JP2010184588A - Vehicle vicinity monitor device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle vicinity monitor device capable of easily determining a positional relation between an obstruction existing in the vicinity of a vehicle and the vehicle. <P>SOLUTION: A coordinate converting part 8 generates overlooked images in the vicinity of the vehicle A based on images imaged by a camera 21 mounted on the vehicle A. When a distance between the obstruction S1 detected by an obstruction detection means 22 mounted on the vehicle A and the vehicle A is a prescribed value K1 or more, an image segmenting part 9 extends and segments a display target region with respect to a region in a direction along which the obstruction S1 exists, out of the overlooked images in the vicinity of the vehicle A, so that a position where the obstruction S1 exists may be included in the display target region displayed on a screen 24. A monitor 13 (display means) displays the segmented display target region on the screen 24. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle periphery monitoring device, and more particularly, to a vehicle periphery monitoring device that supports a driving operation by generating a bird's-eye view image based on an image captured by an in-vehicle camera and displaying it on a screen in a vehicle interior.

  2. Description of the Related Art Conventionally, as a device that supports driving operation of a vehicle, a vehicle that captures an image of the periphery of a vehicle with a camera (on-vehicle camera) mounted on the vehicle, generates a bird's-eye view image based on the captured image, and displays it on a screen in a vehicle interior Perimeter monitoring devices have been proposed.

  Furthermore, in order to prevent an image greatly different from the case where the vehicle periphery is actually viewed from being displayed on the screen, the obstacle detection means mounted on the vehicle detects the distance between the obstacle present around the vehicle and the vehicle. Then, a projection plane having an angle with respect to the horizontal plane is generated based on the detected distance, and an image captured by the in-vehicle camera is projected onto the generated projection plane to generate an overhead image, thereby There has been proposed a vehicle periphery monitoring device that prevents distortion around the screen even when a wide-angle lens is used in the camera (for example, Patent Document 1).

JP 2007-180803 JP

  However, the vehicle periphery monitoring device proposed in Patent Document 1 described above always displays an overhead image of a wide area around the vehicle on the screen regardless of whether an obstacle exists around the vehicle. .

  For this reason, the displayed image may contain information that is unnecessary for the driver, and even if an obstacle actually exists around the vehicle, the driver's attention is distracted. There is a possibility that the positional relationship between the vehicle and the obstacle cannot be grasped immediately.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle periphery monitoring device that can easily grasp the positional relationship between an obstacle present around the vehicle and the vehicle.

  In order to achieve the above object, in the vehicle periphery monitoring device according to the present invention, the coordinate conversion unit generates a bird's-eye view of the periphery of the vehicle based on the image captured by the camera mounted on the vehicle, and the obstacle detection means When the distance between the detected obstacle and the vehicle is equal to or greater than a predetermined value, the image clipping unit is arranged around the vehicle so that the position where the obstacle exists is included in the display target area displayed on the screen. The display target area is expanded and cut out from the overhead image in the direction in which the obstacle exists, and the display means displays the cut out display target area on the screen.

  That is, a camera mounted on a vehicle, an image processing unit that performs image processing on an image captured by the camera, a display unit that displays an image after the image processing is performed on a screen, and the periphery of the vehicle Obstacle detection means for detecting the distance between the obstacle present in the vehicle and the vehicle, wherein the image processing unit generates a bird's-eye view image around the vehicle based on the captured image, and the bird's-eye view image An image cutout unit that cuts out a display target area to be displayed on the screen, and the image cutout unit has a predetermined distance between the obstacle detected by the obstacle detection unit and the vehicle. When the value is greater than or equal to a value, the display target area is expanded and cut out for an area in the direction in which the obstacle exists so that the display target area includes a position where the obstacle exists. .

  Here, when the distance between the obstacle and the vehicle is equal to or greater than a predetermined value, the obstacle exists in a detection area of the obstacle detection means and is wider than an area near the vehicle. If you are.

  According to the vehicle periphery monitoring device according to the present invention configured as described above, when the obstacle exists in a detection area of the obstacle detection means and in a wider area than the vicinity of the vehicle, that is, When the driver needs information on a region wider than the region near the vehicle, the display target region is expanded and displayed up to a position where an obstacle exists on the screen. For this reason, it can suppress giving a driver unnecessary information, and can grasp | ascertain easily the positional relationship of the obstruction which exists in the vehicle periphery, and a vehicle.

  Furthermore, since the image cutout unit is configured to extend the display target area in the direction in which the obstacle exists, it is possible to immediately grasp the direction in which the obstacle exists.

  Further, in the vehicle periphery monitoring device according to the present invention, the image cutout unit is configured such that the obstacle is present as the distance between the obstacle detected by the obstacle detection unit and the vehicle becomes shorter. It is preferable that the display target area is cut out so that the expanded area expanded with respect to the area is narrowed.

  According to the vehicle periphery monitoring device according to the present invention configured as described above, the extension region becomes narrower as the vehicle and the obstacle approach each other, that is, as the region that becomes information necessary for the driver becomes narrower. For this reason, it can further suppress giving unnecessary information to a driver, and it can grasp | ascertain more easily the positional relationship of the obstruction which exists in the vehicle periphery, and a vehicle.

  Since the display target area changes according to the distance between the obstacle and the vehicle existing around the vehicle, a bird's-eye view image of a wide area around the vehicle is always displayed on the screen (for example, Patent Document 1). Compared with, it can alert the driver.

  Further, in the vehicle periphery monitoring device according to the present invention, the obstacle detection means is provided in at least one of a front part, a rear part, a left side part, and a right side part of the vehicle, and the image cutout part includes: When the obstacle detection means at the front part detects the obstacle, the area in front of the vehicle is expanded, and when the obstacle detection means at the rear part detects the obstacle, When the obstacle detection means on the left side is expanded with respect to the rear area, the area on the left side of the vehicle is expanded when the obstacle detection means detects the obstacle, and the obstacle detection means on the right side is the obstacle. It is preferable that the display target area is cut out by expanding the area on the right side of the vehicle.

  According to the vehicle periphery monitoring device according to the present invention configured as described above, the display target region is only displayed in the region in the direction of the surface of the vehicle in which the obstacle detection unit that detects the distance between the obstacle and the vehicle is provided. Expand. For this reason, it can further suppress giving unnecessary information to a driver, and it can grasp | ascertain more easily the positional relationship of the obstruction which exists in the vehicle periphery, and a vehicle.

  Furthermore, in the vehicle periphery monitoring device according to the present invention, the image cutout unit is configured to expand and cut out the display target area only when the direction in which the obstacle exists is the traveling direction of the vehicle. It is preferable that

  According to the vehicle periphery monitoring device according to the present invention configured as described above, even when an obstacle exists around the vehicle, the direction in which the obstacle exists is not the traveling direction of the vehicle. The information on the obstacle is not necessarily information necessary for the driver, and such unnecessary information is prevented from being given to the driver, and only necessary information is given. For this reason, it is possible to more easily grasp the positional relationship between an obstacle present around the vehicle and the vehicle.

  In the vehicle periphery monitoring device according to the present invention, the display target region includes a region in the vicinity of the vehicle, and the image processing unit is in the vicinity of the vehicle regardless of a degree of expansion of the display target region. It is preferable that the display is controlled so that the area is displayed at a certain position on the screen.

  According to the vehicle periphery monitoring device according to the present invention configured as described above, since it is possible to grasp the change in the distance between the obstacle and the own vehicle with reference to the own vehicle, On the other hand, it is possible to provide an image display that is intuitively understandable.

  According to the vehicle periphery monitoring apparatus according to the present invention, it is possible to easily grasp the positional relationship between an obstacle present around the vehicle and the vehicle.

1 is a block diagram illustrating a configuration of a vehicle periphery monitoring device 100 according to a first embodiment. It is explanatory drawing of the attachment position of the vehicle-mounted camera 21 and the obstruction detection means 22 of FIG. It is the figure which showed the display of the screen 24 when an obstruction does not exist around the vehicle A of FIG. FIG. 4 is a diagram illustrating an example when an obstacle S1 exists around a vehicle A. It is the figure which showed the display of the screen 24 in the case of FIG. It is the figure which showed the case where the distance of the obstruction S1 and the vehicle A became short from the state of FIG. It is the figure which showed the display of the screen 24 in the case of FIG. It is the figure which showed the case where the distance of the obstruction S1 and the vehicle A became still closer from the state of FIG. It is the figure which showed the display of the screen 24 in the case of FIG. It is a block diagram which shows the structure of the vehicle peripheral device 200 of Example 2. FIG. It is explanatory drawing of the attachment position of the obstacle detection means 62 of FIG. It is the figure which showed the display of the screen 24 when an obstruction does not exist in the detection area of the obstruction detection means 62 of FIG. FIG. 5 is a diagram illustrating an example when an obstacle S2 exists around a vehicle B. It is the figure which showed the display of the screen 24 in the case of FIG. It is the figure which showed the case where the distance of the obstruction S2 and the vehicle B became short from the state of FIG. It is the figure which showed the display of the screen 24 in the case of FIG.

  Hereinafter, the best mode for realizing a vehicle periphery monitoring device of the present invention will be described based on Example 1 and Example 2 shown in the drawings.

  FIG. 1 is a block diagram illustrating a configuration of the vehicle periphery monitoring device 100 according to the first embodiment, and FIG. 2 is an explanatory diagram of attachment positions of the in-vehicle camera 21 and the obstacle detection unit 22 in FIG. Hereinafter, each component of the vehicle periphery monitoring apparatus 100 is demonstrated based on FIG. 1 and FIG.

  As shown in FIG. 1, a vehicle periphery monitoring apparatus 100 mounted on a vehicle A includes a camera 21, an A / D converter 5, a decoder 6, a display image generation unit 20, and an encoder that image the periphery of the vehicle A. 11, a D / A converter 12, a monitor 13 (display means), an obstacle detection means 22, a microcomputer 16, and a CAN 17.

  As shown in FIG. 2, the camera 21 has four cameras: a front camera 1, a rear camera 2, a left side camera 3, and a right side camera 4. The front camera 1 is provided at a bumper position or the like on the front surface of the vehicle A and captures an area in front of the vehicle. The rear camera 2 is provided at a bumper position or the like on the rear surface of the vehicle A and images a region behind the vehicle. The left side camera 3 is provided at a door mirror position or the like on the left side surface of the vehicle A and images a region on the left side of the vehicle. The right side camera 4 is provided at a door mirror position or the like on the right side surface of the vehicle A and captures an area on the right side of the vehicle.

  The A / D converter 5 captures data of an image captured by the camera 21 by the NTSC method, converts the analog signal into a digital signal, and outputs the digital signal to the decoder 6. The decoder 6 performs image quality correction such as brightness on the input image signal and outputs it to the display image generation means 20.

  The display image generation unit 20 includes an external memory 7, an image processing unit 23, and an image composition unit 10, and the image processing unit 23 and the external memory 7 are connected to each other.

  The external memory 7 includes a ROM 18 and a RAM 19. The ROM 18 stores a viewpoint conversion table, and the RAM 19 stores an image signal input from the decoder 6.

  The image processing unit 23 includes a coordinate conversion unit 8 and an image cutout unit 9. The coordinate conversion unit 8 converts the coordinates of the image signal stored in the RAM 19 according to the viewpoint conversion table stored in the ROM 18. To generate a bird's-eye view image.

  That is, the coordinate conversion unit 8 has the viewpoints from the four cameras of the front camera 1, the rear camera 2, the left side camera 3, and the right side camera 4 downward from the virtual camera position set at the center upper position of the vehicle A. Coordinate conversion is performed on the viewed viewpoint, and processing for generating an overhead image is performed on each of the captured images of the four cameras.

  The image cutout unit 9 cuts out a display target area to be displayed on the screen 24 of the monitor 13 from the overhead view image generated by the coordinate conversion unit 8.

  The image composition unit 10 synthesizes the bird's-eye view images for the four directions cut out as the display target region to generate the bird's-eye view image for the entire periphery of the vehicle A, and further shows the position of the vehicle A in the generated bird's-eye view image. A picture and other characters are synthesized and output to the encoder 11.

  The encoder 11 encodes the input signal and outputs it to the D / A converter 12. The D / A converter 12 converts the input digital signal into an analog signal and outputs it to the monitor 13 by the NTSC method. The monitor 13 has a screen 24 that is a display of a navigation device or the like, and displays an input overhead image of the display target area on the screen 24.

  As shown in FIG. 2, the obstacle detection means 22 has a left back sensor 14 and a right back sensor 15 at the rear part of the vehicle A. These are sonars that obtain the distance to the obstacle based on the time required for the ultrasonic wave to be reflected and reflected back by the obstacle, and when the obstacle exists in the vicinity of the vehicle A Sound an alarm.

  The left back sensor 14 detects the distance between the obstacle and the vehicle A when an obstacle (a wall, a fence, another vehicle, a car stop (tire stop), a curb, etc.) exists in the detection area D14. The right back sensor 15 detects the distance between the obstacle and the vehicle A when an obstacle exists in the detection region D15.

  The microcomputer 16 uses the distance information acquired from the obstacle detection means 22 (the left back sensor 14 and the right back sensor 15) and a predetermined value K1 set in advance as a reference value as to whether or not the vehicle A is in the vicinity. In comparison, the image cutout unit 9 controls the cutout of the display target area.

  The CAN 17 is a vehicle network that connects the microcomputer 16 and the vehicle A. The microcomputer 16 is connected to other devices in the vehicle A, such as a reverse signal, speed information, steering angle information, and distance measurement information of the vehicle A. Connect for signal communication.

  Next, the operation will be described.

[Expand display area]
FIG. 3 is a diagram showing the display of the screen 24 when there is no obstacle around the vehicle A in FIG. 2, and FIG. 4 shows an example when the obstacle S1 exists around the vehicle A. FIG. 5 shows the display of the screen 24 in the case of FIG.

  Hereinafter, based on FIGS. 3-5, the effect | action of the expansion of the display object area | region of the vehicle periphery monitoring apparatus 100 is demonstrated.

  When there is no obstacle in the detection area D14 of the left back sensor 14 and in the detection area D15 of the right back sensor 15, the ultrasonic waves transmitted from the left back sensor 14 and the right back sensor 15 are transmitted to the left back sensor 14 and the right Since it does not return to the back sensor 15, the distance information is not acquired.

  In this case, the image cutout unit 9 is controlled by the microcomputer 16, and the image cutout unit 9 has four-way overhead images generated by the coordinate conversion unit 8 (front camera 1, rear camera 2, left side camera 3, right side). A region in the vicinity of the vehicle A is cut out as a display target region on the screen 24 from the overhead image with respect to the captured images of the four cameras of the side camera 4.

  The area in the vicinity of the vehicle A refers to an area within 2 m around the vehicle A, for example. The value of 2 m is a predetermined value K1 preset in the microcomputer 16.

  Thereafter, these clipped overhead images are synthesized by the image synthesis unit 10 to generate a bird's-eye view of an area in the vicinity of the vehicle A (hereinafter referred to as “vehicle vicinity area D1”), as shown in FIG. It is displayed on the screen 24.

  On the other hand, as shown in FIG. 4, when the obstacle S1 is present around the vehicle A (in the detection area D14 in the case of the first embodiment), the distance between the obstacle S1 and the vehicle A by the left back sensor 14. L1 is detected, and this distance information is transmitted to the microcomputer 16.

  When the distance L1 is equal to or greater than the predetermined value K1, the microcomputer 16 controls the image cutout unit 9 based on the result.

  The controlled image cutting unit 9 includes the obstacle S1 so that the position where the obstacle S1 exists in the display target area is included in the four-way overhead image generated by the coordinate conversion unit 8. The display target area is expanded for the area in the direction to be cut out.

  Then, the cut-out bird's-eye view image is synthesized by the image composition unit 10, and as shown in FIG. 5, the bird's-eye view image of the vehicle vicinity region D1 and the bird's-eye view image of the extended region D2 expanded with respect to the region in the direction where the obstacle S1 exists. Are displayed on the screen 24.

  In FIG. 5, the vehicle vicinity area D1 and the expansion area D2 are shown separately. However, the overhead image actually displayed on the screen 24 is a boundary between the vehicle vicinity area D1 and the expansion area D2. There is no continuous image. The same applies to the diagrams (FIGS. 7, 9, 14, and 16) showing the display of the screen 24.

[Change extended area range]
6 is a diagram showing a case where the distance between the obstacle S1 and the vehicle A has become shorter from the state of FIG. 4, and FIG. 7 is a diagram showing a display of the screen 24 in the case of FIG. FIG. 8 is a diagram showing a case where the distance between the obstacle S1 and the vehicle A is further reduced from the state of FIG. 6, and FIG. 9 is a diagram showing a display of the screen 24 in the case of FIG. .

  Hereinafter, based on FIGS. 6-9, the change of the range of the expansion area | region of the vehicle periphery monitoring apparatus 100 is demonstrated.

  For example, from the state shown in FIG. 4, when the vehicle A moves backward, the vehicle A approaches the obstacle S1, and the distance between the obstacle S1 and the vehicle A is L1 ′ smaller than L1, which is equal to or greater than the predetermined value K1. In the case (K1 ≦ L1 ′ <L1), the image cutout unit 9 applies to the area in the direction in which the obstacle S1 exists so that the position where the obstacle S1 exists in the display target area is included in the overhead view image. Expand the display target area and cut it out.

  Then, as shown in FIG. 7, the bird's-eye view image of the vehicle vicinity region D1 and the bird's-eye view image of the extended region D2 ′ expanded with respect to the region in the direction in which the obstacle S1 exists are displayed on the screen 24.

  The expanded area D2 'expanded at this time is narrower than the expanded area D2 shown in FIG.

  Further, from the state shown in FIG. 6, the vehicle A moves backward to approach the obstacle S1, and the distance between the obstacle S1 and the vehicle A is L1 ″ smaller than L1 ′, which is equal to or less than the predetermined value K1. In this case (L1 ″ <K1 <L1 ′), the image cutout unit 9 does not expand the display target area and cuts out only the vehicle vicinity area D1 from the overhead image, as shown in FIG. The bird's-eye view image of the vehicle vicinity area D1 is displayed on the screen 24.

  That is, as the distance between the obstacle S1 detected by the left back sensor 14 and the vehicle A becomes shorter, the expansion area becomes narrower. Further, when this distance is smaller than the predetermined value K1, the display target area is expanded. Not done.

  Such a change of the extended area is performed by the image cutout unit 9 newly cutting every time the distance between the obstacle S1 detected by the obstacle detection unit 22 and the vehicle A approaches 1 m, for example, on the screen 24. The display is set to be updated.

  The set value is not limited to 1 m, and can be set to a desired value. For example, a continuous image can be displayed on the screen 24 by setting a short distance. .

  Furthermore, not only when updating according to the distance, it is also possible to newly cut out according to the elapsed time and update the display on the screen 24.

[Direction of extended area]
In addition, the image cutout unit 9 displays the display target region only for the region in the direction of the surface of the vehicle A (rear of the vehicle A) where the left back sensor 14 that detects the distance between the obstacle S1 and the vehicle A is provided. The vehicle is expanded, and the front, left side, and right side regions of the vehicle A are not expanded.

  The image cutout unit 9 expands and cuts out the display target area only when the direction in which the obstacle exists is the traveling direction of the vehicle A.

  For example, even when the obstacle S1 exists behind the vehicle A, when the vehicle A is moving forward, only the bird's-eye view image of the vehicle vicinity region D1 is displayed on the screen as shown in the screen 24 shown in FIG. 24, on the other hand, when the obstacle S1 exists behind the vehicle A and the vehicle A is moving backward, the vehicle vicinity area D1 and the expansion area are displayed as shown in the screen 24 shown in FIG. A bird's-eye view image with D2 is displayed on the screen 24.

[Display on screen]
As described above, the range of the extended area is changed according to the distance between the obstacle S1 and the vehicle A. However, as shown in FIGS. 5, 7, and 9, the display target area shown on the screen 24 includes The vehicle vicinity area D1 is included, and the vehicle vicinity area D1 is displayed at a certain position on the screen 24 at substantially the center of the screen 24 regardless of the extent of expansion (the size of the expansion area range).

  Next, the effect will be described.

  According to the vehicle periphery monitoring device 100 according to the first embodiment configured as described above, the image cutout unit 9 is configured such that the distance between the obstacle S1 detected by the obstacle detection unit 22 and the vehicle A is equal to or greater than the predetermined value K1. In such a case, the display target area is expanded and cut out for the area in the direction in which the obstacle S1 exists so that the position where the obstacle S1 exists is included in the display target area. And the positional relationship between the obstacle S1 existing around the vehicle A and the vehicle A can be easily grasped, and the direction in which the obstacle S1 exists can be grasped immediately.

  In addition, as the distance between the obstacle S1 detected by the obstacle detection unit 22 and the vehicle A is shortened, the image cutout unit 9 becomes narrower in the expanded area in the direction in which the obstacle S1 exists. Thus, since the display target area is cut out, unnecessary information can be further prevented from being given to the driver, and the positional relationship between the obstacle S1 and the vehicle A existing around the vehicle A can be more easily grasped. Can do.

  And when the expansion area | region of a display object area | region changes according to the distance of the obstruction S1 and the vehicle A, when the bird's-eye view image about the wide area | region of the periphery of the vehicle A is always displayed on the screen 24 (for example, the above-mentioned Compared with Patent Document 1), the driver's attention can be alerted.

  Furthermore, display target areas are only displayed for areas in the direction of the surface of the vehicle A (rear of the vehicle A) where the obstacle detection means 22 (left back sensor 14) that detects the distance between the obstacle S1 and the vehicle A is provided. Therefore, it is possible to further suppress unnecessary information from being given to the driver, and it is possible to more easily grasp the positional relationship between the obstacle S1 existing around the vehicle A and the vehicle A.

  Further, the image cutout unit 9 expands and cuts out the display target area only when the direction in which the obstacle S1 exists is the traveling direction of the vehicle A, so the obstacle S1 and the vehicle that exist around the vehicle A are cut out. The positional relationship with A can be grasped more easily.

  The display target area includes the vehicle vicinity area D1, and the image processing unit 23 displays the vehicle vicinity area D1 at a certain position on the screen 24 regardless of the extent of expansion of the display target area. Therefore, it is possible to grasp the change in the distance between the obstacle S1 and the own vehicle A with reference to the vehicle A, and to make the image display easy to understand for the driver riding the vehicle A. be able to.

  Furthermore, the obstacle detection means 22 sends out the ultrasonic wave, and obtains the distance to the obstacle S1 based on the time required to detect the ultrasonic wave reflected by the obstacle S1 and returned to the obstacle detection means 22. It is a sonar and can be applied to an existing sonar mounted on a vehicle.

  The vehicle periphery monitoring device 100 according to the first embodiment includes the obstacle detection unit 22 only at the rear portion of the vehicle A. However, the vehicle periphery monitoring device according to the present invention includes a front portion, a rear portion, and a left portion of the vehicle. Obstacle detection means may be provided on each of the right side portions.

  And when the obstacle detection means in the front part of the vehicle detects an obstacle, the image cutout part expands in the area in front of the vehicle, and when the obstacle detection means in the left side part of the vehicle detects the obstacle The image cutout section is expanded for the area on the left side of the vehicle, and when the obstacle detection means on the right side of the vehicle detects the obstacle, the image cutout section is expanded for the area on the right side of the vehicle. It is also possible to configure.

  According to such a configuration, it is possible to give the driver position information where there are obstacles not only in the rear of the vehicle but also in the entire periphery of the vehicle, and to cope with a case where there are a plurality of obstacles. You can also.

  The second embodiment is an example in which the obstacle detection means is provided at the corner portion of the vehicle A.

  First, the configuration will be described.

  FIG. 10 is a block diagram illustrating a configuration of the vehicle peripheral device 200 according to the second embodiment. FIG. 11 is an explanatory diagram of an attachment position of the obstacle detection unit 62 in FIG.

  As shown in FIGS. 10 and 11, the vehicle periphery monitoring device 200 mounted on the vehicle B includes, as obstacle detection means 62, a left front sensor 51 provided at a corner portion of the left front portion of the vehicle B, A left rear sensor 52 provided at the left rear corner, a right front sensor 53 provided at the right front corner of the vehicle B, a right rear sensor 54 provided at the right rear corner of the vehicle B, It has.

  Since the other configuration is the same as the configuration of the vehicle peripheral device 100 of the first embodiment shown in FIG. 1, the corresponding components are denoted by the same reference numerals and description thereof is omitted.

  Next, the operation will be described.

[Extension of display target area and direction of extended area]
FIG. 12 is a diagram showing the display of the screen 24 when there is no obstacle in the detection area of the obstacle detection means 62 in FIG. 10. FIG. 13 shows the obstacle S 2 around the vehicle B. FIG. 14 is a diagram showing an example of the case, and FIG. 14 is a diagram showing the display of the screen 24 in the case of FIG.

  Hereinafter, based on FIGS. 12-14, the effect | action of expansion of the display object area | region of the vehicle periphery monitoring apparatus 200 and the direction of an expansion area are demonstrated.

  When there is no obstacle in the detection area of the obstacle detection means 62 (the left front sensor 51, the left rear sensor 52, the right front sensor 53, the right rear sensor 54), the image is obtained by the microcomputer 16 as in the first embodiment. The cutout unit 9 is controlled, and the image cutout unit 9 cuts out a region in the vicinity of the vehicle B (hereinafter referred to as “vehicle vicinity region D51”) as a display target region on the screen 24, as shown in FIG. Is displayed on the screen 24.

  The region in the vicinity of the vehicle B is, for example, a region within 2 m around the vehicle B, and this value is a predetermined value K2 preset in the microcomputer 16.

  On the other hand, as shown in FIG. 13, when the obstacle S2 is present in the detection area of the left rear sensor 52, the distance L2 between the obstacle S2 and the vehicle B is detected by the left rear sensor 52, and the image cutting unit 9 expands and cuts out the display target area for the area in the direction in which the obstacle S2 exists so that the display target area includes the position where the obstacle S2 exists.

  At this time, the obstacle S2 shown in FIG. 13 exists on the left rear side of the vehicle B, and the left rear sensor 52 provided at the left rear corner of the vehicle B determines the distance L2 between the obstacle S2 and the vehicle B. In order to detect, the image cutout unit 9 extends on the left side and rear regions of the vehicle B.

  However, for example, when an obstacle is present on the left front side of the vehicle B and the front left sensor 51 detects this obstacle, the image cutout unit 9 expands on the left side and the front region of the vehicle B.

  Further, when an obstacle is present on the right front side of the vehicle B and the front right sensor 53 detects this obstacle, the image cutout unit 9 expands on the right side and the front region of the vehicle B.

  Similarly, when an obstacle exists on the right rear side of the vehicle B and the rear right sensor 54 detects the obstacle, the image cutout unit 9 expands on the right side and the rear region of the vehicle B.

  Then, the cut-out bird's-eye view image is synthesized by the image composition unit 10, and as shown in FIG. 14, the bird's-eye view image of the vehicle vicinity region D51 and the bird's-eye view image of the extended region D52 expanded with respect to the region in the direction where the obstacle S2 exists. Is displayed on the screen 24.

[Change extended area range]
FIG. 15 is a diagram showing a case where the distance between the obstacle S2 and the vehicle B is short from the state of FIG. 13, and FIG. 16 is a diagram showing a display of the screen 24 in the case of FIG.

  Hereinafter, based on FIG. 15 and FIG. 16, the change of the range of the expansion area | region of the vehicle periphery monitoring apparatus 200 is demonstrated.

  When the vehicle B moves backward from the state shown in FIG. 13 toward the obstacle S2, and the distance between the obstacle S2 and the vehicle B is L2 ′ smaller than L2 and is equal to or greater than the predetermined value K2. (K2 ≦ L2 ′ <L2), the image cutout unit 9 includes a region (vehicle B) in the direction in which the obstacle S2 exists so that the position where the obstacle S2 exists in the display target region is included in the overhead view image. The left display area and the rear area of the display area are expanded and cut out.

  Then, as shown in FIG. 16, the bird's-eye view image of the vehicle vicinity region D51 and the bird's-eye view image of the extended region D52 ′ expanded with respect to the region in the direction in which the obstacle S2 exists are displayed on the screen 24.

  Furthermore, when the distance between the obstacle S2 and the vehicle B approaches from the state shown in FIG. 15 and the obstacle S2 enters the vehicle vicinity region D51, as in the case of the first embodiment, the image cutout unit 9 Without expanding the display target area, only the vehicle vicinity area D51 is cut out from the overhead view image, and the overhead image of the vehicle vicinity area D51 is displayed on the screen 24 (not shown).

[Display on screen]
As described above, the range of the extended area is changed according to the distance between the obstacle S2 and the vehicle B. However, as shown in FIGS. 14 and 16, the display target area shown on the screen 24 includes the extended area. The obstacle S2 included in the display target area is displayed at a certain position on the screen 24 regardless of the extent (the size of the extended area range).

  When the vehicle B and the obstacle S2 approach each other, the expanded area D52 'becomes narrower and the range included in the display target area in the vehicle vicinity area D51 including the vehicle B becomes wider.

  For this reason, it is not necessary for the entire region of the vehicle vicinity region D51 to be included in the display target region, and the vehicle B and the obstacle S2 can be displayed largely on the screen 24.

  Since other operations are the same as those of the first embodiment, description thereof is omitted.

  Next, the effect will be described.

  According to the vehicle periphery monitoring apparatus 200 according to the second embodiment configured as described above, in addition to the effects of the first embodiment, the following effects can be obtained.

  When the left front sensor 51 detects an obstacle, the image cutting unit 9 expands on the left side and the front area of the vehicle B, and when the left rear sensor 52 detects an obstacle, the left side of the vehicle B When the right front sensor 53 detects the obstacle, the right front sensor 53 extends to the right side and the front area, and when the right rear sensor 54 detects the obstacle, the vehicle B Since the display target area is cut out by expanding the area on the right side and the rear side of the vehicle, even if an obstacle exists at a position oblique to the vehicle B, the position where the obstacle exists can be easily grasped. Can do.

  In addition, even when the vehicle B travels while turning and the obstacle S2 moves from the rear to the left side of the vehicle B, the change in the position of the obstacle S2 can be easily grasped. Can do.

  In addition, the image processing unit 23 controls the display so that the obstacle S2 included in the display target area is displayed at a certain position on the screen 24 regardless of the extent of the display target area. The entire area of D51 does not need to be included in the display target area, and the vehicle B and the obstacle S2 can be displayed large on the screen 24.

  Moreover, since the position of the obstacle S2 is fixed and the vehicle B moves on the screen 24, the image display is the same as the relationship between the actual vehicle B and the obstacle S2, and less discomfort to the driver. be able to.

  Note that according to the vehicle periphery monitoring apparatus 200 according to the second embodiment, the image processing unit 23 controls the display so that the obstacle S2 is displayed at a certain position on the screen 24, but as in the first embodiment. In addition, the vehicle B can be configured to be displayed at a certain position on the screen 24.

  As mentioned above, although the vehicle periphery monitoring apparatus of this invention has been demonstrated based on Example 1 and Example 2, it is not restricted to these Examples about a concrete structure, Each claim of a claim Design changes and additions are permitted without departing from the spirit of the invention.

8 Coordinate conversion unit 9 Image cutout unit 13 Monitor 21 Camera 22 Obstacle detection means 24 Screen K1 Predetermined value S1 Obstacle A Vehicle

Claims (8)

A camera mounted on a vehicle, an image processing unit that performs image processing on an image captured by the camera, a display unit that displays an image after the image processing is performed on a screen, and exists around the vehicle An obstacle detecting means for detecting a distance between the obstacle and the vehicle,
The image processing unit includes a coordinate conversion unit that generates a bird's-eye view image around the vehicle based on the captured image, and an image cutout unit that cuts out a display target region to be displayed on the screen from the bird's-eye view image. ,
When the distance between the obstacle detected by the obstacle detection unit and the vehicle is equal to or greater than a predetermined value, the image cutout unit includes a position where the obstacle exists in the display target area. In addition, the vehicle periphery monitoring device is characterized in that the display target area is expanded and cut out for an area in the direction in which the obstacle exists.   As the distance between the obstacle detected by the obstacle detection means and the vehicle is shortened, the image cutout unit is configured such that an expanded area expanded in an area in the direction in which the obstacle exists is narrowed. The vehicle periphery monitoring device according to claim 1, wherein the display target area is cut out. The obstacle detection means is provided in at least one of the front, rear, left side, and right side of the vehicle,
The image cutout unit expands the area in front of the vehicle when the obstacle detection unit at the front detects the obstacle, and the obstacle detection unit at the rear detects the obstacle. When the obstacle detecting means on the left side detects the obstacle, the left side area of the vehicle is extended and the obstacle on the right side is expanded. 3. The vehicle periphery monitoring device according to claim 1, wherein when the object detection unit detects the obstacle, the display target area is cut out by expanding an area on a right side of the vehicle. The obstacle detection means is provided in at least one of the left front part, the left rear part, the right front part, and the right rear part of the vehicle,
When the obstacle detection means at the left front part detects the obstacle, the image cutout part is expanded on the left side and the front area of the vehicle, and the obstacle detection means at the left rear part is When an obstacle is detected, the area on the left side and the rear side of the vehicle is expanded, and when the obstacle detection means on the right front part detects the obstacle, the area on the right side and the front side of the vehicle is expanded. 2. The display target area is expanded by expanding the area on the right side and the rear of the vehicle when the obstacle detection means on the right rear part detects the obstacle. The vehicle periphery monitoring apparatus described in 2.   5. The image cutout unit expands and cuts out the display target region only when the direction in which the obstacle exists is the traveling direction of the vehicle. 6. Vehicle periphery monitoring device described in 1. The display target area includes an area near the vehicle,
The image processing unit controls display so that an area in the vicinity of the vehicle is displayed at a certain position on the screen regardless of the extent of expansion of the display target area. The vehicle periphery monitoring device according to any one of 5.   The image processing unit controls display so that the obstacle included in the display target area is displayed at a certain position on the screen regardless of a degree of expansion of the display target area. The vehicle periphery monitoring apparatus according to any one of claims 1 to 5.   The obstacle detection means is a sonar that obtains a distance to the obstacle based on a time required for detecting the ultrasonic wave that is transmitted by the ultrasonic wave, reflected by the obstacle, and returned to the obstacle detection means. The vehicle periphery monitoring device according to claim 1, wherein the vehicle periphery monitoring device is provided.

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