and displays it on the display screen 4a of the underfloor image display mechanism 4.

[0065] For example, the underfloor image in which the power supply unit GA enters the display screen 4a is displayed earlier than the actual by the specified time T, so the operation delay of the amount of the user's cognitive judgment time is offset, and the deceleration operation can be performed at an appropriate timing.

[0066] In addition, in the display screen 4a, the underfloor image in which the centers of the power supply unit GA and the power receiving unit VA overlap is also displayed earlier than the actual by the specified time T, so the operation delay of the amount of the user's cognitive judgment time is offset, and the final braking operation can be performed at an appropriate timing. As a result, the vehicle V stops at the ideal stop position, and the position offset between the power supply unit GA and the power receiving unit VA is minimized.

[0067] As described above, various embodiments have been described with reference to the drawings, but the present invention is of course not limited to this example. Those skilled in the art should understand that various modification examples or correction examples can be clearly conceived within the scope described in the claims, and these modification examples or correction examples also of course belong to the technical scope of the present invention. In addition, within the scope not departing from the gist of the invention, the constituent elements in the above-described embodiments can be arbitrarily combined.

[0068] For example, in the example described in the above embodiment, the under-floor image display system 1 displays the under-floor image for aligning the power receiving unit VA of the vehicle V and the power supply unit GA of the parking lot for non-contact charging, but is not limited thereto. It is also conceivable to perform non-contact power supply from the power supply unit (e.g., power transmission coil) of the vehicle V to the power receiving unit (e.g., power receiving coil) of the parking lot. In this case, the display of the under-floor image by the under-floor image display system 1 can also be used for aligning the power supply unit of the vehicle V and the power receiving unit of the parking lot for non-contact power supply. In other words, when the vehicle V is parked during non-contact power supply from the power supply unit of the vehicle V to the power receiving unit of the parking lot, the under-floor image display system 1 can generate an under-floor image of an amount that the vehicle V would travel for a specified time T in the traveling direction of the vehicle V at the time of this parking, and display this under-floor image.

[0069] The following at least are described in this specification, etc. The corresponding structural elements, etc. in the above embodiment are shown in parentheses below, but are not limited thereto.

[0070] (1) An under-floor image display system (under-floor image display system 1), wherein,

[0071] The under-floor image display system includes:

[0072] An external information acquisition mechanism (external information acquisition mechanism 2) for acquiring external information of a vehicle (vehicle V);

[0073] An under-floor image generation mechanism (under-floor image generation mechanism 31) for generating an under-floor image of the vehicle based on the external information acquired by the external information acquisition mechanism; and

[0074] An under-floor image display mechanism (under-floor image display mechanism 4) for displaying the under-floor image generated by the under-floor image generation mechanism,

[0075] When the vehicle is parked, the under-floor image generation mechanism generates an under-floor image of an amount that the vehicle travels for a specified time (specified time T) in the traveling direction of the vehicle at the time of this parking.

[0076] According to (1), when the vehicle is parked, an under-floor image of an amount that the vehicle travels for a specified time in the traveling direction of the vehicle at the time of this parking is generated, so that appropriate parking assistance can be performed with an under-floor image that takes into account the delay time caused by image processing and the delay time caused by user recognition.

[0077] (2) The under-floor image display system according to (1), wherein,

[0078] The external information acquisition mechanism is a photographing mechanism, and the photographing mechanism is used to photograph a specified range (specified range Ar1) in the traveling direction of the vehicle.

[0079] The under-floor image generation mechanism can generate the under-floor image including an image of the ground representing a specified area (specified area Ar2) included in the specified range based on the image photographed by the photographing mechanism, and the under-floor image generation mechanism generates the under-floor image before the specified time when the vehicle is on the ground of the specified area.

[0080] According to (2), when the vehicle stops, an under-floor image of the amount traveled for a specified time is generated. Therefore, appropriate parking assistance can be performed using the under-floor image that takes into account the delay time caused by image processing and the delay time caused by user perception.

[0081] (3) The under-floor image display system according to (1) or (2), wherein

[0082] The specified time can be set by the user.

[0083] According to (3), the traveling degree of the under-floor image can be adjusted according to the user's driving skills and preferences.

[0084] (4) The under-floor image display system according to (1) or (2), wherein

[0085] The specified time is changed based on past parking results.

[0086] According to (4), the traveling degree of the under-floor image can be appropriately adjusted based on past parking results.

[0087] (5) The under-floor image display system according to (4), wherein

[0088] A limit is set on the change range of the specified time based on the past parking results.

[0089] According to (5), a large change (in other words, a sudden change) in the specified time can be restricted, and the discomfort of the user with respect to the traveling degree of the under-floor image can be suppressed.

[0090] (6) The under-floor image display system according to (3), wherein

[0091] The under-floor image display system further includes a per-user storage mechanism (per-user storage mechanism 36), and the per-user storage mechanism is used to store the specified time for each user.

[0092] The under-floor image display system is configured to be able to set the specified time corresponding to the user driving the vehicle with reference to the sub-user storage mechanism.

[0093] According to (6), it is possible to appropriately adjust the progress degree of the under-floor image for each user.

[0094] (7) The under-floor image display system according to any one of (1) to (6), wherein

[0095] The display of the under-floor image is used for alignment of the power receiving unit (power receiving unit VA) of the vehicle for non-contact charging with the power supply unit (power supply unit GA) of the parking lot, or alignment of the power supply unit of the vehicle with the power receiving unit of the parking lot for non-contact power supply.

[0096] According to (7), it is possible to accurately align the power receiving unit of the vehicle with the power supply unit of the parking lot.

Claims

1. An underfloor image display system, wherein: The under-floor image display system comprises: An external information acquisition mechanism, which is used to acquire external information of the vehicle; an underfloor image generating mechanism, which is used to generate an underfloor image of the vehicle based on the external information acquired by the external information acquiring mechanism; as well as an underfloor image display mechanism for displaying the underfloor image generated by the underfloor image generation mechanism, When the vehicle is parked, the underfloor image generating means generates the underfloor image corresponding to a predetermined time period in which the vehicle has traveled in a traveling direction of the vehicle when the vehicle is parked.

2. The underfloor image display system according to claim 1, wherein: The external information acquisition mechanism is a photographing mechanism, and the photographing mechanism is used to photograph a specified range in the traveling direction of the vehicle. The underfloor image generating means is capable of generating the underfloor image including an image of the ground surface representing a specified area included in the specified range based on the image captured by the capturing means, and the underfloor image generating means generates the underfloor image before the specified time when the vehicle is located on the ground surface of the specified area.

3. The underfloor image display system according to claim 1, wherein: The prescribed time can be set by the user.

4. The underfloor image display system according to claim 1, wherein: The prescribed time is changed based on past parking results.

5. The underfloor image display system according to claim 4, wherein: A limit is placed on the range of change of the predetermined time based on the past parking results.

6. The underfloor image display system according to claim 3, wherein: The under-floor image display system further includes a user-specific storage mechanism for storing the specified time for each user. The underfloor image display system is configured to be able to set the predetermined time according to the user driving the vehicle with reference to the user-by-user storage means.

7. The underfloor image display system according to any one of claims 1 to 6, wherein: The display of the underfloor image is used for aligning the power receiving unit of the vehicle with the power supply unit of the parking lot for contactless charging or for aligning the power supply unit of the vehicle with the power receiving unit of the parking lot for contactless power supply.

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