JP2009117978A - Vehicle surroundings display device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a vehicle surroundings display device which displays information with little sense of incongruity and can surely show an object to be noticed at an early stage. <P>SOLUTION: The vehicle surroundings display device is provided with cameras 2 and 4 mounted on a vehicle 1 to photograph the surroundings of the vehicle 1, and a monitor 6 for displaying images photographed by the cameras 2 and 4. Objects included in the images photographed by the cameras 2 and 4 are detected (S200), and reliability corresponding to the degree of dependence on the detection of the objects are calculated (S500). When displaying the images photographed by the cameras 2 and 4, the objects are highlighted in accordance with the reliability of the objects included in the images (S900). In such a case, when a difference between the images of the objects photographed by the cameras 2 and 4 and a template stored in advance is small, the objects are calculated as a large reliability. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vehicle periphery display device that captures and displays the periphery of a vehicle and provides information on the periphery of the vehicle to a driver.

  Conventionally, in order to reduce the load on the driver's driving and contribute to safe driving, obstacles around the vehicle and information necessary for driving are detected and photographed, and the captured image is displayed on the display. A display device is known.

As such a display device, as disclosed in Patent Document 1, an estimated moving space trajectory when a vehicle moves is estimated, and an estimated moving space trajectory of the vehicle is created on an image created based on information detected around the vehicle. There has been proposed an apparatus that detects an obstacle existing inside and highlights an outline of the obstacle together with an image.
JP 2004-203068 A

  However, in such a conventional device, the outline of the obstacle is highlighted, but when the sensor for detecting the obstacle becomes an undetected state in which the obstacle is lost due to the influence of noise or the like, the outline is highlighted on the display. When the obstacle suddenly disappears from the screen, and then the sensor detects the obstacle normally, the obstacle may suddenly appear on the screen, causing the driver to feel uncomfortable. In addition, if the sensor enters an erroneous detection state that detects an obstacle even though there is nothing due to noise or the like, a large obstacle may suddenly appear on the screen, causing the driver to feel uncomfortable. There was a problem of giving.

  An object of the present invention is to provide a vehicle periphery display device capable of displaying information with little uncomfortable feeling and showing an object to be noted with certainty from an early stage.

In order to achieve this problem, the present invention has taken the following measures in order to solve the problem. That is,
A photographing means mounted on the vehicle and photographing the periphery of the vehicle;
In a vehicle periphery display device comprising display means for displaying an image photographed by the photographing means,
Object detection means for detecting an object contained in an image photographed by the photographing means;
Comprising reliability calculation means for calculating the reliability according to the degree of reliability of the detection of the object detected by the object detection means;
A vehicle periphery display device characterized in that, when displaying the image photographed by the photographing means, the display means highlights the object according to the reliability of the object included in the image. That is it.

  The reliability calculation means may calculate the object as a high reliability when the difference between the image of the object photographed by the photographing means and a template stored in advance is small. A history tracking unit that tracks the object imaged by the imaging unit; and the reliability calculation unit makes the object large when the history of the object tracked by the history tracking unit is long. The reliability may be calculated.

  An object extrapolation unit that causes the display unit to display the object when the object having a large reliability calculated by the reliability calculation unit is no longer detected by the object detection unit may be provided. Alternatively, it includes gaze direction detection means for detecting the gaze direction of the driver of the vehicle, and the display means changes the highlighted display of the object according to the gaze direction of the driver detected by the gaze direction detection means. You may make it do.

  The vehicle periphery display device according to the present invention calculates the reliability indicating the degree of reliability with respect to the detection of the object and highlights the object according to the reliability, so that it is possible to display information with less discomfort and early Thus, an effect of reliably showing an object to be noted from is obtained.

  Further, when the difference between the image of the object and the template is small, the reliability corresponding to the degree of reliability with respect to the detection of the object can be accurately calculated by calculating as a high reliability. Furthermore, when the object is tracked and the history of the object being tracked is long, the reliability is calculated with high accuracy according to the degree of reliability with respect to the detection of the object.

  When an object with high reliability is no longer detected due to non-detection or the like, it is possible to display an uncomfortable display by displaying the object. In addition, by changing the highlighting of the object according to the driver's line-of-sight direction, it is possible to perform a display that is easy for the driver to recognize.

The best mode for carrying out the present invention will be described below in detail with reference to the drawings.
As shown in FIG. 1, reference numeral 1 denotes a vehicle, and left and right cameras 2 and 4 are mounted on left and right sides of the vehicle 1 as photographing means for photographing the rear side of the vehicle 1. The left and right cameras 2, 4 may be attached to the side of the vehicle 1, and if there are left and right door mirrors (not shown), they may be attached to the left and right door mirrors, or the cameras 2, 4 are mounted on the roof. You may provide, and you may use one camera which can carry out wide angle imaging | photography of the left and right side rear in the center of a roof.

  The left and right cameras 2 and 4 respectively capture the left and right sides of the vehicle 1 and the rear of the vehicle 1, and the shooting range is the same as or wider than the range displayed on the left and right door mirrors.

  On the dashboard in the passenger compartment, a monitor 6 using a liquid crystal panel as a display means is provided toward the driver's seat, and is disposed at a position that can be viewed by the driver. The dashboard on the front side of the driver seated in the driver's seat is provided with an in-vehicle camera 8 that captures images of the driver, particularly the driver's face. Further, the vehicle 1 is provided with a traveling state detection sensor 10 that detects the traveling state of the vehicle 1 such as the speed, yaw, and pitch of the vehicle 1.

  The left and right cameras 2 and 4, the monitor 6, the vehicle interior camera 8, and the traveling state detection sensor 10 are connected to an electronic control unit (hereinafter referred to as ECU 20), and the ECU 20 detects an object from an image as shown in FIG. An image recognizing unit 22 that recognizes and outputs a place and reliability, and a highlight display drawing unit 24 that draws an image for highlight display are provided.

  The ECU 20 captures image information and driving state information from the left and right cameras 2 and 4, the vehicle interior camera 8, and the driving state detection sensor 10 into the image recognition unit 22, and highlights the image signal based on these signals and the like. Based on the image signal from the left and right cameras 2 and 4 and the signal from the image recognition unit 22, the highlight display unit 24 outputs the image signal to the monitor 6. Further, the highlight display drawing unit 24 adjusts the luminance, enlargement ratio, reduction ratio, display range, and the like of the image displayed on the monitor 6 based on the setting by the display adjustment knob 26.

Next, the detection process performed in the ECU 20 will be described with reference to the flowchart of FIG. The detection process is repeatedly executed by the ECU 20 at regular intervals.
First, image information on the left and right rear sides of the vehicle 1 taken by the left and right cameras 2 and 4 is captured (step 100; hereinafter referred to as S100; the same applies hereinafter). Next, an object detection process (S200) for detecting an object behind the vehicle 1 from the acquired image information is executed.

  Next, a history tracking process (S300) for associating the object detected in the current cycle with the object detected in the previous cycle is executed. Subsequently, when the object detected up to one cycle before cannot be detected in this cycle, object information is created and the target extrapolation is performed so that the image is inserted and displayed on the monitor 6 as if it was detected. Processing (S400) is executed. And the reliability calculation process (S500) which calculates reliability about each detected object is performed, and these image information is transmitted to the monitor 6 (S600).

Next, the object detection process (S200) described above will be described in detail with reference to the flowchart of FIG.
First, in the object detection process, a region of interest is calculated based on image information from the left and right cameras 2 and 4 (S210). The attention area is, for example, an image area including an object-like object included in a part of an image photographed by the left and right cameras 2, 4. For example, the attention area is photographed by the left and right cameras 2, 4. An outline of an object may be created from the obtained image, and a region surrounded by the outline may be used. Moreover, in this embodiment, it is set as the object which detects vehicles, such as a motorcycle and a four-wheeled vehicle, and the image of the object is memorize | stored as a template. Note that a guard rail, a utility pole, or the like may be used as an object, and an image thereof may be stored as a template.

  Then, a difference Δi between the attention area and the template is calculated (S220). Subsequently, it is determined whether or not the difference Δi is equal to or less than a predetermined threshold value TMP_TSD stored in advance (S230). When the difference Δi is equal to or smaller than the threshold value TMP_TSD, it is determined that the image of the attention area is an object (S230: YES).

  When the difference Δi is equal to or less than the threshold value TMP_TSD, it is registered as a target i (S240). The area Ai of the area on the image of the target i is calculated and stored, and the position coordinates (Xi, Yi) on the screen of the target i are stored (S250).

  Next, it is determined whether or not all the regions of the image captured by the left and right cameras 2 and 4 have been scanned to extract all the regions of interest (S260). When not scanning all the regions as the attention region (S260: NO), the processing from S210 onward is repeated to calculate the attention region for the image regions photographed by the left and right cameras 2 and 4, and the difference Δi Is registered as a target i. When the difference Δi exceeds the threshold value TMP_TSD, the process of S260 is executed without registering as a target (S230: NO). Here, the subscript i is, for example, a number given in the order of detection in order to distinguish between a plurality of objects included in images taken by the left and right cameras 2 and 4.

  After determining all the attention areas (S260: YES), the control process is temporarily terminated and the process returns to the original process. Then, the history tracking process (S300) described above is executed. The history tracking process (S300) will be described with reference to the flowchart shown in FIG.

  In the history tracking process (S300), first, it is determined whether or not the number of targets one cycle before the detection process is zero (S310). When the number of targets one cycle before is zero (S310: YES), there is no target to be tracked and recorded, so this control process is terminated once. When the number of targets is not zero (S310: NO) ), It is determined whether or not the number of targets calculated by executing the object detection process in the current cycle is 0 (S320).

  When the target in the current cycle is 0 (S320: YES), there is no object to be tracked and recorded, so this control process is terminated once. When the number of targets is not 0 (S320: NO) ), A combination of the target in the current cycle and the target in the previous cycle is taken (S330).

  Then, the difference DXi, DYi of the position coordinates between the combined target in the current cycle and the target in the previous cycle is calculated (S340). It is determined whether or not the calculated position coordinate differences DXi and DYi are smaller than threshold values DXTSD and DYTSD, respectively (S350). When the position coordinate differences DXi, DYi are smaller than the threshold values DXTSD, DYTSD (S350: YES), the combination of the target i in this cycle and the target i in the previous cycle is the same object. Judge. At this time, the threshold values DXTSD and DYTSD may be determined based on the traveling speed of the vehicle 1 detected by the traveling state detection sensor 10.

  When the position coordinate differences DXi and DYi are smaller than the threshold values DXTSD and DYTSD (S350: YES), the detection counter CNTi of the target i in the current cycle is set to 1 in the detection counter of the target i one cycle before. In addition, substitution is performed (S360). Next, the confirmation flag Fi of the target i one cycle before is substituted for the confirmation flag Fi of the target i in the current cycle (S370). In this embodiment, the initial value of the confirmation flag Fi is set to 0, and the confirmation flag Fi is set to 1 when the driver confirms the object of the target i by the monitor 6 in the process of S840 described later. Subsequently, it is determined whether or not all combinations have been searched for a plurality of targets i (S380).

  On the other hand, if one of the positional coordinate differences DXi, DYi is greater than or equal to the threshold value DXTSD, DYTSD by the process of S350 (S350: NO), the target in this cycle combined by the process of S330 and one cycle It is determined that the object is different from the previous target, and the process of S380 is executed.

  It is determined whether or not all combinations have been searched by the processing of S380, and the processing from S330 onward is performed for all combinations of the target i in the current cycle and the target i in the previous cycle. Again, for the target of the same object in the current cycle and the previous cycle, 1 is added to the detection counter, the confirmation flag Fi is taken over, the history is tracked for each target i, and all If it is determined that a combination has been searched (S380: YES), the present control process is temporarily terminated and the process returns to the original process. And the target extrapolation process (S400) mentioned above is performed.

  The target extrapolation process (S400) will be described with reference to the flowchart shown in FIG. In the target extrapolation process (S400), first, similarly to the process of S310, it is determined whether or not the number of targets one cycle before is zero (S410). When the number of targets one cycle before is zero (S410: YES), this control process is once ended. When the number of targets is not zero (S410: NO), information on the target i one cycle before Is taken out (S420).

  Then, it is determined whether the target i of the previous cycle is connected to the target i of the current cycle and the history (S430). If it is determined that the target in the previous cycle and the target in the current cycle are the same object by executing the history tracking process in S300, it is determined that the history is connected (S430: YES).

  On the other hand, if it is determined that the history is not connected (S430: NO), the extrapolation counter ICNTi calculated by the process of S460 described later one cycle before is smaller than a predetermined threshold value INP_TSD and one cycle before It is determined whether or not the reliability Si calculated by the processing of S541 described later is larger than a predetermined threshold value INP_S_TSD (S440).

  When the extrapolation counter ICNTi is large, it means that there are many cases where the object of the target i is not included in the images photographed by the left and right cameras 2 and 4 when the detection process is repeatedly executed. Moreover, when the reliability Si is small, it means that the reliability of the target i as an object is low by the reliability calculation process described later.

  When the extrapolation counter ICNTi is smaller than the predetermined threshold value INP_TSD and the reliability Si is larger than the predetermined threshold value INP_S_TSD (S440: YES), the object of the target i is displayed on the image during the execution of this cycle. Is not included due to undetected by the cameras 2 and 4 or the like.

  In this cycle, the target i is extrapolated (S450). The extrapolated target takes over the information of the target one cycle before as it is as the processing for the current cycle. Alternatively, target information predicted from the target information of one cycle before and its history may be created and used as extrapolated target information. Next, 1 is added to the value of the extrapolation counter of the target one cycle before the extrapolation counter ICNTi and substituted (S460).

  Then, it is determined whether or not the search has been performed for all the targets recognized one cycle before (S470). When the search has not been performed for all of the targets (S470: NO), the processing from S420 onward is performed. The process of extrapolating all targets recognized one cycle before is repeated.

  On the other hand, when it is determined that the history is connected by executing the process of S430 (S430: YES), or by executing the process of S440, the extrapolation counter ICNTi is greater than a predetermined threshold value INP_TSD or is reliable. If it is determined that the degree Si is smaller than the predetermined threshold value INP_S_TSD (S440: NO), the process of S470 is executed without creating an extrapolation target.

  If it is determined by the execution of the process of S470 that all the targets recognized one cycle before have been searched (S470: YES), the present control process is once terminated and the process returns to the original process. Then, the reliability calculation process (S500) described above is executed.

  The reliability calculation process (S500) will be described with reference to the flowchart shown in FIG. In the reliability calculation process (S500), first, it is determined whether or not the number of targets in the current cycle is 0 (S510). When the number of targets is 0 (S510: YES), this control process is once ended. When the number of targets is not 0 (S510: NO), information on the target i is extracted (S520).

  Then, a target reliability calculation process for calculating the reliability Si of the extracted target i is executed (S530), and it is determined whether or not the reliability Si has been calculated for all the targets i (S590). Until the reliability Si is calculated for all the targets i, the processing of S520 and subsequent steps is repeated, and after calculating the reliability Si for all the targets i (S590: YES), this control process is once ended.

  Next, the target reliability calculation process (S530) will be described with reference to the flowchart shown in FIG. In the target reliability calculation process, first, the difference Δi calculated by the process of S220 is subtracted from the predetermined threshold value TMP_TSD in the determination process of S230, and is substituted into the first reliability count A01 (= TMP_TSD−Δi). (S531).

  A small difference Δi between the region of interest and the template indicates that the image pattern seems to be an object. Since the smaller the difference Δi is, the higher the reliability Si is, so in this embodiment, the difference Δi is subtracted from the predetermined threshold value TMP_TSD to obtain the first reliability count A01.

  Next, the target detection counter value CNTi is substituted for the second confidence count A02 (S532). A large detection counter value CNTi indicates that the number of detections as an object is large and has been detected for a long time. Since the object does not disappear suddenly, a large detection counter value CNTi indicates that the reliability Si is high.

  Subsequently, the ratio of the area Ai of the area on the image of the target i calculated by the processing of S250 and the area Ai of the area on the image one cycle before is substituted into the area ratio DSi (= current Ai / previous Ai) (S533). ).

  Subsequently, it is determined whether or not the area ratio DSi is within a range between a predetermined lower limit value DS_TSDL and an upper limit value DS_TSDU (S534). When the area ratio DSi is within the predetermined range (S534: YES), 1 is substituted into the third confidence count A03 (S535). When the area ratio DSi is not within the predetermined range (S534: NO), 0 is substituted into the third confidence count A03.

  For example, when the object of the target i moves away, the area ratio DSi becomes smaller than 1. When the object of the target i approaches, the area ratio DSi becomes larger than 1. In addition, the ratio between the area value Ai of the target i one cycle before and the area value Ai of the target i in the current cycle does not change significantly in a short time. If the area ratio DSi is within a predetermined range, the detected object has high reliability Si.

  When the processing of S535 or S536 is executed, the ratio between the extrapolation counter ICNTi and the value obtained by adding the extrapolation counter ICNTi to the target detection counter value CNTi is substituted into the fourth confidence count A04 (= ICNTi / (CNTi + ICNTi)). S537). An object of a target i having a large value of the extrapolation counter ICNTi is often not included in the images by the cameras 2 and 4 when the detection process is repeatedly executed, and the target i has a reliability Si as an object. Can be judged low. For example, there is a high possibility of erroneous detection due to noise or the like to the cameras 2 and 4.

  Next, it is determined whether or not the target area Ai at the time of initial detection is smaller than a predetermined threshold value AF_TSD (S538). When the target area Ai at the time of initial detection is smaller than the predetermined threshold value AF_TSD (S538: YES), 1 is substituted into the fifth confidence count A05 (S539). When the target area at the time of initial detection is greater than or equal to the predetermined threshold value AF_TSD (S538: NO), 0 is substituted into the fifth confidence count A05 (S540).

  When an object that becomes an obstacle to the host vehicle 1 is photographed by the left and right cameras 2 and 4, the size of the object is initially small, and the object becomes larger as the object approaches. Suddenly, a large object appears in the images taken by the left and right cameras 2 and 4 due to the influence of noise or the like, and the object on the image has low reliability Si.

  After executing the process of S539 or S540, the reliability Si is calculated by the following formula based on the first to fifth reliability counts A01 to A05 (S541). Here, B1 to B5 are coefficients set in advance, and take into account the weighting according to each of the first to fifth confidence counts A01 to A05. After calculating the reliability Si, this control process is once ended.

Si = B1 × A01 + B2 × A02 + B3 × A03 + B4 × A04 + B5 × A05
As described above, in this embodiment, the reliability Si of the object is calculated based on the difference Δi from the template, the detection counter value CNTi that increases according to the time during which the object is detected, and the like. The reliability Si is an index indicating the degree of reliability with respect to the detection of the object, and the reliability Si is an index that indicates how confident and probable that the cameras 2, 4, etc. detect the object. Become.

  In this embodiment, the camera 2 and 4 are used to detect an object, and the reliability Si is calculated based on the difference Δi from the template. However, the present invention is not limited to this, and based on the characteristics of the sensor used. It is only necessary to use an index representing the object likeness, and if the sensor is like a radar, it is sufficient to use the intensity of the reflected wave of the radio wave, and the degree of variation in the position of the detected object and the position in a certain space or time. The degree of variation can be used.

Next, display control processing for displaying on the monitor 6 will be described with reference to the flowchart of FIG.
First, in the display control process, image signals are taken from the left and right cameras 2 and 4 (S700). Next, target data is fetched (S710). And the driver | operator's gaze information image | photographed with the vehicle interior camera 8 is taken in (S720).

  Subsequently, line-of-sight result integration processing for integrating contents displayed on the monitor 6 from the line-of-sight information of the captured driver is executed (S800). Next, an image is displayed on the monitor 6 from the left and right cameras 2 and 4, and a data display process for performing highlighting according to the reliability Si is executed (S900). Then, when the highlighted object is no longer detected, data display extrapolation processing for inserting and displaying the object in the image according to the reliability Si is executed (S1000).

Next, the line-of-sight result integration process (S800) described above will be described in detail with reference to the flowchart shown in FIG.
First, in the line-of-sight result integration process, it is determined whether or not the driver has confirmed the monitor 6 (S810). Whether or not the monitor 6 has been confirmed is determined by photographing the driver's face or the like with the in-vehicle camera 8 and detecting the driver's line-of-sight direction in the process of S720. When the line-of-sight direction coincides with the direction of the monitor 6, it is determined that the driver has confirmed the monitor 6.

  If it is determined that the driver has not confirmed the monitor 6 (S810: NO), the present control process is once terminated, and if it is determined that the driver has confirmed the monitor 6 (S810: YES), the number of targets i is determined. It is determined whether it is 0 (S820). When the number of targets i is 0, it is determined that there is no object in the vicinity of the host vehicle 1 (S820: NO), and this control process is once ended. When the number of targets i is not 0, (S820: YES), the driver confirms the monitor 6, and takes out the target i of the object displayed on the monitor 6 (S830).

  Next, at that time, 1 is substituted for the confirmation flag Fi of the target i of the object displayed on the monitor 6 (S840), and it is determined whether or not all the targets i recognized one cycle before have been searched. (S850). When all the targets i have not been searched (S850: NO), the processing from S830 onward is repeated to extract all the targets i (S830), and 1 is assigned to the confirmation flag Fi for every target i. (S840) When all the targets i have been searched (S850: YES), this control process is temporarily terminated. By executing the line-of-sight result integration process, the target i having the confirmation flag Fi of 1 becomes an object confirmed by the driver on the monitor 6. Next, the data display process (S900) described above will be described in detail with reference to the flowchart shown in FIG.

  First, in the data display process, it is determined whether or not the number of targets is 0 (S910). When the number of targets is 0, it is determined that there is no object in the vicinity of the host vehicle 1 (S910: NO), and this control process is once ended. When the number of targets is not 0 (S910) : YES), the target is taken out (S920).

  Next, it is determined whether or not the target confirmation flag Fi of the extracted target is 1 (S930). When the target confirmation flag Fi is 1 (S930: YES), the degree of emphasis P of the target is calculated according to the reliability Si (S940). In the present embodiment, a value obtained by multiplying the reliability Si by a preset predetermined ratio 0.3 is substituted for the emphasis degree P (= Si × 0.3). That is, when the driver looks at the monitor 6 and recognizes the object of the target i when executing the process one cycle before, the degree of emphasis P is higher than the reliability Si for the target i. The degree of emphasis is lowered as a predetermined percentage smaller value.

  On the other hand, when the target confirmation flag Fi is not 1 (S930: NO), the reliability Si is directly substituted for the emphasis degree P of the target (S950). That is, the target i whose target confirmation flag Fi is not 1 is an object that the driver has not confirmed with the monitor 6, and in this case, with respect to the target i, the enhancement degree P is set as the reliability Si, Try to emphasize. Thus, the emphasis degree P can be changed by setting the target confirmation flag Fi depending on whether or not the driver has recognized it.

  After obtaining the emphasis degree P by the processing of S940 or S950, the area I occupied by the target i is highlighted according to the emphasis degree P in the region I (S960). Next, the periphery of the target area I corresponding to the speed of the target i, for example, the position differences DXi and DYi calculated by the process of S340 is highlighted (S970).

  For example, as shown in FIG. 13, the outline of the object is highlighted thickly, highlighted by changing the color inside the outline, or displayed by highlighting a radial line around the object. Further, the object may be highlighted so as to have a tail depending on the relative speed with the object.

  By highlighting the object with the emphasis degree P based on the reliability Si, an object with a high reliability Si is displayed more emphasized, and conversely, an object with a low reliability Si is displayed inconspicuously, so be careful of the driver. Since the object to be displayed can be displayed with more emphasis, information without a sense of incongruity can be displayed.

  In the case of false detection, in most cases it is a situation where something like noise is detected as an object, or it is a case with high chance that it will be regarded as an object for a moment, so as an object In many cases, trust is low, or it disappears in an instant. Even in such a case, it is possible to perform highlighting without causing the driver to feel uncomfortable by representing the reliability Si according to the degree of confidence in the detection of the object.

  As described above, even if there is no detection or false detection, the object is highlighted according to the reliability Si, so that the object displayed on the monitor 6 is not suddenly displayed, or a large object suddenly appears on the monitor 6. Can be displayed on the monitor 6 with less discomfort. In addition, it is possible to display an object to be surely noted from the early appearance of the object.

  Thereafter, it is determined whether or not all the targets i recognized one cycle before have been searched (S980). When all the targets i have not been searched (S980: NO), the processing from S920 is repeated, and the recognized target i is highlighted according to the reliability Si. When all the targets i have been searched (S980: YES), this control process is once ended.

  In addition, by storing the highlighted portion and leaving the enhancement result for the image immediately after, the enhancement result of the object can be left as an afterimage. If the afterimage is displayed in this manner, the driver can receive information that the object exists even if the object is lost due to disturbance at a certain moment. Further, when an afterimage using the moving speed in the image of the object is displayed, the driver can understand the speed of the detected object with a glance at the monitor 6. In particular, when a color is added to the area occupied by an object, even if it becomes impossible to detect at all in a certain moment by applying a process that makes the colored area gradually thin over time The color added so far can be left. Even if such a display is performed, the driver only looks at the monitor 6 only when he / she needs it, so that the driver can be notified in a manner that is less bothering than in the case of notification by voice or the like. The trajectory information on how it has moved can be confirmed at a glance.

Next, the data display extrapolation process (S1000) described above will be described with reference to the flowchart of FIG.
First, in the data display extrapolation process, it is determined whether or not there is an area that is not highlighted this time in the highlighted area one cycle before (S1010). When there is no area to be emphasized this time in the emphasized area one cycle before (S1010: NO), this control process is temporarily ended, and when there is an area not emphasized this time in the emphasized area one cycle before (S1010: YES). The highlighted display area I and the emphasis degree P before one cycle are taken out (S1020). Then, it is determined whether or not the enhancement degree P is greater than a predetermined threshold value P_TSD (S1030).

  When the emphasis degree P is larger than the predetermined threshold value P_TSD (S1030: YES), the emphasis degree P is halved to be a new emphasis degree P (S1040). Next, the color, contrast, etc. of the highlight display area I are highlighted according to the new enhancement degree P (S1050). For example, when the cameras 2 and 4 cannot capture an object for a moment due to disturbance or the like, the object of the target i that cannot be displayed is highlighted. Thereby, even if the driver cannot detect the object due to disturbance or the like, the object is displayed, so that the display on the monitor 6 can be seen without a sense of incongruity.

  On the other hand, when the emphasis degree P is equal to or less than the predetermined threshold value P_TSD (S1030: NO), the processing at S1010 and below is repeated. Further, after highlighting by the processing of S1050, the processing of S1010 and subsequent steps is repeated, and it is determined whether there is a region that is not highlighted this time in the highlighted region one cycle before, and a region that is not highlighted this time in the highlighted region one cycle before Is highlighted according to the new emphasis degree P. Then, when it is determined for all the areas not highlighted this time in the highlighted area one cycle before (S1010: NO), this control process is terminated.

  In this embodiment, the execution of the object detection process (S200) serves as an object detection unit, the execution of the reliability calculation process (S500) serves as a reliability calculation unit, and the execution of the display control process serves as a display unit. Further, the execution of the history tracking process (S300) functions as a history tracking means, the execution of the data display extrapolation process (S1000) functions as an object extrapolation means, and the execution of the process of S720 functions as a gaze direction detection means.

  The present invention is not limited to such embodiments as described above, and can be implemented in various modes without departing from the gist of the present invention.

1 is a schematic layout diagram of a vehicle periphery display device according to an embodiment of the present invention on a vehicle. It is a block diagram which shows the electric system of the vehicle periphery display apparatus of this embodiment. It is a flowchart which shows an example of the detection process performed with the electronic control unit of this embodiment. It is a flowchart which shows an example of the object detection process performed with the electronic control unit of this embodiment. It is a flowchart which shows an example of the history tracking process performed with the electronic control unit of this embodiment. It is a flowchart which shows an example of the target extrapolation process performed with the electronic control unit of this embodiment. It is a flowchart which shows an example of the reliability calculation process performed with the electronic control unit of this embodiment. It is a flowchart which shows an example of the target reliability calculation process performed with the electronic control unit of this embodiment. It is a flowchart which shows an example of the display control process performed with the electronic control unit of this embodiment. It is a flowchart which shows an example of the gaze result integration process performed with the electronic control unit of this embodiment. It is a flowchart which shows an example of the data display process performed with the electronic control unit of this embodiment. It is a flowchart which shows an example of the data display extrapolation process performed with the electronic control unit of this embodiment. It is explanatory drawing which shows the emphasis display of the information on the monitor of this embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Vehicle 2, 4 ... Camera 6 ... Monitor 8 ... Vehicle interior camera 10 ... Running state detection sensor 20 ... Electronic control unit 22 ... Image recognition part 24 ... Highlight display drawing part

Claims (5)

A photographing means mounted on the vehicle and photographing the periphery of the vehicle;
In a vehicle periphery display device comprising display means for displaying an image photographed by the photographing means,
Object detection means for detecting an object contained in an image photographed by the photographing means;
Comprising reliability calculation means for calculating the reliability according to the degree of reliability of the detection of the object detected by the object detection means;
The vehicle periphery display device characterized in that the display means highlights the object according to the reliability of the object included in the image when displaying the image photographed by the photographing means. The said reliability calculation means calculates the said object as a big reliability, when the difference of the image of the object image | photographed by the said imaging | photography means and the template memorize | stored previously is small. Vehicle periphery display device. Comprising history tracking means for tracking the object imaged by the imaging means;
3. The reliability calculation unit according to claim 1, wherein when the history of the object being tracked by the history tracking unit is long, the reliability is calculated as the high reliability. The vehicle periphery display device described in 1. The object extrapolating means for displaying the object on the display means when the object having a large reliability calculated by the reliability calculating means is no longer detected by the object detecting means is provided. The vehicle periphery display device according to any one of claims 1 to 3. Gaze direction detecting means for detecting the gaze direction of the driver of the vehicle,
5. The vehicle according to claim 1, wherein the display unit changes highlighting of the object in accordance with the gaze direction of the driver detected by the gaze direction detection unit. Peripheral display device.

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