JP4855884B2 - Vehicle periphery monitoring device - Google Patents

Description

  The present invention relates to a vehicle periphery monitoring device, and more particularly, to a vehicle periphery monitoring device based on an image obtained by an in-vehicle camera on the passenger seat side.

  The number of vehicles equipped with video monitors is increasing due to the spread of navigation systems. In addition, due to the low price of cameras, video safe driving support systems such as parking assistance have been developed.

  As a typical example, there is a system that compensates a driver's appearance outside the vehicle as a blind spot using an image obtained by a camera attached to a side mirror on the passenger seat side. In general, this system has a main purpose of preventing wheel removal by projecting a state around the front wheel portion of the vehicle with a camera, and has already been put into practical use.

  In addition, a system has been proposed in which a wide-angle camera is installed facing the rear of the vehicle to supplement the field of view of the side mirror.

  However, the distance to the object in the image obtained by this system is different from the sense of distance that the driver senses visually. The difference in the sense of distance to the target object confuses the driver's feeling, and becomes more serious when the target object is an obstacle that affects the driving operation.

  The driver feels uncomfortable with the distance to the object displayed on the monitor by this system. The image obtained by the system depends on the installation position of the in-vehicle camera (camera viewpoint image), and is based on the driver's viewpoint. This is because it is not.

  In view of this, a system has been proposed in which image processing is performed on an image from a camera viewpoint, and the image is converted into a driver viewpoint image and displayed (Patent Document 1).

  However, in a system using a wide-angle camera, if a part of the vehicle is included in the camera viewpoint image, the vehicle part is located between the camera installation position and the driver viewpoint. Even if the vehicle portion is converted to the vehicle portion, an appropriate conversion process is not performed on the vehicle portion, but rather, an incorrect conversion is performed, and the driver makes an incorrect determination regarding the positional relationship between the vehicle and the obstacle.

  In order to avoid this problem, the vehicle image is stored in the memory in advance, the camera viewpoint image is converted into the driver viewpoint image, and the obtained driver viewpoint image is stored in the memory. There has been proposed a method of displaying a vehicle image in an overlapping manner (Patent Document 2).

As another method, there is a proposal in which a camera is provided in the vehicle interior in addition to the in-vehicle camera outside the vehicle, and an image in the vehicle interior is captured by the camera in the vehicle interior (Patent Document 3).
JP 2003-339044 A JP 2005-184142 A JP 2004-350303 A

  However, when trying to apply the proposal disclosed in Patent Document 2, it is necessary to store a huge number of vehicle images continuously in a wide angle range from the front to the rear of the vehicle in a memory in advance. Need to add more memory. Therefore, the configuration is complicated and the manufacturing cost is increased.

  On the other hand, if it is going to apply the proposal disclosed by patent document 3, it will be necessary to provide a new camera in a vehicle interior as a system structure, and it will cause complication of a structure and an increase in manufacturing cost, and from the vehicle front to the vehicle rear It is difficult to change the direction of the camera outside the vehicle and the camera inside the vehicle in a wide range.

  In addition, these cameras installed in the vicinity of the conventional side mirror are fixed and are used exclusively for either the front wheel near the installation position or the rear of the vehicle, so they are independent to project both Two cameras are required.

  The present invention has been made in view of the above circumstances, and a camera installed in the vicinity of a side mirror of a vehicle can obtain a front image and a rear image without adding a new device such as a camera or a memory. An object of the present invention is to provide a vehicle periphery monitoring device that can perform an appropriate conversion process for a vehicle portion.

  The vehicle periphery monitoring device according to the present invention selects both the front part and the rear part of the vehicle by making the side camera on the passenger seat side (left side for right-hand drive vehicles, right side for left-hand drive vehicles) movable. Of the image obtained by the vehicle-mounted side camera and the viewpoint conversion between the image portion where the vehicle is shown (image portion of the vehicle) and the image portion where the vehicle is not reflected (image portion other than the vehicle) By giving a difference in processing conditions, a front image and a rear image can be obtained without adding a new device such as a camera, and an appropriate conversion process can be performed on the vehicle portion. .

That is, the vehicle surroundings monitoring apparatus according to the present invention, the side mirror or near the passenger side of the vehicle, and vehicle side camera installed rotatably in at least one axis other than the optical axis, the vehicle side an angle sensor for detecting the rotational angle of the camera, the images of the camera viewpoint obtained by shooting by the vehicle-side camera, in accordance with the rotation angle obtained by the angle sensor, the image portions other than the vehicle And a process that changes according to the rotation angle with respect to an image part other than the vehicle and an image part of the vehicle obtained by dividing by the split part. According to the conditions, a viewpoint conversion processing unit that performs conversion processing into the driver viewpoint image, and an image corresponding to the image portion of the vehicle and an image portion other than the vehicle obtained from the viewpoint conversion processing unit And images processing unit and a combining unit for combining processed image of the driver's point of sight, is installed in the passenger compartment of the vehicle, the front obtained by by Ri synthesis processing to the image processing unit's rating single OPERATION a display unit for displaying an image of the person viewpoint, characterized that you provided with.

  According to the vehicle periphery monitoring device configured as described above, the image of the camera viewpoint obtained by photographing with the side mirror on the passenger seat side of the vehicle or the in-vehicle side camera installed in the vicinity thereof is obtained by the image processing unit, It is converted into an image of the driver's viewpoint when it is assumed that it is viewed from the driver's viewpoint, and this image of the driver's viewpoint is displayed on a display unit installed in the passenger compartment.

  Here, the vehicle-mounted side camera is a single camera because it is installed so as to be rotatable around at least one axis other than its optical axis, that is, it can swing at least forward and backward. However, a front image and a rear image can be obtained, which can be used in a wide range in the front-rear (vehicle length) direction of the vehicle, and it is not necessary to newly add a device such as a camera.

  In addition, the image processing unit obtains the driver viewpoint image in the conversion process under the processing conditions different between the image part other than the vehicle and the image part of the vehicle in the camera viewpoint image. Appropriate viewpoint conversion processing can be performed on the vehicle and the image portion of the vehicle.

  Then, by displaying an image on which such an appropriate viewpoint conversion process has been performed on the display unit, the driver can appropriately determine the positional relationship between the vehicle and an object such as an obstacle. In addition, the driver's instantaneous determination can be facilitated.

  Furthermore, the image of the vehicle to be combined with the image portion other than the vehicle is included in the image of the camera viewpoint including the image portion other than the vehicle, instead of using the fixed image stored in the memory in the conventional manner. Since the image portion of the vehicle is used, a memory for storing a large amount of image data of the vehicle is not necessary, and the configuration of the image processing unit can be simplified.

  In addition, since it is necessary to obtain the image data of the vehicle using the image portion of the vehicle included in the image of the camera viewpoint, it is necessary to add an image processing procedure, but this additional image processing is performed by software. By processing, the influence on the cost can be reduced.

  In addition, since it is not necessary to acquire vehicle image data in advance, there is no need to acquire vehicle image data for each vehicle type even when applied to a large number of vehicle types with different vehicle shapes. Therefore, application to various vehicle types can be facilitated without raising the speed.

  According to the vehicle periphery monitoring device according to the present invention, it is possible to obtain both a front image and a rear image without adding a new device such as a camera, and to the driver, the vehicle and the obstacle. It is possible to appropriately determine the positional relationship with an object such as an object.

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

  FIG. 1 is a block diagram showing a configuration of a vehicle periphery monitoring device 100 according to an embodiment of the present invention.

  As shown in FIG. 1, the illustrated vehicle periphery monitoring device 100 is obtained by photographing with the in-vehicle side camera 10 installed in or near the side mirror 210 on the passenger seat side of the vehicle 200 and the in-vehicle side camera 10. The image processing unit 30 for converting the image P0 of the camera viewpoint C into the image P5 of the driver viewpoint D when it is assumed that the image is viewed from the viewpoint D of the driver 300; And the display unit 40 that displays the image P5 of the driver viewpoint D obtained by the processing unit 30, and the vehicle-mounted side camera 10 has at least one axis other than the optical axis (in this embodiment, the optical axis in the present embodiment) by the rotation mechanism. The image processing unit 30 is installed so that it can be rotated manually or automatically (electrically or the like) about the image portion P1 of the camera viewpoint C other than the vehicle 200 and the vehicle 200. The images P3 and P4 of the driver viewpoint D are obtained by conversion processing under processing conditions different from those of the image portion P2, and the conversion processing parameters (processing conditions) of viewpoint conversion corresponding to these two image portions P1 and P2, respectively, The in-vehicle side camera 10 is configured to be changed according to the rotation angle θ.

  Further, an angle sensor 20 that detects a rotation angle θ of the in-vehicle side camera 10 is provided in the vicinity of the rotation mechanism that rotatably supports the in-vehicle side camera 10, and this angle sensor 20 detects the angle sensor 20. The rotation angle θ of the camera 10 is input to the image processing unit 30, and the image processing unit 30 converts each of the above-described processing into the image of the driver viewpoint D according to the rotation angle θ input from the angle sensor 20. Set conditions.

  Further, the image processing unit 30 divides the image P0 of the camera viewpoint C into an image part P1 other than the vehicle 200 and an image part P2 of the vehicle 200, and a vehicle obtained by dividing the image P0 by the dividing unit 31. From the viewpoint conversion processing unit 32 and the viewpoint conversion processing unit 32 that convert the image part P1 other than 200 and the image part P2 of the vehicle 200 into images P3 and P4 of the driver viewpoint D under different processing conditions, respectively. And a combining unit 33 that combines the two images P3 and P4 of the driver viewpoint D respectively corresponding to the two image portions P1 and P2 obtained into a single driver viewpoint D image P5. Changes the dividing boundary line L between the image portion P1 other than the vehicle 200 and the image portion P2 of the vehicle 200 according to the rotation angle θ of the in-vehicle side camera 10.

  The dividing boundary line L is merely a visual display of a conceptual boundary line indicating the dividing position for easy understanding. The dividing boundary line L itself does not need to be generated. In this case, if it is possible to discriminate between the image portion P1 other than the vehicle 200 and the image portion P2 of the vehicle 200, such identification can be used as a substitute for the division boundary line L.

  The synthesizing unit 33 converts the image P4 corresponding to the image part P2 of the vehicle 200 out of the images P3 and P4 of the two driver viewpoints D to the outline K, and synthesizes it with the image part P3 other than the vehicle 200. To process.

  FIG. 2 is a block diagram in which the vehicle periphery monitoring device 100 shown in FIG. 1 is developed in a more specific configuration. The camera 110 is the in-vehicle side camera 10, the angle sensor 120 is the angle sensor 20, the CPU 131, the camera. The image buffer 132, the vehicle body deformation device 134, the surrounding deformation device 133, and the synthesizer 135 correspond to the image processing unit 30, and the monitor 140 corresponds to the display unit 40, respectively.

  Further, the CPU 131, the camera image buffer 132, the vehicle body deformation device 134 and the surrounding deformation device 133 are in the dividing unit 31, the CPU 131, the vehicle body deformation device 134 and the surrounding deformation device 133 are in the viewpoint conversion processing unit 32, and the combiner 135 is in the combining unit 33. Respectively.

  The A / D converter 150 may constitute part of the in-vehicle camera 10 or may constitute part of the image processing unit 30. Similarly, the D / A converter 160 may constitute a part of the display unit 40 or may constitute a part of the image processing unit 30.

  Here, as shown in the schematic side view of FIG. 3A and the schematic plan view of FIG. 3B, the camera 110 is provided in the vicinity of the side mirror 210 on the passenger seat side of the vehicle 200. In FIG. Is the posture facing the front lower observation point VP on the outside of the vehicle 200.

  In this embodiment, since the vehicle 200 is an example of a right-hand drive vehicle, the driver 300 is arranged on the right side and the camera 110 (the in-vehicle side camera 10) is arranged on the left side. The display is symmetrical with respect to the display of this embodiment, the driver 300 is arranged on the left side, and the camera 110 (the in-vehicle side camera 10) is arranged on the right side. It goes without saying that.

  As shown in the schematic side view of FIG. 4, the camera 110 is rotatable from the front lower side of the vehicle 200 to the lower side of the front passenger seat and the rear lower side about the axis along the approximate vehicle width direction. The rotation angle θ is defined by an angle from a reference position in which the optical axis of the camera 110 faces the front horizontal direction of the vehicle.

  When the image P0 of the camera viewpoint C obtained from the camera 110 is, for example, as shown in FIG. 5, the dividing unit 31 converts the image P0 of the camera viewpoint C into an image portion other than the vehicle 200 as shown in FIG. The image is divided into P1 and an image portion P2 of the vehicle 200.

  Specifically, the image P0 captured by the camera 110 and digitized by the A / D converter 150 is temporarily stored in the camera image buffer 132 and input to the surrounding deformation device 133 and the vehicle body deformation device 134, respectively. In response to a command from the CPU 131, the surrounding deformation device 133 extracts an image portion P1 other than the vehicle 200 from the camera viewpoint image P0, and the vehicle body deformation device 134 extracts the image portion P2 of the vehicle 200 from the camera viewpoint image P0. By extracting, the image part P1 other than the vehicle 200 and the image part P2 of the vehicle 200 are divided.

  The division boundary line L may be determined by accurately extracting only the image portion of the vehicle by detecting the contour line of the vehicle 200 by image processing or the like. It is preset based on experimental data for the reason that excessive detection accuracy up to is unnecessary.

  Here, the camera 110 is movable, and the camera 110 is set so that the direction of its optical axis is slightly outward in the vehicle width direction in order to photograph a wide area around the observation point VP outside the vehicle 200. (The intersection angle between the optical axis of the camera and the vertical plane including the vehicle longitudinal axis and the vehicle height direction axis is constant (for example, about 10 °)). When pivoting about the pivot axis, the trajectory of the optical axis of the camera 110 becomes a trajectory similar to the conical slope formed by the rotational trajectory of the cone-shaped generatrix, and the dividing boundary line depends on the pivot angle θ. L varies.

  That is, according to the rotation angle θ detected by the angle sensor 120, the CPU 131 appropriately changes the preset division boundary line L as shown in FIG.

  Here, θ1 <θ2 <θ3, θ1 is a rotation angle corresponding to a state in which the camera 110 is directed in a substantially horizontal direction in front of the vehicle 200, and θ3 is a state in which the camera 110 is directed in a substantially downward direction. The corresponding rotation angle.

  Note that when the rotation angle θ exceeds 90 ° (≈θ3), the image P0 of the camera viewpoint C is reversed up and down, so that the image P0 is rotated by 180 ° in order to correct this vertical reversal. Also in FIG. 7, it is displayed rotated by 180 °.

  That is, the rotation angle θ3 ′ is substantially the same as the rotation angle θ3, and is a rotation angle corresponding to the state in which the camera 110 is directed substantially downward, and θ5 is the direction in which the camera 110 is directed substantially in the horizontal direction behind the vehicle 200. It is a rotation angle corresponding to the state (θ3 ′ <θ4 <θ5).

  The surrounding deformation device 133 as the viewpoint conversion processing unit 32 converts the image portion P1 other than the vehicle 200 (FIG. 8A) into an image P3 of the driver viewpoint D (FIG. 8B), The vehicle body deformation device 134 as the viewpoint conversion processing unit 32 converts the image portion P2 of the vehicle 200 (FIG. 9A) into an image P4 of the driver viewpoint D (FIG. 9B).

  This viewpoint conversion processing starts from the direction from the camera viewpoint C to the driver viewpoint D at the observation point VP, as already known, including International Publication No. 00/07373 pamphlet and the like. Rotation angle φ (rotation angle around the vertical axis), ψ (rotation angle around the axis along the vehicle width direction), distance from observation point VP to camera viewpoint C, and driver from observation point VP This can be done using the difference Δr (known value) from the distance to the viewpoint D.

  The surrounding deformation device 133 of the vehicle periphery monitoring device 100 according to the present embodiment calculates an image portion other than the vehicle 200 by calculating the rotation angle θ of the camera 110 as a new parameter to these variables φ, ψ, Δr. An image P3 of the driver viewpoint D is obtained for P1.

  Similarly, the vehicle body deformation device 134 performs a calculation by adding the rotation angle θ of the camera 110 as a new parameter to the variable φ ′ corresponding to the variable φ, the variable ψ ′ corresponding to the variable ψ, and the variable Δr. Then, an image P4 of the driver viewpoint D for the image portion P2 of the vehicle 200 is obtained.

  Since the parameters φ ′ and ψ ′ are set to values different from the parameters φ and ψ described above, the image P4 of the driver viewpoint D for the image portion P2 of the vehicle 200 is an image portion other than the vehicle 200. The viewpoint conversion process is performed under processing conditions different from those of the driver viewpoint D image P3 for P1.

  The parameters φ, φ ′, ψ, ψ ′, θ, and Δr described above are calculated by the CPU 131 after the rotation angle Δθ of the camera 110 detected by the angle sensor 120 is input to the CPU 131, It is output to the deformation device 133 and the vehicle body deformation device 134.

  The synthesizer 135 includes a driver viewpoint D image P3 (FIG. 8B) obtained by the surrounding deformation device 133 and a driver viewpoint D image P4 obtained by the vehicle body deformation device 134 (FIG. 9B). Are combined in association with the pixels (positions).

  As described above, the composition process by the synthesizer 135 first converts the image P4 of the driver viewpoint D into a contour line K (shown by a broken line in FIG. 10) of the vehicle 200, and this contour line K is converted to the driver. It is superimposed on the image P3 of the viewpoint D. Here, the message M “please check directly around the vehicle” in FIG. 10 is merely imposed for the purpose of alerting the driver, and may be omitted. Other messages M may be additionally synthesized.

  In addition, as a synthesis process by the synthesizer 135, instead of using the contour line K of the vehicle 200 described above, an image P4 corresponding to the image portion P2 of the vehicle 200 as shown in FIG. The addition calculation may be performed with a smaller weight than the image P3 corresponding to the image portion P1. In this case, it is sufficient that the image P4 of the vehicle 200 is thinly overlapped with the surrounding image P3 and can be visually recognized.

  Superimposing and imposing the contour line K (composition), or performing the addition operation with a reduced weighting to synthesize the image P3 around the vehicle 200 more clearly than the image P4 of the vehicle 200. This is because the image P4 of the vehicle 200 is auxiliary to obtain a sense of distance from surrounding obstacles.

  Next, the operation of the vehicle surrounding monitoring apparatus 100 according to the embodiment of the present invention will be described with reference to the flowchart shown in FIG.

  First, the angle sensor 120 detects the rotation angle θ (FIG. 4) of the camera 110 (S1), and the detected rotation angle θ is input to the CPU 131 of the image processing unit 130. The CPU 131 sets the viewpoint conversion parameter φ. , Φ ′, ψ, ψ ′, θ, Δr are calculated (S2).

  Next, the image P0 (FIG. 5) of the camera viewpoint C photographed by the camera 110 is digitized by the A / D converter 150 and taken into the camera image buffer 132 of the image processing unit 130 (S3).

  The image P0 of the camera image buffer 132 is input to the vehicle body deformation device 134 and the surrounding deformation device 133, and the vehicle body deformation device 134 and the surrounding deformation device 133 are divided boundary lines L set by the CPU 131 according to the rotation angle θ. According to (FIGS. 6 and 7), the image P0 is divided into an image portion P2 of the vehicle 200 and an image portion P1 other than the vehicle 200 (S4).

  The vehicle body deformation device 134 converts the image portion P2 of the vehicle 200 into the image P4 of the driver viewpoint D according to the parameters φ, ψ, θ, and Δr set by the CPU 131 (FIG. 9 (a) → (b) (S5), the surrounding deformation device 133 converts the image portion P1 other than the vehicle 200 into the image P3 of the driver viewpoint D according to the parameters φ ′, ψ ′, θ, Δr set by the CPU 131 ( 8A to 8B) (S6).

  Next, the synthesizer 135 synthesizes the driving vehicle viewpoint D image P4 obtained by the vehicle body deformation device 134 and the driving vehicle viewpoint D image P3 obtained by the surrounding deformation device 133 to obtain a combined image P5 (FIG. 10). ) Is generated (S7).

  The obtained composite image P5 is output from the synthesizer 135 of the image processing unit 130, input to the D / A converter 160, converted into an analog signal, and then displayed to the driver for the driver's visual recognition. The composite image P5 is displayed on the monitor 140 so as to be visible as a visible image (S8).

  As described above, according to the vehicle surrounding monitoring apparatus 100 according to the present embodiment, the camera 110 is installed so as to be rotatable around one axis other than the optical axis (around the axis along the vehicle width direction). In other words, since the head can be swung at least forward and backward, it is possible to obtain both a front-side image and a rear-side image in the front-rear (vehicle length) direction of the vehicle while using a single camera 110. It can be used in a wide range, and there is no need to add a new device such as a camera.

  In addition, the image processing unit 130 is an image of the driver's viewpoint D in the viewpoint conversion process based on different processing conditions for the image portion P1 other than the vehicle 200 and the image portion P2 of the vehicle 200 in the image P0 of the camera viewpoint C. In order to obtain P3 and P4, an optimal viewpoint conversion process can be performed on both the image portion P1 other than the vehicle 200 and the image portion P2 of the vehicle 200.

  Then, by displaying on the monitor 140 an image that has been subjected to such optimal viewpoint conversion processing, the driver can appropriately determine the positional relationship between the vehicle 200 and an object such as an obstacle other than the vehicle. it can.

  In addition, the driver's instantaneous determination can be facilitated.

  Further, the camera viewpoint C including the image portion P1 other than the vehicle 200 is not used as the image P4 of the vehicle 200 to be combined with the image P3 other than the vehicle 200, instead of using a fixed image stored in the memory in the conventional manner. Since the image portion P2 of the vehicle 200 included in the original image P0 is used, the image processing unit 130 can be simplified.

  According to the vehicle periphery monitoring device 100 of the present embodiment, the image processing unit 30 divides the image P0 of the camera viewpoint C into an image part P1 other than the vehicle 200 and an image part P2 of the vehicle 200, Viewpoint conversion processing for converting the image portion P1 other than the vehicle 200 and the image portion P2 of the vehicle 200 obtained by dividing by the dividing unit 31 into driver viewpoint images P3 and P4, respectively, under different processing conditions. Combining two images P3 and P4 of the driver viewpoint D respectively corresponding to the two image portions P1 and P2 obtained by the unit 32 and the viewpoint conversion processing unit 32 into an image P5 of the single driver viewpoint D The dividing unit 31 varies the dividing boundary line L between the image part P1 other than the vehicle 200 and the image part P2 of the vehicle 200 in accordance with the rotation angle θ of the in-vehicle side camera 10. The optical axis of the camera 10 is not limited to the one that rotates in the vertical plane (even if it rotates, the dividing boundary line L does not change), and is set to rotate in the plane inclined from the vertical plane. The present invention can also be applied to other cameras (when the camera is rotated, the dividing boundary line L fluctuates).

  Further, according to the vehicle surrounding monitoring apparatus 100 (FIG. 11) of the present embodiment, the combining unit 33 displays the image P4 corresponding to the image portion P2 of the vehicle 200 among the images P3 and P4 of the two driver viewpoints D. Since the weighting is made smaller than the image P3 corresponding to the image part P1 other than the vehicle 200 (FIG. 11), the image P3 around the vehicle 200 is obscured by the image P4 of the vehicle 200. Can be prevented, and a function of grasping the distance between the vehicle 200 (image P4) and an object such as an obstacle (image P3) can be secured.

  On the other hand, according to the vehicle surrounding monitoring apparatus 100 (FIG. 10) of the present embodiment, the synthesizing unit 33 displays the image P4 corresponding to the image portion P2 of the vehicle 200 among the images P3 and P4 of the two driver viewpoints D. Since the image is converted into the contour line K and synthesized (FIG. 10), the image P4 around the vehicle 200 can be prevented from being obscured by the image P4 of the vehicle 200. A function of grasping the sense of distance between P4) and an object such as an obstacle (image P3) can be secured.

  Further, according to the vehicle surrounding monitoring apparatus 100 of the present embodiment, the angle sensor 20 that detects the rotation angle θ of the in-vehicle side camera 10 is provided, and the image processing unit 30 has the rotation angle θ obtained by the angle sensor 20. Accordingly, since the processing conditions for each viewpoint conversion process and division process are set, it is possible to always execute an appropriate process according to the rotation angle θ of the side camera 10.

It is a block diagram which shows the structure of the vehicle periphery monitoring apparatus which concerns on one Embodiment of this invention. It is the block diagram which expand | deployed the vehicle periphery monitoring apparatus shown in FIG. 1 to the more specific structure. It is the (a) side surface schematic diagram and (b) plane schematic diagram which show the installation state of a camera. It is a side surface schematic diagram which shows the rotation angle of a camera. It is a figure which shows an example of the image of a camera viewpoint. It is a figure which shows a mode that it divided | segmented into the image part other than a vehicle, and the image part of a vehicle. It is a figure which shows the fluctuation | variation of the division | segmentation boundary line according to the rotation angle of a camera. (A) represents an image part other than the vehicle, and (b) represents an image after the image part shown in (a) is converted into a driver viewpoint. (A) is the image part of a vehicle, (b) represents the image after converting the image part shown to (a) into a driver | operator viewpoint, respectively. It is a figure which shows an example of a synthesized image. It is a figure which shows the other example of a synthesized image. It is the flowchart which showed the process sequence of the vehicle periphery monitoring apparatus shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Car-mounted side camera 20 Angle sensor 30 Image processing part 31 Dividing part 32 View point conversion part 33 Composition part 40 Display part 100 Vehicle periphery monitoring apparatus 200 Vehicle C Camera viewpoint D Driver viewpoint (theta) Side camera rotation angle P0 Camera viewpoint image P1 Image of vehicle (vehicle body) other than the vehicle from the viewpoint of the camera P2 Image of vehicle (vehicle body) from the viewpoint of the camera P3 Image of vehicle other than the vehicle from the viewpoint of the driver P4 Image of the vehicle (vehicle body) from the viewpoint of the driver P5 Composition of the driver viewpoint image

Claims (4)

An in-vehicle side camera installed on the side mirror on the passenger seat side of the vehicle or in the vicinity thereof so as to be rotatable around at least one axis other than the optical axis ;
An angle sensor for detecting a rotation angle of the in-vehicle side camera;
The images of the camera viewpoint obtained by shooting by the vehicle-side camera, in accordance with the rotation angle obtained by the angle sensor, a dividing unit that divides the image portion and the image portion of the vehicle other than the vehicle The image portion other than the vehicle obtained by dividing by the dividing portion and the image portion of the vehicle are each converted into the image of the driver's viewpoint according to processing conditions that change according to the rotation angle. A viewpoint conversion processing section to be processed, and a combining section that combines the image corresponding to the image portion of the vehicle and the image portion other than the vehicle obtained by the viewpoint conversion processing portion into a single driver viewpoint image and images processor with bets,
Is installed in the vehicle interior, vehicle characterized that you provided with a display unit for displaying an image before SL single OPERATION's point of sight which is obtained by by Ri synthesis processing to the image processing unit Perimeter monitoring device. 2. The vehicle surrounding monitoring apparatus according to claim 1, wherein the in-vehicle side camera is rotatable so that the optical axis is along a conical bus . The synthesizing unit synthesizes an image corresponding to the image portion of the vehicle among the images of the two driver viewpoints with a smaller weight than an image corresponding to the image portion other than the vehicle. The vehicle surrounding monitoring apparatus according to claim 1 or 2 , characterized in that The combining unit, among the two driver's viewpoint images, wherein the image corresponding to the image portion of the vehicle is converted into the outline, to claim 1 or 2, characterized in that the synthesis process Vehicle perimeter monitoring device.

Images