JP2000016181A - Camera equipped door mirror and vehicle periphery recognition system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a camera-equipped door mirror which gives an easy-to-see image photographed by a photographing means by reducing contamination on a lens and which has a wide angle of visibility. SOLUTION: This camera equipped door mirror 1 is fitted with a visor 2, mirror 3, and CCD camera 4, wherein the mirror 3 is adhered fast in such a way as covering the opening 5 of the visor 2. The visor 2 is provided extendedly with a contaminant attachment preventive part 6, is provided with a projection 8 having a mounting surface 8a in the center of the visor inner surface, and also with a mounting hole 9 in the center of the visor bottom. The CCD camera 4 is located between the mounting surface 8a and mirror 3, and the leg 4a of the camera 4 is fixed to the mounting surface 8a by screw, etc., wherein the camera 4 is fitted in the hole 9 in such an arrangement that its lens 4b (wide-angle lens) faces down.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a door mirror with a camera and a vehicle periphery recognition system.

[0002]

2. Description of the Related Art In a conventional vehicle, there is known a vehicle equipped with a system using a door mirror with a camera for monitoring the periphery of the vehicle.

As an example of a door mirror with a camera, there is a door mirror shown in FIG. In FIG. 9, the door mirror 101
Is an outer mirror visor (hereinafter simply referred to as a visor) 102 and a front surface of the visor 102 (rear side of the vehicle).
A mirror 103 is provided so as to cover the opening, and a camera 104 provided in the visor 102 is provided. The lens 104a of the camera 104 is
3 is fitted in a mounting hole 103a formed in the vehicle 3 and is directed rearward of the vehicle. Then, the camera 104 captures an image of the rear side of the vehicle and displays the image on a monitor (not shown), so that the periphery of the vehicle can be monitored.

For example, while checking the image captured by the camera 104 on a monitor, the user adjusts the width,
A so-called blind spot image which cannot be confirmed only by the reflected image projected on the camera 104 is captured by the camera 104, and the image can be confirmed on the monitor.

FIG. 1 shows an example of a door mirror with a camera.
There is a door mirror shown at 0. In FIG. 10, a door mirror 111 is provided with a visor 11 having a projection 112a formed thereon.
2 and a camera 114 provided on the protruding portion 112a. The lens 114a of the camera 114 is fitted into a protrusion 112a formed on the visor 112, and is directed to the rear of the vehicle. By photographing the rear side of the vehicle with the camera 114 and projecting the image on a monitor (not shown), it is possible to reduce blind spots and assist the driver in shifting the width.

Further, as an example of a door mirror with a camera,
A camera-equipped door mirror having the configuration shown in FIG. 11 (Japanese Utility Model Laid-Open No. 6-935) has been proposed. In FIG. 11, a door mirror 121 includes a visor 122 and the visor 122.
And a camera 124 provided in the visor 122. The mirror 123 is disposed so as to cover the front opening (rear side of the vehicle). Lens 124a of camera 124
Are directed to a camera mirror 125 provided in the visor 122. Then, the camera 124 captures an image of the rear side of the vehicle via the camera mirror 125 and displays the image on a monitor (not shown), so that the blind spot of the driver can be reduced and the driver can approach the width.

In recent years, the door mirror 10 as described above has been used.
In addition to a system that monitors the surroundings of a vehicle using 1, 111, and 121, a system that issues a warning when another vehicle that is traveling in an adjacent lane approaches, a system that recognizes a white line by image processing and issues a warning when it departs from a lane Etc. are being developed.

[0008] In addition to a system using an on-vehicle camera, a system using an ultrasonic radar is used as a system that issues an alarm when another vehicle traveling in an adjacent lane approaches.
In such a system, a device using an ultrasonic radar is attached to a vehicle to measure a distance between the own vehicle and another vehicle, and when the distance is short, an alarm is issued to prevent contact with another vehicle. it can.

Also, in a system that recognizes a white line by image processing and issues an alarm when the vehicle departs from the lane, the camera falls asleep when the vehicle-mounted camera captures an image of the center line even though the direction indicating lever is not turned on. It judges that there is a possibility that there is a warning and issues an alarm.

[0010]

However, in the door mirror 101, the lens 104a of the camera 104 is fitted into a mounting hole 103a formed in the mirror 103 in order to widen the range of image pickup by the camera 104. I have. That is, in order to secure a wider imaging range, the lens 104a needs to be directed to the rear of the vehicle. For this purpose, the lens 104a is provided on the mirror 103 that is disposed facing the rear of the vehicle. I have. Therefore, there is a problem that the effective area of the mirror 103 is reduced by the area of the portion where the lens 104a is fitted.

In the door mirror 111 described above, in order to widen the range of image pickup by the camera 114, a projection 112 a formed on the visor 112 is attached to the camera 11.
The fourth lens 114a is fitted. Therefore, there is a problem that aerodynamic characteristics are deteriorated by the protruding portion 112a.

Further, in the door mirrors 101 and 111, since the lenses 104a and 114a are fitted toward the rear of the vehicle, rainwater or the like is directly applied to the lenses 104a and 114a. Therefore, the lens 104
a and 114a are easily stained, and there is a problem that an image projected on a monitor is difficult to see. 6-935
In the door mirror 121 disclosed in
If the mirror 123 becomes dirty with rainwater or the like, there is a problem that an image projected on the monitor becomes difficult to see.

The above-mentioned door mirrors 101, 111,
A system that monitors the surroundings of a vehicle using 121, a system that issues a warning when another vehicle traveling in an adjacent lane approaches,
The systems that recognize white lines by image processing and issue a warning when the vehicle departs from the lane are independent systems. If all of these independent systems are mounted, the cost will rise.

Further, in a system using an apparatus using an ultrasonic radar, the apparatus using the ultrasonic radar is expensive, and this also causes an increase in cost. Further, in a system using an apparatus using an ultrasonic radar, a malfunction occurs due to dirt due to rainwater or the like, and it is necessary to take a countermeasure against dirt to prevent the malfunction, which causes a problem that a cost rises. Was.

It is a first object of the present invention to provide a camera-equipped door mirror having a large viewing angle, which makes it easy to see an image picked up by an image pickup means by reducing dirt on a lens.

A second object of the present invention is to provide a vehicle periphery recognition system capable of reducing erroneous recognition or malfunction due to lens contamination when performing at least one of vehicle periphery monitoring, lane departure warning, and vehicle approach warning. Is to provide.

[0017]

According to a first aspect of the present invention, there is provided a mirror provided so as to cover an opening of a visor, a mirror provided in the visor, and an object provided in the visor. A camera-equipped door mirror having a lens for imaging, and an imaging unit for outputting an image signal of a subject imaged by the lens, wherein the lens of the imaging unit is a wide-angle lens or a fish-eye lens, and The gist is a door mirror with a camera mounted downward.

According to a second aspect of the present invention, in the door mirror with the camera according to the first aspect, a dirt adhesion preventing portion is formed at the bottom of the visor so as to extend forward of the wide-angle lens or the fisheye lens in the vehicle. That is the main point.

The third aspect of the present invention is the first or second aspect.
And a vehicle surroundings equipped with a door mirror with a camera described in (1) and at least one of a vehicle surroundings monitoring system shown in A, a lane departure warning system shown in B, and a vehicle approach warning system shown in C below The gist is a recognition system.

A: A vehicle periphery monitoring system comprising a display means for displaying an image of a subject picked up by the image pickup means. B: first image data storage means for storing predetermined first image data in advance; first image data stored in the first image data storage means; image data of a subject imaged by the imaging means; First to determine whether or not
Determining means, based on a determination result of the first determining means,
A lane departure warning system comprising: a first control unit that controls on or off of a first notification unit.

C: a second image data storage means for storing predetermined second image data in advance; the second image data stored in the second image data storage means; A second determining unit that determines whether the image data matches the image data; an image capturing unit that captures the second image data stored in the second image data storing unit using the second determining unit; When it is determined that the image data of the subject coincides, the distance between the subject and the host vehicle imaged by the imaging unit is determined based on the image data of the subject imaged by the imaging unit. A calculating means for calculating, a third determining means for determining whether the distance calculated by the calculating means is greater than a predetermined threshold, and a determination result of the third determining means, Turn on the second notification means Is a vehicle approach warning system comprising: a second control means for performing off control.

(Operation) In the first aspect of the present invention, since the wide-angle lens or the fisheye lens is attached to the lower side of the visor, it is difficult for rainwater or the like to be directly applied to the lens.
Therefore, dirt due to rainwater or the like is reduced in the wide-angle lens or the fisheye lens. As a result, the image picked up by the image pickup means becomes easy to see. Further, by using a wide-angle lens or a fish-eye lens, the viewing angle is increased, and an image in a wider range is captured.

According to the second aspect of the present invention, rainwater or the like from the front of the vehicle moves along the dirt adhesion preventing portion. Therefore, rainwater or the like is unlikely to be directly applied to the wide-angle lens or the fisheye lens. As a result, the dirt of the wide-angle lens or the fish-eye lens due to rainwater or the like is reduced, and the image captured by the imaging unit becomes easy to see.

According to the third aspect of the present invention, at least one of vehicle surrounding monitoring, lane departure warning, and vehicle approach warning is provided.
One is performed by using the camera-equipped door mirror according to claim 1 or 2. That is, since the wide-angle lens or the fisheye lens reduces dirt due to rainwater or the like, when performing at least one of vehicle periphery monitoring, lane departure warning, and vehicle approach warning, erroneous recognition due to the dirt in these systems or Malfunctions are reduced.

[0025]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) A first embodiment of the present invention will be described below with reference to the drawings. FIG.
FIG. 2 is a front view showing a door mirror with a camera in an automobile, and FIG. 2 is a side view showing the door mirror with a camera.
1 and 2, a door mirror with camera 1 includes an outer mirror visor (hereinafter simply referred to as a visor) 2.
, A mirror 3 and a CCD camera 4.

As shown in FIG. 3, a mirror 3 is adhesively fixed so as to cover an opening 5 at the front of the visor 2 (on the rear side of the vehicle and on the left side in FIG. 3). On the rear surface of the visor 2 (on the front side of the vehicle and on the right side in FIG. 3), a dirt adhesion preventing portion 6 is formed to extend. The tip portion (lower end portion) of the stain adhesion preventing portion 6 is located below (lower position) than a lens 4b provided in the CCD camera 4 and described later. Therefore, while the automobile is running, rainwater or the like from the front of the vehicle moves along the outer side surface of the dirt adhesion preventing unit 6, and the rainwater or the like that has moved to the tip of the dirt adhesion preventing unit 6 falls below the lens 4 b. (The lens 4b is hardly applied to the lens 4b).

In the center of the inner surface of the visor 2, a projection 8 having a mounting surface 8a is formed. A mounting hole 9 is formed at the center of the bottom of the visor 2. The CCD camera 4 is arranged between the mounting surface 8a and the mirror 3.

The legs 4a of the CCD camera 4 are fixed to the mounting surface 8a by screws or the like. The CCD camera 4 has a mounting hole 9 so that the lens 4b faces downward.
It is attached to. A wide-angle lens is used as the lens 4b of the present embodiment, and images of the side and rear sides of the vehicle can be taken by the lens 4b.
At the same time, a part of the host vehicle can be imaged by the lens 4b. The cable 4c of the CCD camera 4 is electrically connected to a monitor provided in a vehicle interior (not shown). The monitor displays an image picked up by the CCD camera 4 as an image pickup means.

Next, the operation of the door mirror with camera 1 configured as described above will be described. The lens 4b of the CCD camera 4 is mounted in a mounting hole 9 formed in the visor 2 so as to face downward, and captures images on the side and rear sides of the vehicle. Here, since a wide-angle lens is used as the lens 4b, the viewing angle becomes large. Therefore, an image of a wider range is captured.

The lens 4b is mounted in the mounting hole 9 so as to face downward. That is, while the lens 4b is conventionally arranged toward the rear of the vehicle,
In the present embodiment, they are arranged downward. Therefore,
It is difficult for rainwater or the like to be directly applied to the lens 4b, and the lens 4b is less contaminated by rainwater or the like.

In particular, the tip (lower end) of the stain adhesion preventing portion 6 is located below (lower position) than the lens 4b. Therefore, while the automobile is running, rainwater or the like from the front of the vehicle moves along the outer surface of the dirt adhesion preventing unit 6. Then, the rainwater or the like that has moved to the tip of the dirt adhesion preventing portion 6 scatters toward the rear side of the vehicle so as to pass below the lens 4b (it is hard to cover the lens 4b). As a result, it is difficult for rainwater or the like to be directly applied to the lens 4b.
The dirt due to rainwater or the like b is reduced, and the image displayed on the monitor becomes easy to see.

Therefore, according to the present embodiment, the following effects can be obtained. (1) In the present embodiment, since the lens 4b of the CCD camera 4 is mounted downward in the mounting hole 9 of the visor 2, it is difficult for rainwater or the like to directly fall on the lens 4b, and dirt due to rainwater or the like on the lens 4b can be reduced. Therefore, the image displayed on the monitor can be easily viewed.

(2) In this embodiment, the dirt adhesion preventing portion 6 is formed at the bottom of the visor 2 so as to extend forward of the lens 4b on the vehicle front side. It moves along the outer side surface and scatters toward the rear side of the vehicle without hitting the lens 4b. Therefore, the rainwater or the like is unlikely to be directly applied to the lens 4b, and dirt of the lens 4b due to the rainwater or the like can be reduced. As a result, the image displayed on the monitor can be easily viewed.

(3) In the present embodiment, since a wide-angle lens is used as the lens 4b, the viewing angle can be increased, and an image in a wider range can be captured. (4) In the present embodiment, unlike the related art, the lens 4b is mounted on the bottom of the visor 2. That is, the lens 4b does not have to be fitted to the mirror 3. Therefore, the effective area of the mirror 3 is not reduced by the lens 4b. Also, a protrusion 112a for fitting the mirror 3 (see FIG. 10).
, It is possible to reduce the reduction in aerodynamic characteristics.

(Second Embodiment) Next, a vehicle periphery recognition system using the camera-equipped door mirror 1 of the first embodiment will be described. The same or corresponding components as those of the first embodiment are denoted by the same reference numerals, description thereof will be omitted, and different portions will be mainly described.

FIG. 4 is a block diagram showing the electrical configuration of the vehicle periphery recognition system. 4, the vehicle periphery recognition system includes a door mirror with camera 1, a vehicle periphery monitoring unit 21, a lane departure warning unit 22, and a vehicle approach warning unit 23.

The vehicle periphery monitoring section 21 as a vehicle periphery monitoring system includes a monitor 31. The monitor 31
It is electrically connected to the CCD camera 4 provided on the camera-equipped door mirror 1. A monitor 31 as a display means is provided in a driver's cab (not shown).
To display an image taken.

The lane departure warning unit 22 as a lane departure warning system includes a first CPU 41, a first ROM 42, a first EEPROM 43, a first RAM 44, and a first warning device 45. The first CPU 41 includes the image processing circuit 3
5 and is electrically connected to the CCD camera 4.

The image processing circuit 35 performs a normalization process, a feature extraction process, etc., cuts out the feature-extracted partial area data from the image data picked up by the CCD camera 4, and outputs it to the first CPU 41. That is, the first CPU
Reference numeral 41 captures partial area data of image data captured by the CCD camera 4 via the image processing circuit 35.
The normalization process includes a process of correcting an image distortion caused by a wide-angle lens by expanding or reducing the image.

The first CPU 41 is electrically connected to the first ROM 42. The first ROM 42 includes a first CPU 4
1 stores a control program of a lane departure warning executed by the control unit 1. The first CPU 41 executes various arithmetic processes such as an image matching process according to a control program stored in the first ROM 42.

The first CPU 41 has a first EEPROM 43
Is electrically connected to The first EEPROM 43 as first image data storage means previously stores lane pattern data (hereinafter referred to as a lane template) as predetermined first image data. The first CPU 41 determines whether or not the lane template matches the partial area data of the image data captured by the CCD camera 4.

The first CPU 41 is electrically connected to the first RAM 44. The first RAM 44 includes a first CPU 4
1 temporarily stores the result of the arithmetic processing executed. 1st CPU
Reference numeral 41 is electrically connected to the turn signal switch 46. The turn signal switch 46 is turned on by operating a direction indicating lever (not shown), and outputs an ON signal to the first CPU 41.

The first CPU 41 is electrically connected to a first alarm device 45 as first notification means. 1st CP
U41 determines that the lane template matches the partial area data of the image data, and when an off signal is input from the turn signal switch 46, the first
A lane departure signal is output to the alarm device 45. When the lane departure signal is input from the first CPU 41, the first alarm device 45 drives a first buzzer (not shown) to notify the driver that he is deviating from the lane.

When the first CPU 41 determines that the lane template does not match the partial area data of the image data, the first CPU 41 outputs an in-lane running signal to the first alarm device 45. When the in-lane running signal is input from the first CPU 41, the first alarm device 45 does not drive the first buzzer.

Further, even if the first CPU 41 determines that the lane template and the partial area data of the image data match, when the first CPU 41 inputs an ON signal from the turn signal switch 46, the first warning device 45 Outputs the inside running signal. Therefore, in this case, the first alarm device 45
Does not drive the first buzzer.

In this embodiment, the first CPU 41 constitutes a first discriminating means and a first control means. The vehicle approach warning unit 23 as the vehicle approach warning system is provided with a second C
A PU 51, a second ROM 52, a second EEPROM 53, a second RAM 54, and a second alarm device 55 are provided. Second
The CPU 51 controls the CC through the image processing circuit 35.
It is electrically connected to the D camera 4.

The image processing circuit 35 cuts out the partial area data from which the feature has been extracted from the image data picked up by the CCD camera 4 and outputs it to the second CPU 51.
That is, the second CPU 51 captures the partial area data of the image data captured by the CCD camera 4 via the image processing circuit 35.

The second CPU 51 is electrically connected to the second ROM 52. The second ROM 52 includes a second CPU 5
1 stores a control program for a vehicle approach warning executed by the vehicle. The second CPU 51 executes various calculation processes such as an image comparison process and a distance comparison process according to a control program stored in the second ROM 52.

The second CPU 51 includes a second EEPROM 53
Is electrically connected to The second EEPROM 53 as the second image data storage means stores in advance tire pattern data (hereinafter, referred to as a tire template) and threshold values as predetermined second image data. 2nd CP
U51 is a tire template and the CCD camera 4
It is determined whether or not the image data coincides with the partial area data of the captured image data.

When the second CPU 51 determines that the tire template matches the partial area data of the image data, the image (tire) corresponding to the partial area data in the image captured by the CCD camera 4 is obtained. The distance between the vehicle and the host vehicle is calculated.

For example, this distance calculation is performed as follows. FIG. 8 shows image data that has been subjected to normalization processing. The image data includes an image area G of the own vehicle and an image area T of tires of another vehicle. Note that the image data in the present embodiment is composed of m × n pixels.

First, the second CPU 51 selects a pixel on the inspection line α extending in the X direction with the upper left in FIG. Then, the second CPU 51 determines from the left side of the image data shown in FIG. 8 to the edge E1 of the image area G of the own vehicle,
From the left side of the image data, the edge E of the tire image area T
The respective distances L1 and L2 up to 2 are calculated. Then, the difference between L2 and L1 is calculated.

If the edge of the tire cannot be found, the inspection line α is moved one step in the Y direction, and the same calculation is performed. Thereafter, calculations are performed in all Y directions. And
In the difference between L2 and L1, the minimum value is selected as the shortest distance (the distance between the tire and the host vehicle).

After performing the distance calculation as described above, the second C
The PU 51 compares the threshold value stored in the second EEPROM 53 with the shortest distance (hereinafter, simply referred to as a distance) on which the above calculation was performed.

The second CPU 51 is electrically connected to the second RAM 54. The second RAM 54 includes a second CPU 5
1 temporarily stores the result of the arithmetic processing executed. 2nd CPU
51 is electrically connected to a second alarm device 55 as a second notification means. When the first CPU 41 determines that the calculated distance is smaller than or equal to the threshold value, the first CPU 41 outputs an approaching vehicle presence signal to the second alarm device 55. When the second warning device 55 receives the approaching vehicle presence signal from the second CPU 51, it drives a second buzzer (not shown) to notify the driver that another vehicle is approaching more than necessary.

When the second CPU 51 determines that the calculated distance is greater than the threshold value, the second CPU 51 outputs a signal indicating that there is no approaching vehicle to the second alarm device 55. Second alarm device 5
5 does not drive the second buzzer when receiving the approaching vehicle absence signal from the second CPU 51.

In this embodiment, the second CPU 51 constitutes a second determining means, a third determining means, a calculating means and a second controlling means. Next, the processing operation of the image matching process in the lane departure warning executed by the first CPU 41 will be described. FIG. 6 is a flowchart illustrating a processing operation of the image matching process in the lane departure warning executed by the first CPU 41.

First, in step (hereinafter, step is referred to as S) 1, partial area data of image data captured by the CCD camera 4 is fetched via the image processing circuit 35, and the process proceeds to S 2.

In S2, the partial area data fetched in S1 is collated with the lane template stored in the first EEPROM 43 in advance. More specifically, the partial area data fetched in S1 and the first EEPROM 4
3 is compared with the lane template stored in 3. Then, the first CPU 41 proceeds to S3.

Next, in S3, it is determined whether or not the partial area data matches the lane template.
When it is determined that the partial area data matches the lane template, the process proceeds to S4. On the other hand, when it is determined that the partial area data does not match the lane template, the process proceeds to S5.

In S4, it is determined whether or not an ON signal has been input from the turn signal switch 46. And
If it is determined that an ON signal has been input from the turn signal switch 46, the process proceeds to S5. On the other hand, if it is determined that an off signal has been input from the turn signal switch 46,
Move to S6.

Next, in S5, an in-lane traveling signal is selected, and the in-lane traveling signal is output to the first alarm device 45. When the in-lane running signal is input from the first CPU 41, the first alarm device 45 does not drive the first buzzer (not shown).

In S6, a lane departure signal is selected, and the lane departure signal is output to the first alarm device 45. First
When receiving the lane departure signal from the first CPU 41, the alarm device 45 drives the first buzzer to notify the driver that he is deviating from the lane.

In this embodiment, a lane departure warning system is constituted by S1 to S6. Further, the first determining means is constituted by S3. Next, the processing operations of the image comparison processing and the distance comparison processing in the vehicle approach warning executed by the second CPU 51 will be described. FIG. 7 shows the second CP
It is a flowchart figure which shows the processing operation of the image collation processing and the distance comparison processing in the vehicle approach warning performed by U51.

First, in S11, partial area data of the image data captured by the CCD camera 4 is fetched via the image processing circuit 35, and the flow advances to S12. In S12, the partial area data fetched in S11 is compared with the tire template stored in the second EEPROM 53 in advance. More specifically, the partial area data captured in S11 is compared with a tire template stored in advance in the second EEPROM 53. And the second C
The PU 51 proceeds to S13.

Next, in S13, it is determined whether or not the partial area data matches the tire template. When it is determined that the partial area data matches the tire template, the process proceeds to S14. On the other hand, when it is determined that the partial area data does not match the tire template, the process proceeds to S17.

In S14, in the image captured by the CCD camera 4, the distance between the image (tire) corresponding to the partial area data and the own vehicle is calculated, and the flow proceeds to S15. Next, in S15, the distance calculated in S14 is compared with a threshold value stored in advance in the second EEPROM 53, and the process proceeds to S16.

In S16, it is determined whether or not the distance calculated in S14 is larger than a threshold value stored in the second EEPROM 53 in advance. If it is determined that the distance calculated in S14 is larger than the threshold value stored in advance in the second EEPROM 53, the process proceeds to S17. on the other hand,
The distance calculated in S14 is stored in the second EEPROM 5 in advance.
If it is determined that the value is smaller than or equal to the threshold value stored in No. 3, the process proceeds to S18.

Next, in S17, an approaching vehicle absence signal is selected, and the approaching vehicle absence signal is output to the second alarm device 55. The second alarm device 55 does not drive the second buzzer (not shown) when receiving the approaching vehicle absence signal from the second CPU 51.

In S18, an approaching vehicle presence signal is selected, and the approaching vehicle presence signal is output to the second alarm device 55. When the second alarm device 55 receives the approaching vehicle presence signal from the second CPU 51, it drives the second buzzer to notify the driver that another vehicle is approaching more than necessary.

In this embodiment, a vehicle approach warning system is constituted by S11 to S18. Further, S13 constitutes a second determining means. Further, S16 constitutes a third determining means. Further, a computing means is constituted by S14.

Therefore, according to the present embodiment, in addition to the effects (1) to (4) of the first embodiment,
The following effects can be obtained. (5) In the present embodiment, the vehicle periphery mirror, the lane departure warning, and the vehicle approach warning are performed using the door mirror with camera 1. That is, since the lens 4b reduces dirt due to rainwater or the like, when performing vehicle periphery monitoring, lane departure warning, and vehicle approach warning, erroneous recognition and malfunction due to the dirt in each monitoring unit and the alarm units 21 to 23 are reduced. it can.

(6) In the present embodiment, since the wide-angle lens is used as the lens 4b of the CCD camera 4, the viewing angle can be increased, and the vehicle periphery monitoring, the lane departure warning, and the vehicle approach warning are combined into one lens 4b (CCD). This can be realized by the camera 4). Therefore, since only one CCD camera 4 is required,
Cost can be reduced.

(7) In this embodiment, if the image of the tire is included in the image captured by the CCD camera 4,
The distance between the tire and the host vehicle was measured by image processing. Therefore, unlike the related art, an expensive device using an ultrasonic radar is not required, and the cost of the vehicle approach warning unit 23 can be reduced. In addition, the problem of malfunction due to dirt in the device using the ultrasonic radar is solved,
It is no longer necessary to take measures against contamination to prevent the malfunction.

(8) Only when the lane image is included in the image captured by the CCD camera 4 and the direction indicating lever is not operated (turn signal switch 46 is off), the first buzzer is turned off. He drove and informed the driver that his vehicle was off the lane. Therefore, when unnecessary (when the lane is not imaged by the CCD camera 4 or when the turn signal switch 46 is turned on),
It is possible to prevent the driver from being notified of the lane departure.

For example, even if the lane is imaged by the CCD camera 4, if the direction indicator lever is operated when changing lanes, the turn signal switch 46 is turned on, and an on signal is output from the turn signal switch 46. . In such a case, since the driver is not falling asleep, there is no need to notify the driver of a lane departure to alert the driver to falling asleep.

The embodiment of the present invention may be modified as follows. In the above embodiments, the wide-angle lens is used as the lens 4b of the CCD camera 4 as the imaging means, but a fisheye lens may be used. In this case, in addition to the effects described in (1) to (8) in each of the above-described embodiments, an effect that a larger viewing angle can be obtained than with a wide-angle lens can be obtained.

In the second embodiment, the vehicle periphery monitoring unit 21 as a vehicle periphery monitoring system, the lane departure warning unit 22 as a lane departure warning system, and the vehicle approach warning unit 23 as a vehicle approach warning system Around the vehicle periphery recognition system
1, a vehicle periphery recognition system including at least one of the lane departure warning unit 22 and the vehicle approach warning unit 23 may be used.

That is, the vehicle periphery recognition system may be provided with any one of the vehicle periphery monitoring unit 21, the lane departure warning unit 22, and the vehicle approach warning unit 23. Further, the vehicle periphery recognition system may be a combination of the vehicle periphery monitoring unit 21 and the lane departure warning unit 22, a combination of the vehicle periphery monitoring unit 21 and the vehicle proximity warning unit 23, and a combination of the lane departure warning unit 22 and the vehicle proximity warning unit 23. Good.

In this case, in addition to the effects described in (1) to (5), (7), and (8) in each of the above embodiments, one lens 4b (CCD camera 4) is used. At least one of vehicle periphery monitoring, lane departure warning, and vehicle approach warning can be realized. Therefore, one CC
Since the D camera 4 is sufficient, the effect of reducing costs can be obtained.

Further, in the second embodiment, the second EEPROM as second image data storage means for storing a tire template as predetermined second image data in advance
However, the second EEPROM 53 may be a second image data storage unit that stores at least one of a tire template, a guardrail template, and a roadside template in advance.

That is, the second E storing either one of the guardrail template and the roadside template alone
The EPROM 53 may be used. A second EE that stores a combination of a tire template and a guardrail template, a combination of a tire template and a roadside template, and a combination of a guardrail template and a roadside template.
The PROM 53 may be used.

Further, a second E storing tire templates, guardrail templates and roadside templates is provided.
The EPROM 53 may be used. At least one of the tire template, the guardrail template, and the roadside template corresponds to predetermined second image data.

In this case, if the image of the guardrail is included in the image captured by the CCD camera 4 and the distance between the guardrail and the host vehicle is short, the second
The second buzzer constituting the notification means is driven to notify the driver that the guardrail may come into contact with the host vehicle. If the image taken by the CCD camera 4 includes an image of the road shoulder and the distance between the road shoulder and the host vehicle is short, the second notification means constituting the second notification means is provided.
A buzzer is driven to inform the driver that the vehicle is in the vicinity of the road shoulder and may lose wheel. In this case, (1) to (1) in each of the above embodiments are used.
The effect described in (8) is obtained.

The following may be used instead of the first or second buzzer. That is, the speech synthesis circuit
It is built in the first alarm device 45 as the notification device and the second alarm device 55 as the second notification device. Then, when the lane departure signal is output from the first CPU 41 to the first alarm device 45 in S6, the "language" registered in advance in the voice synthesis circuit, for example, "the vehicle has deviated from the traveling lane."
Make a message such as "Do not fall asleep" or "It is dangerous to look away." When a signal indicating that an approaching vehicle is present is output from the second CPU 51 to the second alarm device 55 in S18, the "words" registered in advance in the voice synthesis circuit, for example, "another vehicle is approaching." Changing the driving lane is dangerous. "
And so on as a voice.

Further, a voice synthesizing circuit may be provided in another example provided with a second EEPROM 53 for storing a guardrail template in advance. In this case, "If you approach any further,
It will touch the guardrail. , "I would better send the oncoming vehicle first." Further, a voice synthesizing circuit may be provided in another example having the second EEPROM 53 for storing the roadside template in advance. In this case, a message such as "I'm going to get out of the wheel as it is" or "It's better to let the oncoming vehicle go first" is sent out as a voice.

In this case, the effects described in (1) to (8) in each of the above embodiments can be obtained. Next, technical ideas other than the inventions described in the claims that can be understood from the above embodiments and other examples will be described below together with their effects.

(1) In the vehicle periphery recognition system according to claim 3, the lane departure warning system includes a lane departure warning unit, and the first control unit determines a result of the first determination unit and the lane departure. On the basis of an output signal from the deviation notifying means, the first notifying means is controlled to be turned on or off.

Therefore, according to the invention described in (1), even if the determination result of the first determination means is a determination result for turning on the first notification means, the output signal from the lane departure notification means can be obtained. Is not an output signal for controlling the first notification means, the first control means does not control the first notification means to be on. As a result, when it is unnecessary (when the output signal from the lane departure warning means is not an output signal for controlling the first notification means to be on), the first notification means is not controlled to be turned on. Thus, it is possible to prevent the driver from being notified of the lane departure. In the second embodiment, the turn signal switch 46
Constitutes a lane departure notice means.

(2) In the vehicle periphery recognition system according to (1), the lane departure notice means includes a turn signal switch that is turned on by operating a direction indicating lever. Therefore, according to the invention described in (2), even if the determination result of the first determination means is a determination result for controlling the first notification means to be on, the ON signal is output from the turn signal switch. The first control means does not control the first notification means to be on. As a result, when unnecessary (when the ON signal is output from the turn signal switch), it is possible to prevent the driver from being notified of the lane departure. (3) In the vehicle periphery recognition system according to (1),
The first image data includes a lane template, and the lane departure notification means includes a turn signal switch that is turned on by operating a direction indicating lever.

Therefore, according to the invention described in (3), the lane template stored in the first image data storage unit matches the partial area data of the image data captured by the imaging unit, and Only when the turn signal switch outputs an off signal, the first control means controls the first notification means to be on. As a result, it is possible to prevent the driver from being informed of the lane departure when unnecessary (when the lane is not imaged by the imaging means or when the ON signal is output from the turn signal switch). can get.

For example, even if the lane is imaged by the imaging means, if the direction indicating lever is operated when changing lanes,
The turn signal switch is turned on, and an on signal is output from the turn signal switch. In such a case, there is no need to inform the driver of the lane departure.

[0093]

As described above in detail, according to the first aspect of the present invention, since the wide-angle lens or the fish-eye lens is provided below the visor, dirt on the lens can be reduced, and the image is picked up by the image pickup means. Images can be easily viewed. Further, since a wide-angle lens or a fisheye lens is used, the viewing angle can be increased, and an image in a wider range can be captured.

According to the second aspect of the present invention, since rainwater or the like moves along the dirt adhesion preventing portion, dirt on the wide-angle lens or the fisheye lens can be reduced, and the image captured by the imaging means can be easily viewed.

According to the third aspect of the present invention, since the dirt due to rainwater or the like is reduced in the wide-angle lens or the fish-eye lens, at least one of vehicle periphery monitoring, lane departure warning, and vehicle approach warning is performed. At times, erroneous recognition and malfunction due to the dirt in these systems can be reduced.

[Brief description of the drawings]

FIG. 1 is a front view showing a door mirror with a camera according to first and second embodiments.

FIG. 2 is a side view showing the same door mirror with a camera.

FIG. 3 is a side sectional view showing a door mirror with a camera.

FIG. 4 is a block diagram showing an electrical configuration of a vehicle periphery recognition system according to a second embodiment.

5A is a schematic diagram of an image corresponding to a lane template, FIG. 5B is a schematic diagram of an image corresponding to a tire template, FIG. 5C is a schematic diagram of an image corresponding to a guardrail template, and FIG. The schematic diagram of the image corresponding to a roadside template.

FIG. 6 is a flowchart showing a processing operation of an image matching process in a lane departure warning executed by a first CPU.

FIG. 7 is a flowchart showing processing operations of an image comparison process and a distance comparison process in a vehicle approach warning executed by a second CPU.

FIG. 8 is an explanatory diagram for explaining a calculation method of a distance between the own vehicle and a tire of another vehicle.

FIG. 9 is a front view showing a conventional door mirror with a camera.

FIG. 10 is a front view showing a conventional door mirror with a camera.

FIG. 11 is a plan sectional view showing a conventional door mirror with a camera.

[Explanation of symbols]

1: door mirror with camera, 2: visor, 3: mirror,
4 ... CCD camera as imaging means, 4b ... Lens, 5
... Opening part, 6 ... Dirt adhesion prevention part, 21 ... Vehicle periphery monitoring part as a vehicle periphery monitoring system, 22 ... Lane departure warning part as a lane departure warning system, 23 ... Vehicle approach warning part as a vehicle approach warning system, 31: monitor as display means; 41, first CPU as first determination means and first control means; 43, first EEPROM as first image data storage means; 45, first alarm device as first notification means; 51 ... second CPU as second determination means, third determination means, calculation means and second control means, 53 ... second
A second EEPROM as image data storage means, 55...
A second alarm device as a second notification means.

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Fumio Umeda Inventor 3-260 Toyota, Oguchi-cho, Niwa-gun, Aichi Prefecture F-term in Tokai Rika Electric Works, Ltd. (Reference) 3D053 FF19 GG06 HH14 HH48 HH49 MM08 MM41 MM49

Claims (3)

[Claims] 1. A mirror (3) arranged to cover an opening (5) of a visor (2), and a lens (4b) provided in the visor (2) and imaging a subject. Having the lens (4b)
Wherein the lens (4b) of the imaging means (4) is a wide-angle lens or a fish-eye lens, and the visor ( 2) Door mirror with camera installed facing downward. 2. The door mirror with a camera according to claim 1, wherein a dirt adhesion preventing portion (6) is formed at the bottom of the visor (2) so as to extend forward of the wide-angle lens or the fisheye lens in a vehicle. Door mirror with camera. 3. A door mirror with camera (1) according to claim 1 or 2, and a vehicle periphery monitoring system (21) shown in A below, B
And a vehicle departure warning system (22) shown in (C) and a vehicle approach warning system (23) shown in (C). A A vehicle periphery monitoring system including a display unit (31) for displaying an image of a subject imaged by the imaging unit (4). B: a first image data storage means (43) for storing predetermined first image data in advance; a first image data stored in the first image data storage means (43); First to determine whether or not the image data of the subject captured by
A first determining unit based on a determination result of the first determining unit;
A lane departure warning system comprising: a first control means (41) for controlling the notification means (45) to be on or off. C: a second image data storage means (53) for storing predetermined second image data in advance; a second image data stored in the second image data storage means (53); A second determining means (51) for determining whether or not the image data of the subject picked up by the camera matches the image data, and the second determining means (51) stores the data in the second image data storing means (53). When it is determined that the obtained second image data and the image data of the subject imaged by the imaging means (4) match, the image data of the object imaged by the imaging means (4) is added. A calculating means (51) for calculating a distance between the subject imaged by the image capturing means (4) and the host vehicle, and the distance calculated by the calculating means (51) is predetermined. Third to determine whether the threshold is greater than Another means (51), based on the discrimination result of the third determination means (51), second
A vehicle approach warning system comprising: a second control unit (51) for turning on or off a notification unit (55).