JP2013098919A - Vehicle periphery monitoring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle periphery monitoring device allowing for extremely easy grasping of the presence/absence and the position of a monitoring target detected from an image.SOLUTION: A vehicle periphery monitoring device (10) comprises: a target detector (60) for detecting the monitoring target on the basis of a taken image (IL); a divided image region determination unit (62) which divides the taken image (IL) into predetermined plural divided image regions and determines which divided image region of the taken image (IL) includes the detected monitoring target; a first display controller (70) for displaying the taken image (IL) on a general-purpose display (26); and a second display controller (72) which displays a mark (100) in the divided display region of an MID (28) corresponding to the determined divided image region, thereby displaying the existence of the monitoring target. If there are plural monitoring targets in an identical divided image region, the second display controller (72) displays the existence of the monitoring targets with emphasis.

Description

  The present invention relates to a vehicle periphery monitoring device that detects a monitoring object around the vehicle based on a captured image output from an imaging unit mounted on the vehicle.

  2. Description of the Related Art As a conventional vehicle periphery monitoring device, a device that displays an image in front of a vehicle by an infrared camera on a HUD (Head Up Display) in front of a driver's seat and highlights an image part of a pedestrian detected from the image is known. ing.

JP 2003-284057 A

  When the driver wants to know in detail what range the monitoring object is in, the driver recognizes the monitoring object by looking at the display. However, in the conventional vehicle periphery monitoring device, the captured image is displayed. Since it is displayed, various information is displayed, and it is difficult to instantly grasp the monitoring object.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a vehicle periphery monitoring device that can very easily grasp the presence / absence and position of a monitoring target detected from an image.

  A vehicle periphery monitoring device according to the present invention is a vehicle in which an imaging unit mounted on a vehicle detects a monitoring object in front of the vehicle based on a captured image obtained by imaging a landscape in front of the vehicle. A peripheral monitoring device, wherein the monitoring target detection unit detects the monitoring target based on the captured image, and the captured image is divided into a plurality of predetermined image division regions, and the detected monitoring target An image division region determination unit that determines in which image division region of the captured image the object is present, a first display control unit that displays the captured image on the first display unit, and the determined image division region A second display control unit for displaying the presence of the monitored object by displaying a mark symbolized from the monitored object in a display divided region of the second display unit corresponding to the second display unit, The display control unit If the monitored object is a plurality in the same of the image segmentation region is characterized by displaying and emphasizing the presence of the monitored object.

  As described above, the driver can easily and instantly grasp the presence / absence of the monitoring target object and the position of the monitoring target object when there is the monitoring target only by looking at the second display unit. Also, if there are many monitoring objects in the same area, the possibility of the monitoring objects popping out increases, so the presence of the monitoring object is highlighted and displayed to alert the driver. Can be encouraged.

  The second display control unit expands the display division area for displaying the mark and displays the mark in the plurality of display division areas when a plurality of the monitoring objects exist in the same image division area. Thus, the presence of the monitoring object may be highlighted and displayed. In this way, when there are a large number of monitoring objects in the same area, there is a high possibility that the monitoring objects will pop out, so by expanding the display division area where the mark is displayed, the monitoring objects The driver can be alerted to areas that may come out.

  A movement direction detection unit that detects a movement direction of the detected monitoring object, and the second display control unit is configured to detect the monitoring object when a plurality of the monitoring objects exist in the same image division region. The display divided area for displaying the mark may be expanded according to the moving direction. As a result, when there are many monitoring objects in the same area and at least one of the monitoring objects is close to the vehicle, the mark is displayed because the monitoring object and the vehicle are likely to contact each other. By expanding the display division area to be activated, the driver can be alerted to the area where the monitored object pops out.

  The second display control unit does not need to expand the display division region for displaying the mark when there are a plurality of the detected monitoring objects in the image division region in the center of the captured image. Good.

  According to the vehicle periphery monitoring apparatus according to the present invention, the driver can easily and instantly grasp the presence / absence of the monitoring target object and the position of the monitoring target object when the monitoring target exists only by looking at the second display unit. it can. In addition, when there are a large number of monitoring objects in the same area, there is a high possibility that at least one of the monitoring objects will pop out, so that the driver is alerted by highlighting the presence of the monitoring object. be able to.

It is an electric block diagram which shows the structure of the vehicle periphery monitoring apparatus which concerns on embodiment. It is a schematic perspective view of the vehicle incorporating the vehicle periphery monitoring apparatus shown in FIG. FIG. 3 is a front interior view of the vehicle shown in FIG. 2 viewed from the driver side. 4A is a front view of the general-purpose display shown in FIG. 4B is a front view of the MID shown in FIG. It is a figure which shows the display division area corresponding to the image division area of a captured image, and the image division area of a captured image. It is a flowchart with which operation | movement description of the vehicle periphery monitoring apparatus shown in FIG. 1 is provided. FIG. 7A shows an example of the captured image acquired in step S1, and FIG. 7B shows an example of the simulated image displayed in the second display area of the MID in step S6 when the captured image shown in FIG. 7A is acquired. FIG. FIG. 8A shows an example of the captured image acquired in step S1, and FIG. 8B shows an example of the simulated image displayed in the second display area of the MID in step S7 when the captured image shown in FIG. 8A is acquired. FIG. It is a flowchart with which operation | movement description of the vehicle periphery monitoring apparatus shown in FIG. 1 is provided. FIG. 10A shows an example of the captured image acquired in step S11 in the case where there are a plurality of monitoring objects in the right-side image divided region, and FIG. 10B acquired the captured image IL shown in FIG. 10A. It is a figure which shows an example of the simulation image displayed on the 2nd display area of MID in step S16. FIG. 11A shows an example of a captured image acquired in step S11 when there are a plurality of objects to be monitored in the central image division region, and FIG. 11B shows a case where the captured image shown in FIG. 11A is acquired. FIG. 10 is a diagram showing an example of a simulated image displayed in the second display area of MID in step S16.

  Hereinafter, preferred embodiments of a vehicle periphery monitoring device according to the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is an electric block diagram showing a configuration of a vehicle periphery monitoring apparatus 10 according to the present embodiment. FIG. 2 is a schematic perspective view of the vehicle 12 in which the vehicle periphery monitoring device 10 shown in FIG. 1 is incorporated. FIG. 3 is a front interior view of the vehicle 12 shown in FIG. 2 viewed from the driver side. In addition, this vehicle 12 has shown the condition which is drive | working the road of the country where it is negotiated that the motor vehicle drive | works to the right side, and the vehicle 12 is illustrated as a left-hand drive vehicle.

  The vehicle periphery monitoring device 10 detects an image processing unit 14 that controls the vehicle periphery monitoring device 10, left and right infrared cameras 16L and 16R (imaging units) connected to the image processing unit 14, and a vehicle speed Vs of the vehicle 12. A vehicle speed sensor 18 that detects a brake pedal operation amount Br (brake operation amount Br) (not shown) by a driver, a yaw rate sensor 22 that detects a yaw rate Yr of the vehicle 12, and an alarm or the like is issued by voice. Speaker 24, a general-purpose display 26 that displays captured images output from the infrared cameras 16L and 16R, an MID (Multi-Information Display) 28 that visualizes and displays accompanying information during driving of the vehicle 12, And a storage unit 30.

  As shown in FIG. 2, the infrared cameras 16 </ b> L and 16 </ b> R functioning as a stereo camera image the scenery in front of the vehicle 12, and the front bumper portion of the vehicle 12 is positioned with respect to the vehicle width direction center portion of the vehicle 12. Are arranged almost symmetrically. The two infrared cameras 16 (infrared cameras 16L and 16R) are fixed so that the optical axes thereof are parallel to each other and the heights from both road surfaces are equal. The infrared cameras 16L and 16R have a characteristic that the output signal level becomes higher (the luminance increases) as the temperature of the monitoring object is higher.

  Here, the reason for providing two infrared cameras 16 is to calculate the distance to the monitoring object. Therefore, the captured image obtained by one of the infrared cameras 16L and 16R is basically used, and the captured image obtained by capturing the image by the other infrared camera 16 is obtained up to the monitoring object. Used only when calculating distance. In the present embodiment, a captured image (hereinafter referred to as a captured image IL) obtained by the infrared camera 16L is basically used, and a captured image (hereinafter referred to as a captured image IR) obtained by the infrared camera 16R is the target of the monitoring target. Used only when calculating the distance.

  The imaging unit of the present invention is not limited to the configuration example shown in FIG. For example, the imaging unit may be a compound eye camera (stereo camera) or a monocular camera (one camera). In the case of a monocular camera, another distance measuring means (a radar device, a distance measuring sensor, or the like) may be provided, and the distance to the subject may be calculated using a TOF (Time Of Flight) method. To explain simply, the TOF method is a method of obtaining the distance to the subject from the flight time (delay time) of light until the light emitted from the light source is reflected by the object and reaches the camera, and the speed of the light. is there. Instead of an infrared camera, a camera that mainly uses light having a wavelength in the visible light region (also referred to as a color camera) may be used, or both may be provided. The imaging unit may include a plurality of cameras.

  As shown in FIGS. 2 and 3, the dashboard 40 is provided with a handle 42 that protrudes from a lower portion thereof toward a driver's seat (not shown). An MID (second display unit) 28 is disposed at a position of the dashboard 40 (or in the instrument panel 44) that is aligned with the center position of the handle 42 and near the upper side of the instrument panel 44. Yes. As a result, the driver can view the MID 28 with his / her face facing the front of the vehicle 12 and the visibility to the MID 28 is improved. The general-purpose display (first display unit) 26 is disposed at a predetermined portion of the dashboard 40 (specifically, a portion on the right side with respect to the position where the MID 28 is disposed).

  4A is a front view of the general-purpose display 26, and FIG. 4B is a front view of the MID 28.

  A rectangular first display region 46 that is long in the horizontal direction is provided on substantially the entire surface of the general-purpose display 26 shown in FIG. 4A. In this figure, the captured image IL output from the infrared camera 16L is displayed in the first display area 46. The general-purpose display 26 is a module capable of displaying a color image or a monochrome image, and may be composed of, for example, a liquid crystal panel, an organic EL (Electro-Luminescence), an inorganic EL panel, or the like. In this case, the general-purpose display 26 can display arbitrary images, for example, various images for car navigation (road maps, service information, etc.), moving image content, and the like.

  A rectangular second display region 48 that is long in the horizontal direction is provided on substantially the entire surface of the MID 28 shown in FIG. 4B. In the second display area 48, a simulated image 50 obtained by extracting and simulating only a predetermined feature portion displayed in the first display area 46 is displayed. Specifically, the simulated image 50 includes a road 52 that schematically represents a road that can be seen in front of the vehicle, and the road 52 includes lines 52L, 52C, and 52R. The road 52 is represented using a perspective method. Specifically, the width between the lines 52L and 52R becomes narrower toward the upper side. The lines 52L, 52C, and 52R can remind the driver of a straight road when looking forward from the driver's seat. Note that the MID 28 may display the lines 52L, 52C, and 52R mechanically or structurally rather than electrically. For example, the road 52 may be schematically displayed by pasting members indicating the lines 52L, 52C, and 52R on the second display area 48 of the MID 28 in advance. That is, the MID 28 only needs to represent a road 52 that is a model of a road that can be seen in front of the vehicle.

  The MID 28 is a display module that has a simpler configuration than the general-purpose display 26 and is inexpensive. The MID 28 may be able to display fuel consumption, current time, information on the instrument panel 44, and the like.

  The image processing unit 14 includes an A / D conversion circuit that converts an input analog signal into a digital signal, a CPU (central processing unit; computer) that performs various arithmetic processing (not shown), and the like in the storage unit 30. By reading the stored program, it functions as the image processing unit 14 of the present embodiment. The storage unit 30 stores captured images IL and IR converted into digital signals, RAM (Random Access Memory) that stores temporary data used for various arithmetic processes, or an execution program, a table, a map, or the like. It is composed of ROM (Read Only Memory) or the like.

  The output signals of the infrared cameras 16L and 16R, the vehicle speed sensor 18, the brake sensor 20, and the yaw rate sensor 22 are configured to be supplied to the image processing unit 14 as digital signals.

  The image processing unit 14 includes an object detection unit 60, an image division region determination unit 62, a movement direction detection unit 64, a risk evaluation unit 66, a display division region selection unit 68, a first display control unit 70, and a second display control. Part 72. Through various processes by the image processing unit 14, the image processing unit 14 captures captured images (infrared images) IL and IR in front of the vehicle 12 captured by the infrared cameras 16L and 16R, and various signals (for example, the traveling state of the vehicle 12). When the monitoring object existing in front of the vehicle 12 is detected from the vehicle speed Vs, the brake operation amount Br, the yaw rate Yr), etc., and it is determined that the vehicle 12 is likely to contact the monitoring object, the speaker 24 An alarm is issued through etc.

  The object detection unit 60 detects whether or not a monitoring object (human) is present in the captured image IL based on the captured image IL obtained by the infrared camera 16L. As a detection method, for example, a pattern matching method (a method of detecting a human by matching feature data indicating a human characteristic and a captured image IL) may be employed.

  The image segmentation area determination unit 62 determines in which image segmentation area of the captured image IL the monitoring object detected by the object detection unit 60 exists. When the object detection unit 60 detects a plurality of monitoring objects, the image segmentation area determination unit 62 determines in which image segmentation area of the captured image IL each monitoring object exists. The captured image IL is divided into a plurality of predetermined image division regions as will be described later.

  The movement direction detection unit 64 detects the movement direction of the monitoring object detected by the object detection unit 60. The movement direction detection unit 64 detects the movement direction by calculating a motion vector of the monitoring object. For example, the moving direction detection unit 64 detects where the previously detected monitoring object is in the captured image IL captured this time by the block matching method or the like, and the position of the previously detected monitoring object and the block matching method. The movement direction of the monitoring object is detected by obtaining a motion vector from the position of the current monitoring object detected by the above method.

  The risk evaluation unit 66 evaluates the high probability (risk level) of the monitoring object popping out. Specifically, the risk level evaluation unit 66 evaluates that the risk level is high when a plurality of monitoring objects exist in the same image segmentation area. This is because, when there are a plurality of monitoring objects in the same image segmentation area, the probability that the monitoring objects will pop out in the traveling direction of the vehicle 12 increases. Note that the risk level evaluation unit 66 is in a case where there are a plurality of monitoring objects in the same image segmentation area, and any one of the monitoring objects is moving in the traveling direction of the vehicle 12. It may be evaluated that the degree is high.

  The display division area selection unit 68 selects the display division area of the second display area 48 of the MID 28 corresponding to the image division area where the monitoring target object determined by the image division area determination unit 62 exists. This display divided area will be described in detail later. The display division region selection unit 68 may expand the display division region to be selected and select a plurality of display division regions when the risk evaluation unit 66 evaluates that the risk is high. Even when the risk evaluation unit 66 evaluates that the risk is high, if there are a plurality of detected objects to be monitored in the image division region in the center of the captured image IL, the display division to be selected is selected. Do not extend the area.

  The first display control unit 70 displays the captured image IL obtained by imaging by the infrared camera 16L in the first display area 46 of the general-purpose display 26. The second display control unit 72 displays a mark (see FIG. 7B, FIG. 8B, etc.) 100 that symbolizes the monitored object in the display divided region selected by the display divided region selecting unit 68. Only one mark 100 is displayed per display divided region, and a plurality of the same marks 100 are not displayed in one display divided region. In addition, the second display control unit 72 highlights the presence of the monitoring object when there are a plurality of monitoring objects in the same image division region.

  As a method for highlighting the monitoring object, for example, the presence of the monitoring object is highlighted by highlighting the mark 100 in the display divided area corresponding to the image divided area where a plurality of monitoring objects exist. Also good. Examples of highlighting of the mark 100 include changing the color of the mark 100, moving the mark 100, and blinking the mark 100. In addition, when the display division area selection unit 68 expands the display division area to be selected, the mark 100 may be displayed in each selected display division area to highlight the presence of the monitoring target.

  FIG. 5 is a diagram illustrating display divided areas corresponding to the image divided areas of the captured image IL and the image divided areas of the captured image IL. The captured image IL is divided into three image division areas, a left image division area 82, a central image division area 84, and a right image division area 86 in order from the left. The second display area 48 of the MID 28 has three display areas. The divided area is divided into a left display divided area 92, a central display divided area 94, and a right display divided area 96 in order from the left. The left image divided area 82 is associated with the left display divided area 92, the central image divided area 84 is associated with the central display divided area 94, and the right image divided area 86 is associated with the right display divided area 96. A point 92 a indicates the display position of the mark 100 in the left display divided area 92, a point 94 a indicates the display position of the mark 100 in the central display divided area 94, and a point 96 a indicates the display of the mark 100 in the right display divided area 96. Indicates the position. In addition, the image division area and the display division area may be divided into shapes (C-shape) along the lines 52L and 52R of the road 52 displayed in the second display area 48 of the MID 28. The image division area and the display division area may be areas obtained by dividing the first display area 46 and the second display area 48 into four or more.

  The display divided region selection unit 68 selects the left display divided region 92 when the monitoring target exists in the left image divided region 82, and the second display control unit 72 selects the left side selected by the display divided region selection unit 68. The mark 100 is displayed at the display position 92 a of the display divided area 92. In addition, the display divided region selection unit 68 selects the central display divided region 94 when the monitoring target exists in the central image divided region 84, and the second display control unit 72 selects the display divided region selection unit 68. The mark 100 is displayed at the display position 94 a of the central display divided area 94. Further, the display divided region selection unit 68 selects the right display divided region 96 when the monitoring target exists in the right image divided region 86, and the second display control unit 72 selects the display divided region selection unit 68. The mark 100 is displayed at the display position 96 a of the right display divided area 96. Accordingly, the second display control unit 72 displays only one mark 100 in the display divided area corresponding to the image divided area even when a plurality of monitoring objects exist in the same image divided area. become.

  The vehicle periphery monitoring apparatus 10 according to the present embodiment is basically configured as described above. Then, an example of operation | movement of this vehicle periphery monitoring apparatus 10 is demonstrated along with the flowchart of FIG. 6, referring other drawings suitably.

  The image processing unit 14 acquires the captured images IL and IR obtained by the infrared cameras 16L and 16R (step S1). The infrared cameras 16L and 16R perform imaging at a predetermined frame rate, for example, 30 fps (frame rate at which 30 frames are captured per second). The operation shown in the flowchart of FIG. 6 is executed at a 1/30 second period. That is, every time the infrared cameras 16L and 16R capture an image, the operation shown in the flowchart of FIG. 6 is executed.

  Next, the object detection unit 60 detects a monitoring object present in the captured image IL based on the captured image IL acquired in step S1 (step S2). The object detection unit 60 detects a plurality of monitoring objects when there are a plurality of monitoring objects in the captured image IL.

  Next, the image division area determination unit 62 determines in which image division area of the captured image IL the monitoring target detected in step S2 is present (step S3). When a plurality of monitoring objects are detected, the image division area determination unit 62 determines in which image division area each monitoring object is present.

  Next, the display divided area selection unit 68 selects the display divided area of the second display area 48 of the MID 28 corresponding to the image divided area in which the monitoring target determined in step S3 is present (step S4). For example, when the image division area determination unit 62 determines that the monitoring target exists in the right image division area 86, the display division area selection unit 68 selects the right display division area 96.

  Next, the risk evaluation unit 66 determines whether or not a plurality of monitoring objects are present in the same image division region (step S5). This determination is made based on the determination result of step S3.

  If a plurality of monitoring objects do not exist in the same image segmentation area in step S5, the risk evaluation unit 66 evaluates that the risk is low and proceeds to step S6. In step S5, the plurality of monitoring objects are detected. If they exist in the same image segmentation area, the risk evaluation unit 66 evaluates that the risk is high, and proceeds to step S7.

  In step S6, the second display control unit 72 displays on the MID 28 the mark 100 obtained by symbolizing the monitoring target at the display position of the display divided region selected in step S4, and then proceeds to step S8.

  7A shows an example of the captured image IL acquired in step S1, and FIG. 7B shows a simulated image displayed in the second display area 48 of the MID 28 in step S6 when the captured image IL shown in FIG. 7A is acquired. FIG.

  As shown in FIG. 7A, the monitoring object H1 exists in the central image division area 84, the monitoring object H2 exists in the right image division area 86, and a plurality of monitoring objects do not exist in the same image division area. I understand that.

  In FIG. 7A, since the monitoring objects H1 and H2 exist in the central image divided area 84 and the right image divided area 86, the display divided areas selected in step S4 are the central display divided area 94 and the right display divided area 96. Then, as shown in FIG. 7B, in step S6, the mark 100 is displayed at the display position 94a of the central display divided area 94 and the display position 96a of the right display divided area 96. As a result, the presence of the monitoring target is displayed on the MID 28, and the driver only looks at the MID 28 with the line of sight facing forward, and the presence or absence of the monitoring target or the monitoring target exists. The position can be grasped easily and instantaneously. The mark 100 is displayed in a predetermined color (for example, yellow).

  On the other hand, when the process proceeds to step S7, the second display control unit 72 highlights the mark 100 that symbolizes the monitoring object at the display position of the display divided area selected in step S4, and displays it on the MID 28, and then proceeds to step S8. Proceed to Thereby, the presence of the monitoring object is highlighted. The highlighting of the symbolized mark 100 is performed only for the display divided area corresponding to the image divided area determined to have a plurality of monitoring objects, and corresponds to the image divided area where only one monitoring object exists. In the display divided region, the mark 100 is simply displayed without being emphasized.

  FIG. 8A shows an example of the captured image IL acquired in step S1, and FIG. 8B shows a simulated image displayed in the second display area 48 of the MID 28 in step S7 when the captured image IL shown in FIG. 8A is acquired. FIG. As shown in FIG. 8A, it can be seen that there are a plurality of monitoring objects H1, H2, and H3 in the right image division area 86.

  In FIG. 8A, since the monitoring objects H1, H2, and H3 are present in the right image divided area 86, the selected display divided area is the right display divided area 96 in step S4, and as shown in FIG. Thus, the mark 100 is displayed at the display position 96 a of the right display divided region 96. Here, since there are a plurality of monitoring objects H1, H2, and H3 in the right image division area 86, the mark 100 is highlighted in the right display division area 96. In the example shown in FIG. 8B, for the sake of convenience, the mark 100 is highlighted with a diagonal line, but the mark 100 is marked in a color (for example, red) different from the color (predetermined color) of the mark 100 displayed in step S6. 100 may be highlighted, or the mark 100 may be highlighted by shaking the mark 100 left and right or up and down. Alternatively, the mark 100 may be highlighted by causing the mark 100 to blink. In this way, by highlighting the mark 100 itself, the presence of the monitoring object can be emphasized and displayed on the MID 28.

  In step S8, the first display control unit 70 causes the captured image IL acquired most recently in step S1 to be displayed on the first display area 46 of the general-purpose display 26.

  Next, another example of the operation of the vehicle periphery monitoring apparatus 10 will be described along the flowchart of FIG. 9 with reference to other drawings as appropriate.

  The image processing unit 14 acquires captured images IL and IR obtained by the infrared cameras 16L and 16R (step S11). The infrared cameras 16L and 16R perform imaging at a predetermined frame rate, for example, 30 fps (frame rate at which 30 frames are captured per second). The operation shown in the flowchart of FIG. 9 is executed at a 1/30 second period. That is, every time the infrared cameras 16L and 16R capture an image, the operation shown in the flowchart of FIG. 9 is executed.

  Next, the object detection unit 60 detects a monitoring object present in the captured image IL based on the captured image IL acquired in step S11 (step S12). The object detection unit 60 detects a plurality of monitoring objects when there are a plurality of monitoring objects in the captured image IL.

  Next, the image division area determination unit 62 determines in which image division area of the captured image IL the monitoring target detected in step S12 is present (step S13). When a plurality of monitoring objects are detected, the image division area determination unit 62 determines in which image division area each monitoring object is present.

  Next, the display divided area selection unit 68 selects the display divided area of the second display area 48 of the MID 28 corresponding to the image divided area in which the monitoring target determined in step S13 is present (step S14). For example, when the image division area determination unit 62 determines that the monitoring target exists in the right image division area 86, the display division area selection unit 68 selects the right display division area 96.

  Next, the risk evaluation unit 66 determines whether or not a plurality of monitoring objects are present in the same image division region (step S15). This determination is made based on the determination result of step S13. If a plurality of monitoring objects do not exist in the same image segmentation area in step S15, the risk evaluation unit 66 evaluates that the risk is low, and proceeds to step S16.

  In step S16, the second display control unit 72 causes the MID 28 to display the mark 100 in which the monitoring target is symbolized at the display position of the display divided region selected in step S14, and then proceeds to step S21. The operations of Step S11 to Step S16 and Step S21 are the same as the operations of Step S1 to Step S6 and Step S8 in FIG.

  If it is determined in step S15 that a plurality of monitoring objects are present in the same image divided area, the moving direction detection unit 64 detects the moving directions of the plurality of monitoring objects determined to be present in the same image divided area. (Step S17).

  Next, the risk evaluation unit 66 determines whether or not at least one of the plurality of monitoring objects determined to be present in the same image division region is approaching the vehicle 12 (step S18). For example, when the monitoring object is moving in the traveling direction of the vehicle 12 or when the monitoring object is moving from the front toward the vehicle 12, the monitoring object is approaching the vehicle 12. Judge. The determination in step S18 is made based on the moving direction of the monitoring target detected in step S17.

  If it is determined in step S18 that the monitoring object is approaching the vehicle 12, the risk evaluation unit 66 evaluates that the risk is high, and proceeds to step S19. In step S18, the monitoring object is moved to the vehicle 12. If it is determined that they are not approaching, the risk evaluation unit 66 evaluates that the risk is low, and proceeds to step S16.

  In step S19, the display divided region selection unit 68 determines whether or not the image divided region where the plurality of monitoring objects exist is the central image divided region 84.

  If it is determined in step S19 that the image division area where a plurality of monitoring objects exist is the central image division area 84, the process proceeds to step S16. In step S16, the second display control unit 72 causes the MID 28 to display the mark 100 in which the monitoring target is symbolized at the display position of the display divided region selected in step S14, and then proceeds to step S21.

  On the other hand, if it is determined in step S19 that the image division area in which a plurality of monitoring objects exist is not the central image division area 84, the display division area to be selected is expanded and a display division area is further selected (step S20). . When there are a plurality of monitoring objects, that is, in addition to the display divided area selected in step S14, a display divided area is further selected. Further, the display divided area to be selected is the display divided area selected in step S14, and the traveling direction of the vehicle 12 (the second display area 48) This is a display division area closer to the center. When a plurality of monitoring objects are in the same image division area and the monitoring object is approaching the vehicle 12, display division corresponding to the image division area that can be predicted that the monitoring object will pop out Select more regions.

  More specifically, for example, when there are a plurality of monitoring objects in the right image divided area 86 and the right display divided area 96 is selected in step S14, the vehicle is selected from the right display divided area 96 in step S20. The 12 central display divided regions 94 near the traveling direction are further selected. If there are a plurality of monitoring objects in the left image divided area 82 and the left display divided area 92 is selected in step S14, the vehicle 12 is closer to the traveling direction than the left display divided area 92 in step S20. The center display divided area 94 is further selected.

  When the display divided area to be selected is expanded in step S20, the process proceeds to step S16, and the second display control unit 72 displays the display position of the display divided area selected in step S14 and the display position of the display divided area selected in step S20. Then, the mark 100 in which the monitoring target is symbolized is displayed on the MID 28, and the process proceeds to step S21.

  FIG. 10A shows an example of the captured image IL acquired in step S11 in the case where there are a plurality of objects to be monitored in the right image divided region 86, and FIG. 10B shows the captured image IL shown in FIG. 10A. 6 is a diagram illustrating an example of a simulated image 50 displayed in the second display area 48 of the MID 28 in step S16. As shown in FIG. 10A, it can be seen that there are a plurality of monitoring objects H1, H2, and H3 in the right image division area 86.

  In FIG. 10A, since the monitoring objects H1, H2, and H3 exist in the right image divided area 86, the display divided area selected in step S14 becomes the right display divided area 96, and as shown in FIG. 10B, in step S16. The mark 100 is displayed at the display position 96 a of the right display divided region 96. Here, in the right image division area 86, there are a plurality of monitoring objects H1, H2, and H3, and the monitoring object H2 is moving in the traveling direction of the vehicle 12, so in step S20, further. The selected display divided area is the central display divided area 94 closer to the traveling direction of the vehicle 12 than the right display divided area 96, and the mark 100 is also displayed at the display position 94a of the central display divided area 94 in step S16. . Thereby, the presence of the monitoring object is highlighted.

  Here, the traveling direction of the vehicle 12 is a direction (straight forward direction) toward the object at the center of the captured image IL when the handle 42 is not cut, and when the handle 42 is cut, the image is taken. The traveling direction can be obtained from the direction toward the object at the center of the image IL and the yaw rate Yr detected by the yaw rate sensor 22. In FIG. 10A, the handle 42 is not cut. For example, when the handle 42 is cut to the right, the direction in which the direction toward the object in the center of the captured image IL is rotated to the right by an angle corresponding to the yaw rate Yr is the straight direction, and the handle 42 is moved to the left. In the case of being cut off, the direction in which the direction toward the object at the center of the captured image IL is rotated to the left by an angle corresponding to the yaw rate Yr is the straight direction. A dot-dash line P1 in FIG. 10A indicates the predicted trajectory of the vehicle 12, and indicates the traveling direction of the vehicle 12.

  FIG. 11A shows the captured image IL acquired in step S11, and shows an example of the captured image IL when there are a plurality of monitoring objects in the central image divided region 84, and FIG. 11B shows the captured image IL shown in FIG. 11A. 6 is a diagram illustrating an example of a simulated image 50 displayed in the second display area 48 of the MID 28 in step S16. As shown in FIG. 11A, it can be seen that a plurality of monitoring objects H1, H2, and H3 exist in the central image division area 84.

  In FIG. 11A, since the monitoring objects H1, H2, and H3 exist in the central image divided area 84, the display divided area selected in step S14 becomes the central display divided area 94, and as shown in FIG. 11B, in step S16. The mark 100 is displayed at the display position 94 a of the central display divided area 94. Here, since a plurality of monitoring objects exist in the central image divided area 84, the display divided area is not further selected. Therefore, the mark 100 is displayed only in the central display divided region 94 selected in step S14.

  In step S21, the first display control unit 70 displays the captured image IL acquired most recently in step S11 in the first display area 46 of the general-purpose display 26.

  In this way, since the mark is displayed in the display divided region of the second display region 48 corresponding to the image divided region where the monitoring target exists, the driver looks at the MID 28 with the line of sight facing forward. Thus, the presence / absence of the monitoring object and the position of the monitoring object can be easily and instantaneously grasped. In addition, when there are a large number of monitoring objects in the same area, there is a high possibility that at least one of the monitoring objects will pop out, so that the driver is alerted by highlighting the presence of the monitoring object. be able to.

  In addition, as a highlighted display of the presence of the monitoring target, a mark to be displayed may be highlighted. Accordingly, the driver can instantly recognize that there are a plurality of monitoring objects in the display divided area where the mark is highlighted, and can pay attention.

  In addition, as a highlight display of the presence of the monitoring target, a display division area for displaying a mark may be expanded. Thereby, it is possible to urge the driver to call attention to an area where the monitoring object may pop out. Further, the moving direction of the monitoring object may be detected, and when the monitoring object may approach the vehicle 12, the display division area for displaying the mark may be expanded. As a result, the driver can be alerted to the area where the monitored object pops out.

  The above embodiment may be modified as follows.

  (Modification 1) The operation shown in the flowchart of FIG. 9 in the above embodiment is a case where a plurality of monitoring objects exist in the same image segmentation area, and any of the monitoring objects approaches the vehicle 12. In this case, the display divided area to be selected is expanded and the mark 100 is displayed. However, even if the monitored object is not close to the vehicle 12, a plurality of monitored objects are in the same image divided area. May be displayed, the display division area to be selected may be expanded and the mark 100 may be displayed.

  That is, if it is determined in step S15 in FIG. 9 that a plurality of monitoring objects exist in one image division region, the operations in steps S17 and S18 may be skipped and the process may proceed to step S19. This is because when there are a plurality of monitoring objects in the same image division region, it can be evaluated that there is a high possibility that the monitoring objects will pop out.

  (Modification 2) In the above embodiment, humans are detected as monitoring objects. However, other than humans, for example, animals such as dogs, cats, deers, etc., are detected as monitoring objects. Also good. In this case, the mark displayed on the MID 28 may be varied depending on the monitoring object.

  (Modification 3) In the operation shown in the flowchart of FIG. 9, when a plurality of monitoring objects exist in the same image divided area, the display divided area to be selected is expanded, but the display divided area is expanded. Thus, when all the display divided areas or display divided areas of a certain ratio (for example, 80%) or more are selected, the display divided area to be selected may not be expanded. For example, if there is one monitoring object in the left image divided area 82 and a plurality of monitoring objects exist in the right image divided area 86, the left display divided area 92 and the right display divided area 96 are selected in step S14. In step S20, the center display divided area 94 is further selected, all display divided areas are selected, and the mark 100 is displayed in all display divided areas. In this way, if the mark 100 is displayed in a display divided area of a certain ratio or more, the driver gets confused. In such a case, the display divided area to be selected may not be expanded. Good.

  (Modification 4) The aspect which arbitrarily combined the said modifications 1-3 may be sufficient.

  As described above, the present invention has been described using the preferred embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above embodiment. It is apparent from the description of the scope of claims that embodiments with such changes or improvements can be included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 10 ... Vehicle periphery monitoring apparatus 12 ... Vehicle 14 ... Image processing part 16L, 16R ... Infrared camera 26 ... General-purpose display 28 ... MID
DESCRIPTION OF SYMBOLS 30 ... Memory | storage part 40 ... Dashboard 42 ... Handle 46 ... 1st display area 48 ... 2nd display area 52 ... Road 52L, 52C, 52R ... Line 60 ... Object detection part 62 ... Image division area determination part 64 ... Moving direction Detection unit 66 ... Risk evaluation unit 68 ... Display division region selection unit 70 ... First display control unit 72 ... Second display control unit 82 ... Left image division region 84 ... Center image division region 86 ... Right image division region 92 ... Left side Display divided areas 92a, 94a, 96a ... display position 94 ... center display divided area 96 ... right display divided area 100 ... mark

Claims (4)

A vehicle periphery monitoring device that detects an object to be monitored in front of the vehicle based on a captured image obtained by capturing an image of a landscape in front of the vehicle with an imaging unit mounted on the vehicle,
A monitoring object detection unit that detects the monitoring object based on the captured image;
The captured image is divided into a plurality of predetermined image division regions, and an image division region determination unit that determines in which image division region of the captured image the detected monitoring target exists;
A first display control unit for displaying the captured image on the first display unit;
A second display control unit for displaying the presence of the monitored object by displaying a mark symbolizing the monitored object in a display divided region of the second display unit corresponding to the determined image divided region; ,
With
The said 2nd display control part emphasizes and displays the presence of the said monitoring target object, when the said monitoring target object exists in two or more in the same said image division area. The vehicle periphery monitoring apparatus characterized by the above-mentioned. The vehicle periphery monitoring device according to claim 1,
The second display control unit expands the display division area for displaying the mark and displays the mark in the plurality of display division areas when a plurality of the monitoring objects exist in the same image division area. Thus, the vehicle periphery monitoring device is characterized in that the presence of the monitoring object is highlighted and displayed. In the vehicle periphery monitoring device according to claim 2,
A movement direction detection unit that detects a movement direction of the detected monitoring object;
The second display control unit, when there are a plurality of the monitoring objects in the same image division area, expands the display division area in which the mark is displayed according to the moving direction of the monitoring object. A vehicle periphery monitoring device. In the vehicle periphery monitoring device according to claim 2 or 3,
The second display control unit does not extend the display divided region for displaying the mark when there are a plurality of the detected monitoring objects in the image divided region in the center of the captured image. A vehicle periphery monitoring device.

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