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 technology]

[0002] In recent years, efforts to realize a low-carbon or carbon-free society have been gaining momentum as a concrete measure against global climate change. Reducing CO2 emissions and improving energy efficiency are also required for automobiles and other vehicles, and research and development is being conducted on electrification technologies to electrify their drive sources. Specifically, development is underway on electric vehicles (EVs) and hybrid electric vehicles (HEVs), which use electric motors as their drive source.

[0003] Research and development is also being conducted on technology for contactless charging of batteries in electric vehicles. One example is a proposed parking assistance system that assists in aligning the vehicle's power receiving unit with the parking lot's power supply unit during contactless charging.

[0004] For example, Patent Documents 1 and 2 disclose parking assistance systems that, when displaying the relative position between a power receiving unit and a power supply unit, estimate the delay time due to image processing and the delay time due to user recognition, and correct the displayed relative position based on the delay time. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2020-18156 [Patent Document 2] Japanese Patent Publication No. 2021-150997 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in conventional parking assistance systems, the relative positions of the power receiving unit and the power supply unit are displayed as a graphic, a bird's-eye view image, or an image of the rear of the vehicle, which can make it difficult to recognize the relative positions of the power receiving unit and the power supply unit, leaving room for improvement.

[0007] The present invention provides an underfloor image display system that can provide appropriate parking assistance using underfloor images. [Means for solving the problem]

[0008] The present invention provides An external environment information acquisition means for acquiring external environment information of the vehicle; an underfloor image generating means for generating an underfloor image of the vehicle based on the external environment information acquired by the external environment information acquiring means; an underfloor image display means for displaying the underfloor image generated by the underfloor image generation means, the underfloor image generating means generates the underfloor image of the vehicle moving forward a predetermined time in the direction of travel of the vehicle 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 that is capable of providing appropriate parking assistance using underfloor images. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing an example of the configuration of an underfloor image display system 1 according to this embodiment. [Figure 2] FIG. 2 is a schematic plan view showing a power receiving unit VA of a vehicle V and a power supply unit GA of a parking lot. [Figure 3] FIG. 3 is a diagram showing an example of how the underfloor image is displayed when no forward processing is performed. [Figure 4] FIG. 4 is a diagram showing an example of a display of an underfloor image when advance processing is performed. DETAILED DESCRIPTION OF THE INVENTION

[0011] An embodiment of the present invention will be described in detail below with reference to the drawings. Note that not all of the features described in the following embodiment are necessarily essential to the present invention. Furthermore, two or more of the features described in the following embodiment may be arbitrarily combined. In the following, identical or similar elements are denoted by identical or similar reference symbols, and their description may be omitted or simplified as appropriate.

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

[0013] Fig. 2 is a schematic plan view showing a power receiving unit VA of a vehicle V and a power supply unit GA of a parking lot. As shown in Fig. 2, the vehicle V is equipped with a power receiving unit VA for contactlessly charging the battery. The power receiving unit VA is configured, for example, with a power receiving coil and is disposed under the floor of the vehicle V (in other words, below the floor panel).

[0014] When wirelessly charging a battery, a user driving vehicle V parks vehicle V so that a power supply unit GA (e.g., a power transmission coil) of a parking lot (hereinafter simply referred to as "parking lot"), which is a wireless charging facility, faces a power receiving unit VA of vehicle V. When power supply unit GA starts to supply power, this power is received by power receiving unit VA, and the battery is charged. As shown in FIG. 2, for example, a linear pattern L is provided on the ground of the parking lot to guide the location of power supply unit GA.

[0015] The underfloor image display system 1 displays an underfloor image of the vehicle V to assist the user in operating the vehicle when the vehicle V is parked in a parking lot at a contactless charging facility. 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 the vicinity thereof. The underfloor image may also include an image showing the part of the vehicle V facing the power receiving unit VA. The underfloor image will be described again later.

[0016] In the parking assistance described above, delays due to image processing performed to generate the underfloor image and delays due to the user's perception while operating the vehicle while looking at the displayed underfloor image can cause the vehicle V to overshoot by the amount of the delay, potentially resulting in a deviation in the relative position between the power receiving unit VA and the power supply unit GA. Because such positional deviations affect the output characteristics of contactless charging, it is desirable to minimize them as much as possible. Therefore, the underfloor image display system 1 suppresses positional deviations between the power receiving unit VA and the power supply unit GA caused by the delays described above.

[0017] Specifically, as shown in FIG. 1, the underfloor image display system 1 includes, for example, an external environment information acquisition means 2 that acquires external environment information of the vehicle V, a control unit 3 that generates an underfloor image of the vehicle V based on the external environment information acquired by the external environment information acquisition means 2, and an underfloor image display means 4 that displays the underfloor image generated by the control unit 3.

[0018] As shown in FIG. 2, the external environment information acquisition means 2 is configured using, for example, a camera module as an imaging means that captures an image of a predetermined range Ar1 in the traveling direction (for example, forward or backward) of the vehicle V. In this case, image data representing an image captured by the camera module (i.e., the imaging means) is acquired as the external environment information. For example, this camera module as an imaging means captures moving images of the predetermined range Ar1 while the vehicle V is starting. Furthermore, the external environment information acquisition means 2 may include multiple camera modules, such as a camera module that captures an image in front of the vehicle V and a camera module that captures an image behind the vehicle V, or may further include sensors other than the camera modules.

[0019] The underfloor image display means 4 is configured using a display device such as a liquid crystal panel, etc. Also, the underfloor image display means 4 may be shared with an existing display unit (navigation display unit, meter display unit, etc.) provided in the vehicle V.

[0020] The control unit 3 is configured using, for example, an ECU (Electronic Control Unit) that includes a processor that performs various calculations, a memory that stores various information, and an I / F (Interface) that controls input and output of data between the inside and outside of the control unit 3. The control unit 3 is configured with, for example, underfloor image generation means 31, user setting means 32, positional deviation amount detection means 33, user recognition calculation means 34, change range limiting means 35, and per-user storage means 36 as functional configurations realized by cooperation between hardware and software, that is, functional configurations realized by the processor executing programs stored in memory or the like.

[0021] The underfloor image generating means 31 generates an underfloor image of the vehicle V based on the external environment information acquired by the external environment information acquiring means 2. When generating this underfloor image, the underfloor image generating means 31 generates an underfloor image in which the vehicle V has moved a predetermined time T (where the predetermined time T>0) in the direction of travel 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 is preferably a value that can be changed in response to user input or the like, as will be described later.

[0022] In other words, the underfloor image generation means 31 generates, as an underfloor image, an image showing the ground at a location slightly further in the direction of travel of the vehicle V than the location where the vehicle V is actually located. This makes it possible to generate an underfloor image that makes it appear as if the vehicle V is located at a location slightly further in the direction of travel than the location where the vehicle V is actually located. Therefore, it is possible to generate an underfloor image that takes into account delays due to image processing and delays due to user perception, and by displaying this underfloor image, it becomes possible to provide appropriate parking assistance.

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

[0024] Here, the predetermined area Ar2 can be, for example, an area based on a location a predetermined distance away from the vehicle V in the direction of travel. The time when the vehicle V will be located on the ground in the predetermined area Ar2 can be predicted, for example, from the distance between the vehicle V and the predetermined area Ar2 and the vehicle speed at that time. Furthermore, the image representing the ground in the predetermined area Ar2 can be, for example, an image of the ground in the predetermined area Ar2 viewed from directly above. Such an image can be obtained by performing image processing such as coordinate transformation on an image captured by an 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 in accordance with the user's input. The user setting means 32 may also receive data entered by the user using a dedicated app on a mobile terminal (e.g., a smartphone) and change the predetermined time T based on the received data. This makes it possible to adjust the progress of the underfloor image in accordance with the user's driving technique and preferences.

[0026] The positional deviation amount detection means 33 detects the relative positional deviation amount between the power receiving unit VA of the vehicle V and the power supply unit GA in the parking lot when parking is completed. For example, the positional deviation amount detection means 33 calculates the positional deviation amount between the power receiving unit VA and the power supply unit GA when parking is completed (for example, when the shift position of the vehicle V is set to park) based on the position of the vehicle V and an image acquired by the external environment information acquisition means 2. Note that when determining the position of the vehicle V, the positional deviation amount detection means 33 may also refer to the operation of the accelerator pedal, brake pedal, or steering of the vehicle V by the user (for example, the timing of the final braking operation to stop the vehicle V).

[0027] The user recognition calculation means 34 calculates the user's recognition judgment time (in other words, the operation delay time) based on past parking results, and changes the predetermined time T based on the calculated recognition judgment time. For example, the user's recognition judgment time can be calculated using the following equation (1).

[0028] User's recognition / determination time=positional deviation amount detected by the positional deviation amount detection means 33 (i.e., actual positional deviation amount) / average vehicle speed of the vehicle V during the user's recognition / determination (1)

[0029] In the above equation (1), "during user recognition judgment" refers to, for example, the period from when an underfloor image indicating that the positional deviation amount is 0 is displayed (or when the actual positional deviation amount becomes 0) until the vehicle V stops.

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

[0031] Note that the time from when the actual positional deviation amount becomes 0 until the vehicle V stops may be measured, and this measured time may be used as the user's perception and judgment time. Furthermore, the time from when the underfloor image including the power supply unit GA is displayed until the user performs a predetermined operation (for example, a brake operation) may be measured, and this measured time may be used as the user's perception and judgment time.

[0032] The change range limiting means 35 limits the range of change of the predetermined time T based on past parking results. For example, the change range limiting means 35 allows a change of up to ±10% from the value before the change for each change of the predetermined time T, and restricts any change beyond this. This limits large changes to the predetermined time T based on past parking results (in other words, sudden changes in the predetermined time T), and reduces any sense of discomfort the user may have with the progress of the underfloor image.

[0033] The per-user storage means 36 stores the predetermined time T and past parking results for each user. For example, the per-user storage means 36 recognizes the user driving the vehicle V based on the seat position, etc., and stores, for each user, the predetermined time T set by the user and a recognition judgment time calculated based on the user's past parking results. More specifically, the per-user storage means 36 stores, for example, a user identifier in association with the predetermined time T set by the user and a recognition judgment time based on the user's past parking results.

[0034] The underfloor image display system 1 is configured to be able to set the predetermined time T according to the user driving the vehicle V, with reference to the per-user 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 sets the predetermined time T, etc. corresponding to that user with reference to the per-user storage means 36. This allows the underfloor image display system 1 to switch the predetermined time T, etc. depending on the user driving the vehicle V, making it possible to appropriately adjust the progress of the underfloor image for each user.

[0035] Next, a display example of the underfloor image will be described with reference to FIGS.

[0036] FIG. 3 is a diagram showing an example of a display of an underfloor image when no forward processing is performed (in other words, when the predetermined time T=0).

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

[0038] When the relative positions of the power receiving unit VA and the power supply unit GA become closer, the power supply unit GA and pattern L are dynamically displayed on the display screen 4a. When the power supply unit GA enters the display screen 4a, the user performs a deceleration operation. At this time, there is an operation delay of the aforementioned recognition and judgment time from when the user recognizes the power supply unit GA until when the user performs the deceleration operation.

[0039] When the power supply unit GA overlaps the center of the power receiving unit VA on the display screen 4a, the user applies the final brakes to stop the vehicle V. At this time, there is an operation delay of the aforementioned recognition and judgment time between the time the user recognizes that the power supply unit GA and the power receiving unit VA overlap and the time the user applies the brakes. As a result, without advance processing, the vehicle V passes the ideal parking position, resulting in a positional deviation (for example, +10 mm) between the power supply unit GA and the power receiving unit VA.

[0040] 4 is a diagram showing an example of a display of an underfloor image when advance processing is performed (in other words, when the predetermined time T>0). In the following, explanations of parts common to FIG. 3 will be omitted or simplified as appropriate.

[0041] As shown in Figure 4, if advance processing is performed, the control unit 3, for example, calculates the user's recognition judgment time as described above, and generates an underfloor image that is advanced by the recognition judgment time (predetermined time T) and displays it on the display screen 4a of the underfloor image display means 4.

[0042] For example, the underfloor image in which the power supply unit GA enters the display screen 4a is displayed a predetermined time T earlier than the actual time, so that the operation delay corresponding to the time required for the user to recognize and judge the situation is offset, and the deceleration operation can be performed at the appropriate timing.

[0043] Furthermore, the underfloor image on the display screen 4a, in which the power supply unit GA is centered on the power receiving unit VA, is displayed a predetermined time T earlier than the actual image, which offsets the operation delay due to the user's time to recognize and judge the situation, allowing the final braking operation to be performed at the appropriate timing. As a result, the vehicle V is stopped in the ideal parking position, and the positional deviation between the power supply unit GA and the power receiving unit VA is minimized.

[0044] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present invention is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention. Furthermore, the components of the above-described embodiments may be combined in any manner without departing from the spirit of the invention.

[0045] For example, in the above-described embodiment, an example was described in which the display of an underfloor image by the underfloor image display system 1 is used to align the power receiving unit VA of the vehicle V with the power supply unit GA in the parking lot for contactless charging, but this is not limited thereto. It is also possible to supply power contactlessly from a power supply unit (e.g., a power transmission coil) of the vehicle V to a power receiving unit (e.g., a power receiving coil) in the parking lot. In such a case, the underfloor image display system 1 may display an underfloor image used to align the power supply unit of the vehicle V with the power receiving unit in the parking lot for contactless power supply. In other words, when parking the vehicle V to contactlessly supply power from the power supply unit of the vehicle V to the power receiving unit in the parking lot, the underfloor image display system 1 may generate an underfloor image advanced by a predetermined time T, assuming that the vehicle V has moved in the direction of travel of the vehicle V when parking, and display the underfloor image.

[0046] This specification and the like describe at least the following: In the following, the components corresponding to those in the above-described embodiments are shown in parentheses, but the present invention is not limited to these.

[0047] (1) an external environment information acquisition means (external environment information acquisition means 2) for acquiring external environment information of a vehicle (vehicle V); an underfloor image generating means (underfloor image generating means 31) that generates an underfloor image of the vehicle based on the external environment information acquired by the external environment information acquiring means; an under-floor image display means (under-floor image display means 4) that displays the under-floor image generated by the under-floor image generation means, The underfloor image generating means generates the underfloor image in which the vehicle has moved a predetermined time (predetermined time T) in the traveling direction of the vehicle when the vehicle is parked. Underfloor image display system (Underfloor image display system 1).

[0048] According to (1), when parking a vehicle, an underfloor image is generated in which the vehicle has moved a predetermined time in the direction of travel of the vehicle at the time of parking. This makes it possible to provide appropriate parking assistance using an underfloor image that takes into account the delay time due to image processing and the delay time due to user perception.

[0049] (2) The underfloor image display system according to (1), the external environment information acquisition means is an imaging means for imaging a predetermined range (predetermined range Ar1) in the traveling direction of the vehicle, The underfloor image generating means The underfloor image including an image representing the ground in a predetermined area (predetermined area Ar2) included in the predetermined range can be generated based on the image captured by the imaging means, and the underfloor image is generated at the predetermined time before the vehicle is positioned on the ground in the predetermined area. Underfloor image display system.

[0050] According to (2), an underfloor image advanced by a predetermined time is generated when parking a vehicle, making it possible to provide appropriate parking assistance using an underfloor image that takes into account the delay time due to image processing and the delay time due to user perception.

[0051] (3) The underfloor image display system according to (1) or (2), The predetermined time period can be set by a user.

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

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

[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), An underfloor image display system, wherein a limit is set on the range of change of the predetermined time based on the past parking results.

[0056] According to (5), significant changes (in other words, sudden changes) within a predetermined time period can be restricted, and the user's discomfort with the progress of the underfloor image can be reduced.

[0057] (6) The underfloor image display system according to (3), Further provided is a per-user storage means (per-user storage means 36) for storing the predetermined time for each user, The underfloor image display system is configured to be able to set the predetermined time period according to the user who drives the vehicle by referring to the user-specific storage means.

[0058] According to (6), the progress of the underfloor image can be appropriately adjusted for each user.

[0059] (7) An underfloor image display system according to any one of (1) to (6), The underfloor image display system is used to display the underfloor image for aligning the vehicle's power receiving unit (power receiving unit VA) with the parking lot's power supply unit (power supply unit GA) for contactless charging, or for aligning the vehicle's power supply unit with the parking lot's power receiving unit for contactless power supply.

[0060] According to (7), it is possible to align the power receiving unit of the vehicle and the power supply unit of the parking lot with high precision. [Explanation of symbols]

[0061] 1 Underfloor image display system 2 External world information acquisition means 31 Underfloor image generation means 36 User-specific storage means 4 Underfloor image display means V vehicle GA power supply unit VA power receiving unit

Claims

1. An external environment information acquisition means for acquiring external environment information of the vehicle; an underfloor image generating means for generating an underfloor image of the vehicle based on the external environment information acquired by the external environment information acquiring means; an underfloor image display means for displaying the underfloor image generated by the underfloor image generation means, the underfloor image generating means generates the underfloor image of the vehicle moving forward a predetermined time in the direction of travel of the vehicle when the vehicle is parked. Underfloor image display system.

2. The underfloor image display system according to claim 1, the external environment information acquisition means is an imaging means for imaging a predetermined range in a traveling direction of the vehicle, The underfloor image generating means The underfloor image including an image representing the ground of a predetermined area included in the predetermined range can be generated based on the image captured by the imaging means, and the underfloor image is generated at the predetermined time before the vehicle is positioned on the ground of the predetermined area. Underfloor image display system.

3. The underfloor image display system according to claim 1, The predetermined time period can be set by a user.

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

5. The underfloor image display system according to claim 4, An underfloor image display system, wherein a limit is set 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, further comprising a user-specific storage means for storing the predetermined time for each user; The underfloor image display system is configured to be able to set the predetermined time period according to the user who drives the vehicle by referring to the user-specific storage means.

7. The underfloor image display system according to any one of claims 1 to 6, An underfloor image display system in which the display of the underfloor image is used to align the vehicle's power receiving unit with the parking lot's power supply unit for contactless charging, or to align the vehicle's power supply unit with the parking lot's power receiving unit for contactless power supply.

Images