Underfloor image display system

Abstract

To provide an underfloor image display system that can perform an appropriate parking assist by an underfloor image.SOLUTION: An underfloor image display system 1 includes: external information acquisition means 2 configured to obtain external information around a vehicle V; underfloor image generation means 31 configured to generate an underfloor image of the vehicle V based on the external information acquired by the external information acquisition means 2; and underbody image display means 4 configured to display the underfloor image generated by the underbody image generation means 31. The underfloor image generation means 31 generates an underbody image of the vehicle V at a predetermined point in time after the vehicle has advanced in the direction of travel of the vehicle V during parking of the vehicle V.SELECTED DRAWING: Figure 1

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 specific measures against global climate change, efforts have been actively made to realize a low-carbon society or a decarbonized society. In vehicles such as automobiles, reduction of CO 2 emissions and improvement of energy efficiency are required, and research and development on electrification technologies for electrifying their drive sources have been conducted. Specifically, the development of electric vehicles using an electric motor as a drive source, such as electric vehicles (EVs) and hybrid electric vehicles (HEVs), has been advanced.

[0003] In addition, research and development on technologies for non-contact charging of the battery of electric vehicles have also been conducted. As an example, a parking support system for assisting the alignment between the power receiving part of a vehicle and the power feeding part of a parking lot during non-contact charging has been proposed.

[0004] For example, Patent Documents 1 and 2 disclose a parking support system that estimates the delay time due to image processing and the delay time due to user recognition when displaying the relative position between the power receiving part and the power feeding part, and corrects the displayed relative position based on the delay time.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in the conventional parking support system, since the relative position between the power receiving unit and the power feeding unit is displayed as a graphic, an aerial image, or a rear image of the vehicle, it may be difficult to recognize the relative position between the power receiving unit and the power feeding unit, and there is room for improvement.

[0007] The present invention provides an underfloor image display system capable of performing appropriate parking support based on an underfloor image.

Means for Solving the Problems

[0008] The present invention an external information acquisition means for acquiring external information of the vehicle, an underfloor image generation means for generating an underfloor image of the vehicle based on the external information acquired by the external information acquisition means, an underfloor image display means for displaying the underfloor image generated by the underfloor image generation means, and the underfloor image generation means generates the underfloor image that the vehicle has advanced for a predetermined time in the traveling direction of the vehicle during parking when the vehicle is parked. It is an underfloor image display system.

Effects of the Invention

[0009] According to the present invention, it is possible to provide an underfloor image display system capable of performing appropriate parking support based on an underfloor image.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Embodiments for Carrying Out the Invention

[0011] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. Note that not all of the features described in the following embodiments are essential to the present invention. Also, any combination of two or more of the features described in the following embodiments may be used. Hereinafter, the same or similar elements may be denoted by the same or similar reference numerals, and the description thereof may be omitted or simplified as appropriate.

[0012] FIG. 1 is a block diagram showing a configuration example of the underfloor image display system 1 of the present embodiment. The underfloor image display system 1 shown in FIG. 1 is mounted on a vehicle V. Here, the vehicle V is an electric vehicle such as an electric vehicle or a hybrid electric vehicle including, for example, a motor (not shown) as a drive source and a battery (not shown) serving as a power source for this motor.

[0013] FIG. 2 is a schematic plan view showing the power receiving unit VA of the vehicle V and the power feeding unit GA of the parking lot. As shown in FIG. 2, the vehicle V includes a power receiving unit VA for non-contact charging of the battery. The power receiving unit VA is constituted by, for example, a power receiving coil and is disposed in the lower part of the floor of the vehicle V (in other words, below the floor panel).

[0014] When non-contact charging of the battery is performed, the user driving the vehicle V parks the vehicle V so that the power feeding unit GA (for example, a power transmission coil) of the parking lot, which is a non-contact charging facility (hereinafter, also simply referred to as "parking lot"), faces the power receiving unit VA of the vehicle V. Thereafter, when power feeding by the power feeding unit GA is started, the power receiving unit VA receives this power and the battery is charged. As shown in FIG. 2, for example, a linear pattern L for guiding the position of the power feeding unit GA is provided on the ground of the parking lot.

[0015] When the vehicle V is parked in the parking lot of the non-contact charging facility, the under-floor image display system 1 displays the under-floor image of the vehicle V to assist the user's vehicle operation. Here, the under-floor image of the vehicle V (hereinafter, also simply referred to as the "under-floor image") is, for example, an image representing the ground at the location where the vehicle V is located and / or in its vicinity. Further, the under-floor image may include an image representing a portion facing the power receiving unit VA of the vehicle V. Note that the under-floor image will be described again later.

[0016] In the above-described parking assistance, due to the delay time caused by the image processing performed to generate the under-floor image and the delay time due to the user's perception when performing vehicle operation while viewing the displayed under-floor image, the vehicle V may overshoot by the amount of that delay time, and a deviation may occur in the relative position between the power receiving unit VA and the power feeding unit GA. Since such a positional deviation affects the output characteristics of non-contact charging, it is desirable to make it as small as possible. Therefore, the under-floor image display system 1 suppresses the positional deviation between the power receiving unit VA and the power feeding unit GA caused by the above-described delay time.

[0017] Specifically, as shown in FIG. 1, the under-floor image display system 1 includes, for example, an external information acquisition means 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 means 2, and an under-floor image display means 4 for displaying the under-floor image generated by the control unit 3.

[0018] As shown in FIG. 2, the external information acquisition means 2 is configured using, for example, a camera module as an imaging means for imaging a predetermined range Ar1 in the traveling direction (for example, the front or the rear) of the vehicle V. In this case, image data representing the image captured by the camera module (that is, the imaging means) is acquired as external information. This camera module as the imaging means captures the predetermined range Ar1 as a moving image, for example, while the vehicle V is in operation. Further, the external information acquisition means 2 may include 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, or may further include sensors other than the camera module.

[0019] The under-bed image display means 4 is configured using a display device such as a liquid crystal panel, for example. Further, the under-bed image display means 4 may be shared with an existing display unit (such as a navigation display unit or a meter display unit) provided in the vehicle V.

[0020] The control unit 3 is configured using, for example, an ECU (Electronic Control Unit) including a processor that performs various operations, a memory that stores various information, an I / F (Interface) that controls the input and output of data between the inside and outside of the control unit 3, and the like. The control unit 3 has a functional configuration realized by the cooperation of hardware and software, that is, a functional configuration realized by the processor executing a program stored in the memory or the like. For example, the control unit 3 includes an under-bed image generation means 31, a user setting means 32, a misalignment amount detection means 33, a user recognition calculation means 34, a change width limitation means 35, and a per-user storage means 36.

[0021] The under-bed image generation means 31 generates an under-bed image of the vehicle V based on the external information acquired by the external information acquisition means 2. When generating this under-bed image, the under-bed image generation means 31 generates an under-bed image of the ground at a location where the vehicle V has advanced by a predetermined time T minutes (where the predetermined time T > 0) in the traveling direction of the vehicle V when the vehicle V is parked. Here, the predetermined time T may be a fixed value determined by the manufacturer of the vehicle V or the like, but it is preferably a value that can be changed according to user input or the like, as will be described later.

[0022] In other words, the under-bed image generation means 31 generates, as the under-bed image, an image representing the ground at a location slightly ahead in the traveling direction of the vehicle V from the location where the vehicle V is actually located. Thereby, it becomes possible to generate an under-bed image as if the vehicle V is located at a location slightly ahead in the traveling direction from the actually located location. Therefore, it is possible to generate an under-bed image considering the delay time due to image processing and the delay time due to user recognition, and appropriate parking support can be performed by displaying the under-bed image.

[0023] More specifically, as shown in FIG. 2, the underfloor image generation means 31 is configured to be able to generate an underfloor image including an image representing the ground of a predetermined region Ar2 included in a predetermined range Ar1, based on an image captured by an imaging means that captures a predetermined range Ar1 in the traveling direction of the vehicle V, and generate the underfloor image before a predetermined time T when the vehicle V is positioned on the ground of the predetermined region Ar2.

[0024] Here, the predetermined region Ar2 can be, for example, a region based on a location at a predetermined distance from the vehicle V in its traveling direction. The timing when the vehicle V is positioned on the ground of the predetermined region Ar2 can be predicted, for example, from the distance between the vehicle V and the predetermined region Ar2 and the vehicle speed at that time. Also, the image representing the ground of the predetermined region Ar2 can be, for example, an image of the ground of the predetermined region Ar2 as seen from directly above. Such an image can be obtained by performing coordinate conversion image processing on the image captured by the imaging means.

[0025] The user setting means 32 can set the predetermined time T based on user input or the like. For example, the user setting means 32 can display a setting screen for the predetermined time T on the underfloor image display means 4 and change the predetermined time T according to the user's input. Also, the user setting means 32 may receive data input by the user using a dedicated application on a mobile terminal (for example, a smartphone) and change the predetermined time T based on the received data. Thereby, it becomes possible to adjust the progress of the underfloor image according to the user's driving skill and preference.

[0026] The misalignment amount detection means 33 detects the relative misalignment amount between the power receiving part VA of the vehicle V and the power supply part GA of the parking lot at the end of parking. For example, the misalignment amount detection means 33 calculates the misalignment amount between the power receiving part VA and the power supply part GA at the end of parking (for example, when the shift position of the vehicle V is set to parking) based on the position of the vehicle V and the image acquired by the external information acquisition means 2. In addition, when obtaining the position of the vehicle V, the misalignment amount detection means 33 may also refer to the operations of the accelerator pedal, brake pedal, or steering wheel of the vehicle V by the user (for example, the timing when the final brake operation to stop the vehicle V is performed).

[0027] The user recognition calculation means 34 calculates the user's recognition judgment time (in other words, the operation delay time) based on the past parking results, and changes a predetermined 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).

[0028] User's recognition judgment time = Misalignment amount detected by the misalignment amount detection means 33 (that is, the actual misalignment amount) / Average vehicle speed of the vehicle V during user recognition judgment ··· (1)

[0029] In the above formula (1), "during user recognition judgment" refers to the period from when a floor image indicating that the misalignment amount is 0 is displayed (or when the actual misalignment amount becomes 0) until the vehicle V stops.

[0030] By providing such misalignment amount detection means 33 and user recognition calculation means 34, it becomes possible to appropriately adjust the progress of the floor image based on the past parking results.

[0031] In addition, the time from when the actual misalignment amount becomes 0 until the vehicle V stops may be measured, and this measured time may be used as the user's recognition judgment time. Further, the time from when a floor image including the power supply part GA is displayed until a predetermined operation (for example, a brake operation) is performed by the user may be measured, and this measured time may be used as the user's recognition judgment time.

[0032] The change width limiting means 35 limits the change width of a predetermined time T based on past parking results. For example, for each change of the predetermined time T, the change width limiting means 35 allows a change of up to ±10% from the value before the change, and regulates a change exceeding that. Thereby, a significant change (in other words, a sudden change) of the predetermined time T based on past parking results can be restricted, and the discomfort of the user with respect to the progress of the under-floor image can be suppressed.

[0033] The user-specific storage means 36 stores the predetermined time T and past parking results for each user. For example, the user-specific storage means 36 recognizes the user driving the vehicle V based on the seat position or the like, and stores for each user the predetermined time T set by that user, the recognition judgment time calculated based on the past parking results of that user, and the like. More specifically, the user-specific storage means 36 stores, for example, by associating the identifier of the user with the predetermined time T set by that user, the recognition judgment time based on the past parking results of that user, and the like.

[0034] Then, the under-floor image display system 1 is configured to be able to set the predetermined time T corresponding to the user driving the vehicle V by referring to the user-specific storage means 36. More specifically, for example, when the user setting means 32 recognizes the user driving the vehicle V based on the seat position or the like, it refers to the user-specific storage means 36 and sets the predetermined time T corresponding to that user. Thereby, the under-floor image display system 1 can switch the predetermined time T and the like according to the user driving the vehicle V, and it becomes possible to appropriately adjust the progress of the under-floor image for each user.

[0035] Next, an example of the display of the under-floor image will be described with reference to FIGS. 3 and 4.

[0036] FIG. 3 is a diagram showing an example of the display of the under-floor image when there is no advance processing (in other words, when the predetermined time T = 0).

[0037] As shown in FIG. 3, when the vehicle V is parked, the control unit 3 recognizes the positions of the power receiving unit VA and the power feeding unit GA based on the images acquired by the external information acquisition means 2 and the vehicle speed of the vehicle V, generates a floor image including these, and displays it on the display screen 4a of the floor image display means 4. The acquired image 2a in FIG. 3 is, for example, an image representing the ground of a predetermined area Ar2 based on a location at a predetermined distance from the vehicle V in its traveling direction at each time. Further, at the center of the display screen 4a, for example, an image representing a portion facing the power receiving unit VA of the vehicle V is fixedly displayed.

[0038] When the relative positions of the power receiving unit VA and the power feeding unit GA approach, the power feeding unit GA and the pattern L are dynamically displayed within the display screen 4a. When the power feeding unit GA enters the display screen 4a, the user performs a deceleration operation. At this time, an operation delay corresponding to the above-described cognitive judgment time occurs from when the user recognizes the power feeding unit GA until the deceleration operation is performed.

[0039] When the power feeding unit GA overlaps the center of the power receiving unit VA on the display screen 4a, the user performs a final braking operation to stop the vehicle V. At this time, an operation delay corresponding to the above-described cognitive judgment time occurs from when the user recognizes the overlap of the power feeding unit GA and the power receiving unit VA until the braking operation is performed. As a result, when there is no forward movement process, the vehicle V passes the ideal parking position, and a positional deviation (for example, +10 mm) occurs between the power feeding unit GA and the power receiving unit VA.

[0040] FIG. 4 is a diagram showing an example of the display of the floor image when there is a forward movement process (in other words, when a predetermined time T>0). In the following, the description of the parts common to FIG. 3 will be omitted or simplified as appropriate.

[0041] As shown in FIG. 4, when there is a forward movement process, the control unit 3, for example, obtains the user's cognitive judgment time as described above, and generates a floor image advanced by the cognitive judgment time (predetermined time T) and displays it on the display screen 4a of the floor image display means 4.

[0042] For example, the underfloor image in which the power supply unit GA enters the display screen 4a is displayed earlier than the actual time by a predetermined time T, so the operation delay for the user's cognitive judgment time is offset, and a deceleration operation can be performed at an appropriate timing.

[0043] Also, the underfloor image in which the power supply unit GA overlaps the center of the power receiving unit VA on the display screen 4a is also displayed earlier than the actual time by a predetermined time T, so the operation delay for 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 an ideal parking position, and the positional deviation between the power supply unit GA and the power receiving unit VA is minimized.

[0044] As described above, various embodiments have been described with reference to the drawings, but it goes without saying that the present invention is not limited to such examples. It is obvious that those skilled in the art can conceive of various modification examples or correction examples within the scope described in the claims, and it is naturally understood that they also belong to the technical scope of the present invention. Also, within the scope not departing from the gist of the invention, the components in the above embodiments may be arbitrarily combined.

[0045] For example, in the above-described embodiment, an example in which the display of the underfloor image by the underfloor image display system 1 is used 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 has been described, but it is not limited thereto. It is also conceivable to perform non-contact power supply from the power supply unit (for example, a power transmission coil) of the vehicle V to the power receiving unit (for example, a power receiving coil) of the parking lot. In such a case, the underfloor image display system 1 may display an underfloor image 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 underfloor image that has advanced by a predetermined time T when it is assumed that the vehicle V has advanced in the traveling direction of the vehicle V at the time of parking is generated, and the underfloor image may be displayed.

[0046] At least the following matters are described in this specification and the like. In the parentheses below, corresponding components and the like in the above-described embodiments are shown, but the present invention is not limited thereto.

[0047] (1) External information acquisition means (external information acquisition means 2) for acquiring external information of the vehicle (vehicle V), Floor image generation means (floor image generation means 31) for generating a floor image of the vehicle based on the external information acquired by the external information acquisition means, Floor image display means (floor image display means 4) for displaying the floor image generated by the floor image generation means, and the floor image generation means generates a floor image of the vehicle traveling for a predetermined time (predetermined time T) in the traveling direction of the vehicle at the time of parking when the vehicle is parked. Floor image display system (floor image display system 1).

[0048] According to (1), when the vehicle is parked, a floor image of the vehicle traveling for a predetermined time in the traveling direction of the vehicle at the time of parking is generated, so that appropriate parking support can be performed with a floor image that takes into account the delay time due to image processing and the delay time due to user recognition.

[0049] (2) The floor image display system according to (1), the external information acquisition means is imaging means for imaging a predetermined range (predetermined range Ar1) in the traveling direction of the vehicle, the floor image generation means, based on the image captured by the imaging means, can generate the floor image including an image representing the ground of a predetermined area (predetermined area Ar2) included in the predetermined range, and generates the floor image before the predetermined time when the vehicle is located on the ground of the predetermined area. Floor image display system.

[0050] According to (2), since the underfloor image advanced for a predetermined time is generated when the vehicle is parked, it is possible to perform appropriate parking support with the underfloor image that takes into account the delay time due to image processing and the delay time due to user recognition.

[0051] (3) The underfloor image display system according to (1) or (2), wherein the predetermined time is configurable by a user, the underfloor image display system.

[0052] According to (3), it is possible to adjust the progress of the underfloor image according to the user's driving skill and preference.

[0053] (4) The underfloor image display system according to (1) or (2), wherein the predetermined time is changed based on past parking results, the underfloor image display system.

[0054] According to (4), it is possible to appropriately adjust the progress of the underfloor image based on past parking results.

[0055] (5) The underfloor image display system according to (4), wherein a limit is provided on the range of change of the predetermined time based on the past parking results, the underfloor image display system.

[0056] According to (5), a large change (in other words, a sudden change) in the predetermined time can be restricted, and the user's discomfort with respect to the progress of the underfloor image can be suppressed.

[0057] (6) The underfloor image display system according to (3), further comprising user-specific storage means (user-specific storage means 36) for storing the predetermined time for each user, wherein the underfloor image display system is configured to be able to set the predetermined time according to the user who drives the vehicle with reference to the user-specific storage means, the underfloor image display system.

[0058] (6) enables appropriate adjustment of the progress of the under-floor image for each user.

[0059] (7) The under-floor image display system according to any one of (1) to (6), wherein the display of the under-floor image is used for alignment of the power receiving unit (power receiving unit VA) of the vehicle and the power supply unit (power supply unit GA) of the parking lot for non-contact charging, or alignment of the power supply unit of the vehicle and the power receiving unit of the parking lot for non-contact power supply, is an under-floor image display system.

[0060] (7) enables accurate alignment of the power receiving unit of the vehicle and the power supply unit of the parking lot.

Explanation of Reference Numerals

[0061] 1 Under-floor image display system 2 External information acquisition means 31 Under-floor image generation means 36 Memory means for each user 4 Under-floor image display means V Vehicle GA Power supply unit VA Power receiving unit

Claims

1. External information acquisition means for acquiring external information of the vehicle, Floor image generation means for generating a floor image of the vehicle based on the external information acquired by the external information acquisition means, Floor image display means for displaying the floor image generated by the floor image generation means, and comprising: The floor image generation means generates a floor image of a distance the vehicle has traveled for a predetermined time in the traveling direction of the vehicle during parking of the vehicle. Floor image display system.

2. The floor image display system according to Claim 1, wherein the external information acquisition means is imaging means for imaging a predetermined range in the traveling direction of the vehicle, and the floor image generation means is capable of generating the floor image including an image representing the ground of a predetermined area included in the predetermined range based on the image imaged by the imaging means, and generates the floor image before the predetermined time when the vehicle is positioned on the ground of the predetermined area. Floor image display system.

3. The floor image display system according to Claim 1, wherein the predetermined time is configurable by a user. Floor image display system.

4. The floor image display system according to Claim 1, wherein the predetermined time is changed based on past parking results. Floor image display system.

5. The floor image display system according to Claim 4, wherein a limit is provided for a change range of the predetermined time based on the past parking results. Floor image display system.

6. The floor image display system according to Claim 3, further comprising user-specific storage means for storing the predetermined time for each user, wherein the floor image display system is configured to be able to set the predetermined time corresponding to the user driving the vehicle with reference to the user-specific storage means. Floor image display system.

7. The floor image display system according to any one of Claims 1 to 6, wherein the display of the floor image is used for alignment between a power receiving part of the vehicle and a power feeding part of a parking lot for non-contact charging, or alignment between a power feeding part of the vehicle and a power receiving part of the parking lot for non-contact power feeding. Floor image display system.

Images