JP5119675B2 - Vehicle periphery monitoring device - Google Patents

Description

  The present invention relates to a vehicle periphery monitoring device provided with two or more different cameras.

2. Description of the Related Art Conventionally, an obstacle detection apparatus that includes an infrared stereo camera and a visible light stereo camera, detects an obstacle with the infrared stereo camera, and detects a white line with the visible light stereo camera is known (for example, see Patent Document 1). ). In this obstacle detection device, the infrared stereo camera is arranged outside the vehicle compartment in front of the vehicle, and the visible light stereo camera is arranged in the vehicle interior. Further, in this obstacle detection device, an image captured by the visible light stereo camera and the infrared stereo camera is not displayed on the display device, and the head is directed in the direction of the obstacle detected by the infrared stereo camera. By switching the illumination direction of the lamp, the driver is made to recognize the actual obstacle visually.
JP 2000-318513 A

  However, when the infrared stereo camera is arranged outside the passenger compartment as in the invention described in Patent Document 1, the infrared stereo camera is exposed to an environment where the temperature changes rapidly. There is a risk that the reliability of the image is lowered.

  By the way, in recent years, for example, a display image generation near-infrared camera (display image generation camera) is mounted to support a driver's vision at night, and an image captured by the near-infrared camera is displayed on the windshield glass. A head-up display to be displayed on the screen has been proposed. In addition, lane keeping assist control has been proposed which is equipped with a lane recognition camera (target recognition camera) and supports prevention of deviation of the vehicle from the lane.

  However, since these display image generation cameras and target recognition cameras have different uses, it is difficult to form a common camera. Accordingly, it is necessary to configure the display image generation camera and the target recognition camera as separate cameras. In such a case, it is necessary to appropriately arrange the cameras. In particular, in the vehicle, while taking into account design constraints, space constraints, constraints arising from the need to not disturb the driver's view, constraints arising from the need to protect the camera from heat, etc. It is necessary to consider the visibility of the display image of the display image generation camera, the target recognition accuracy by the target recognition camera, and the like.

  Accordingly, an object of the present invention is to provide a vehicle periphery monitoring device including a display image generation camera and a target recognition camera arranged at appropriate positions.

In order to achieve the above object, a vehicle periphery monitoring device according to a first aspect of the present invention includes a display image generation camera disposed in a vehicle interior,
With a target recognition camera arranged in the passenger compartment,
The display image generation camera is arranged closer to the driver's seat than the target recognition camera ,
The image captured by the display image generation camera is displayed without changing the viewpoint .

A second invention is the vehicle periphery monitoring device according to the first invention,
A display unit arranged in a passenger compartment and displaying an image captured by the display image generation camera;
The display image generation camera is disposed closer to the driver's seat than the position of the passenger seat side end of the display unit in the vehicle width direction.

3rd invention is the vehicle periphery monitoring apparatus which concerns on 1st or 2nd invention,
The display image generation camera and the target recognition camera are arranged on an upper end side of a windshield glass of a vehicle.

4th invention is the vehicle periphery monitoring apparatus which concerns on 3rd invention,
The display image generation camera and the target recognition camera are arranged above a lower end position of an inner mirror of a vehicle or above a lower end position of a sun visor during deployment.

A fifth aspect of the present invention is the vehicle periphery monitoring apparatus according to the third aspect,
The display image generation camera and the target recognition camera are arranged on a substantially horizontal straight line along a vehicle width direction.

A sixth aspect of the present invention is the vehicle periphery monitoring apparatus according to any one of the first to fifth aspects,
An image processing means connected to the target recognition camera for recognizing an image of a predetermined target that can be included in an image captured by the target recognition camera;
Control means connected to the image processing means for performing alarm control or control of the running state of the vehicle based on the image recognition result of the image processing means.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle periphery monitoring apparatus provided with the display image generation camera and target recognition camera which were arrange | positioned in the appropriate position is obtained.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 is a system configuration diagram showing an embodiment of a vehicle periphery monitoring apparatus 1 according to the present invention.

  The vehicle periphery monitoring apparatus 1 according to the present embodiment includes a target recognition system 2 and a night view system 3.

  The target recognizing system 2 includes a target recognizing camera 10 and an image processing device 12 arranged in the vehicle interior. In this example, the target recognizing system 2 further includes a lane keep assist ECU 14 and an EPS / ECU 16. An image processing device 12 is connected to the target recognition camera 10, a lane keep assist ECU 14 is connected to the image processing device 12, and an EPS / ECU 16 is connected to the lane keep assist ECU 14. Note that these connection modes are not necessarily wired connection modes, and may be wireless communication modes.

  The target recognition camera 10 acquires a front environment image including a road surface in front of the vehicle by a lens and an image sensor such as a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The target recognition camera 10 may acquire a front environment image in real time while the vehicle is traveling, and supply it to the image processing device 12 in a stream format with a predetermined frame period. The arrangement mode of the target recognition camera 10 will be described in detail later.

  The image processing device 12 performs image processing on the front environment image obtained from the target recognition camera 10, recognizes the target existing in the environment ahead of the vehicle, and generates target information. The target information is typically target position information such as the position of a road marking line or the position of an obstacle, but may include information related to the direction and speed of the target. In this example, the image processing device 12 operates in response to, for example, a lane recognition command from the lane keep assist ECU 14, and receives and processes an image captured by the target recognition camera 10, so that the vehicle on the traveling road of the vehicle Detect and recognize road markings on both sides. This type of road lane marking image recognition method may be diverse and any suitable method may be employed. For example, edge processing may be performed using a predetermined region of the captured image as an image processing target region, and a road marking line may be recognized using pattern matching, morphological calculation, or the like. The lane detection result (road lane marking recognition result) by the image processing device 12 is supplied to the lane keep assist ECU 14.

  The lane keep assist ECU 14 performs control (lane keep assist) for assisting the vehicle to properly maintain the lane (lane) based on the target information (in this example, the road lane marking recognition result) obtained from the image processing device 12. Control). The lane keep assist control may be realized by controlling the steering torque via the EPS / ECU 16 that controls the power steering device. Lane keep assist control is started, for example, when there is an instruction (switch operation) from the user. When such an instruction is input, the lane keep assist ECU 14 transmits a lane recognition command to the image processing device 12.

  The night view system 3 includes a near-infrared or infrared camera (an example of a display image generation camera) 20 disposed in a vehicle interior, a night view controller 22, and a head-up display 30. A night view controller 22 is connected to the near infrared camera 20, and a head-up display 30 is connected to the night view controller 22. Note that these connection modes are not necessarily wired connection modes, and may be wireless communication modes.

  The near-infrared camera 20 acquires a near-infrared image of the environment in front of the vehicle using a lens and an image sensor such as a near-infrared or infrared-sensitive CCD or CMOS. The near-infrared camera 20 operates in response to an ON command from the night view controller 22, acquires a near-infrared image in real time during operation, and supplies it to the night view controller 22 as, for example, an NTSC video signal. It's okay. The arrangement mode of the near infrared camera 20 will be described in detail later.

  The night view controller 22 controls the head-up display 30 to display a near-infrared image on the head-up display 30. For example, when there is an instruction (switch operation) from the user, the night view controller 22 turns on the near-infrared projector 38 (see FIG. 2) built in the headlight and issues an on-command to the near-infrared camera 20. Send. In addition, the night view controller 22 may adjust the brightness of the liquid crystal display 32 (see FIG. 2) of the head-up display 30 according to an instruction from the user.

  FIG. 2 is a diagram showing an outline of the night view system 3 including the head-up display 30 in a cross-sectional view in a side view of the vehicle.

  The head-up display 30 includes, as main components, a liquid crystal display 32 and a concave mirror 34 provided in the instrument panel, and a combiner 36 provided on the windshield glass. The liquid crystal display 32 receives an NTSC video signal from the near-infrared camera 20 and displays a near-infrared image. The near-infrared image displayed on the liquid crystal display 32 is reflected by the concave mirror 34 and reflected on the combiner 36. The light (near infrared image) reflected by the combiner 36 reaches the eyes of the driver, and the near infrared image is recognized as a virtual image as if it is outside the windshield glass.

  By the way, since the above-mentioned target recognition system 2 and night view system 3 are systems having different characteristics, they can be arranged side by side. When these systems 2 and 3 are arranged side by side, two cameras (target recognition camera 10 and near-infrared camera 20) must be mounted as described above. Since the characteristics, usage, and the like are different, it is important to appropriately arrange the vehicle under various restrictions. Particularly in a vehicle, it is necessary to first consider the necessity of protecting the cameras 10 and 20 from heat and temperature changes. In addition, it is necessary to consider the necessity of preventing the presence of the cameras 10 and 20 from obstructing the driver's view. In addition, it is necessary to consider the difference in purpose or application between the target recognition camera 10 and the target recognition camera 10. For example, the target recognition camera 10 needs to reliably capture a target that may exist at a random position in the environment outside the vehicle as described above, and when the mounting position of the target recognition camera 10 is determined. It is necessary to consider this point. On the other hand, the captured image of the near-infrared camera 20 needs to be displayed on the head-up display 30 in a manner that does not make the driver feel uncomfortable, and this point is taken into consideration when determining the mounting position of the near-infrared camera 20. There is a need to. In addition, when the two cameras 10 and 20 are mounted in the vehicle interior, space restrictions and design restrictions increase, so this point needs to be considered.

  Below, the arrangement | positioning aspect of the appropriate target recognition camera 10 and the near-infrared camera 20 which considered such restrictions and necessity is demonstrated. In the following, a right-hand drive vehicle will be described as an example, but a left-hand drive vehicle may be considered symmetrically.

  FIG. 3 is a view showing a preferred arrangement example of the target recognition camera 10 and the near-infrared camera 20, and is a front view of the vehicle as viewed obliquely downward from the front side of the vehicle. In FIG. 3, the center line in the width direction of the vehicle is indicated by a one-dot chain line C1, and a line indicating the lateral position (position in the vehicle width direction) of the center portion of the steering wheel (handle) is indicated by a one-dot chain line C2. In addition, a line indicating the lower end position of the inner mirror reflected by reflecting the rear view is indicated by a one-dot chain line H1, and a line indicating the lower end position of the sun visor on the driver's seat (when unfolded) is indicated by a one-dot chain line H2. ing. The alternate long and short dash line C2 substantially represents the lateral position of the central portion in the vehicle width direction in the driver's seat (or the driver sitting there). FIG. 4 is a diagram illustrating another preferred arrangement example of the target recognition camera 10 and the near-infrared camera 20. FIG. 5 is an explanatory diagram of the lower end position H1 of the inner mirror and the lower end position H2 of the sun visor in FIG.

  In this embodiment, the target recognition camera 10 and the near-infrared camera 20 are arranged in a vehicle interior, that is, in a space protected by a windshield glass. Thereby, the target recognition camera 10 and the near infrared camera 20 can be protected from the external environment, and the reliability of the target recognition camera 10 and the near infrared camera 20 can be ensured.

  In the present embodiment, the near-infrared camera 20 is disposed closer to the driver's seat in the vehicle width direction than the center position in the vehicle width direction (see C1 in the figure). Thereby, the near-infrared camera 20 can acquire a near-infrared image without a sense of incongruity in the optical axis direction suitable for the driver's line-of-sight direction. From this point of view, preferably, the near-infrared camera 20 is disposed between the lateral position of the center portion of the steering wheel (see C2 in the figure) and the center position in the vehicle width direction in the vehicle width direction.

  In this embodiment, the target recognition camera 10 is disposed near the center position in the vehicle width direction. As a result, the target recognition camera 10 can capture the environment in front of the vehicle in a range that is equal to the left and right, thereby improving the recognition accuracy of the target.

  However, since the captured image of the target recognition camera 10 is not for display but for target recognition, the mounting position of the target recognition camera 10 is determined with priority given to the mounting position of the near-infrared camera 20. . This is also because correction of data is easy even if the target recognition camera 10 is mounted at a position deviating from the center position in the width direction of the vehicle. For example, as shown in FIG. 4, when the near-infrared camera 20 is disposed near the center position in the vehicle width direction, the target recognition camera 10 is located closer to the passenger seat side than the near-infrared camera 20. As long as the above restrictions and design restrictions allow, it should be arranged at a position as close as possible to the center position in the width direction of the vehicle.

  The target recognition camera 10 and the near infrared camera 20 are preferably arranged near the upper edge (upper end side) of the windshield glass. Thereby, the target recognition camera 10 and the near-infrared camera 20 can be protected from heat from the instrument panel (abbreviation of instrument panel). In addition, the target recognition camera 10 and the near-infrared camera 20 can capture images up to a relatively long distance from the vehicle. Further, when the target recognition camera 10 captures an image of a relatively short distance from the vehicle, the hood (hood panel) of the vehicle can be prevented from being reflected on the target recognition camera 10. When the target recognition camera 10 and the near-infrared camera 20 are arranged on the lower edge (on the instrument panel) of the windshield glass, the target recognition camera 10 and the near-infrared camera 20 are operated depending on the design of the instrument panel. However, if the target recognition camera 10 and the near-infrared camera 20 are arranged in the vicinity of the upper edge of the windshield glass, the driver's view is not obstructed.

  The target recognition camera 10 and the near-infrared camera 20 are preferably near the upper edge of the windshield glass, above the lower end position H1 of the inner mirror (see also FIG. 5), or a sun visor at the time of deployment. Is disposed above the lower end position H2 (see also FIG. 5). Thereby, even when the target recognition camera 10 and the near-infrared camera 20 are arranged in the vicinity of the upper edge of the windshield glass, the cameras 10 and 20 can minimize the possibility of hindering the driver's view. be able to. At this time, the target recognition camera 10 and the near-infrared camera 20 may be arranged on a substantially horizontal straight line along the vehicle width direction.

  Next, a plurality of other preferable arrangement examples of the target recognition camera 10 and the near infrared camera 20 will be described.

  6 and 7 are diagrams showing examples of arrangement of the target recognition camera 10 and the near-infrared camera 20 that are preferable in relation to the near-infrared image display unit of the near-infrared camera 20, and are obliquely viewed from the vehicle front side. It is a front view of the vehicle seen in the downward direction. 6 and 7, the center line in the width direction of the vehicle is indicated by a one-dot chain line C1, and a line indicating the lateral position of the passenger seat side end portion of the combiner 36 is indicated by a one-dot chain line C3.

  In the example shown in FIG. 6, the near-infrared image display unit of the near-infrared camera 20, that is, the combiner 36 is arranged at the center position in the vehicle width direction (see C <b> 1 in the figure). With respect to the arrangement of the combiner 36, as shown in FIG. 6, the near infrared camera 20 is arranged closer to the driver's seat than the position of the end portion on the passenger seat side of the combiner 36 (see C3 in the figure). The target recognition camera 10 may be disposed near the center position in the width direction of the vehicle, and may be disposed adjacent to the passenger seat side end of the near-infrared camera 20.

  In the example illustrated in FIG. 7, the combiner 36 is disposed closer to the driver's seat than the center position in the vehicle width direction. For the arrangement of the combiner 36, as shown in FIG. 7, the near-infrared camera 20 is closer to the driver's seat than the position of the end portion on the passenger seat side of the combiner 36 (see C3 in the figure) in the vehicle width direction. Placed in. The target recognition camera 10 is preferably disposed at the center position in the vehicle width direction, but may be disposed closer to the passenger seat side than the near-infrared camera 20 in the vehicle width direction.

  6 and 7, the target recognition camera 10 and the near-infrared camera 20 are preferably near the upper edge of the windshield glass from the lower end position H1 of the inner mirror (see FIG. 5). Or above the lower end position H2 of the sun visor during deployment (see FIG. 5).

  According to the example shown in FIGS. 6 and 7, the near-infrared camera 20 can acquire a near-infrared image that does not feel uncomfortable in the optical axis direction that is suitable for the position of the combiner 36. This makes it easier for the driver to accurately grasp information in the near-infrared image. In addition, the target recognition camera 10 can capture the environment in front of the vehicle in a range that is equal to the left and right, and thus the recognition accuracy of the target is improved.

  FIGS. 8 to 10 are diagrams showing examples of arrangement of the target recognition camera 10 and the near-infrared camera 20 that are preferable in relation to the inner mirror and the sun visor. The vehicle is viewed obliquely downward from the front side of the vehicle. It is a front view. 8 to 10, the center line in the width direction of the vehicle is indicated by a one-dot chain line C1, and in FIG. 10, a line indicating the lateral position of the passenger seat side end portion of the driver side sun visor (when unfolded). Is indicated by a one-dot chain line C4. In FIGS. 8 to 10 below, there is not enough space on the back side of the inner mirror to mount the target recognition camera 10 and the near infrared camera 20, and the target recognition camera 10 and the like are not connected to the inner mirror. It is assumed that it cannot be arranged in the space behind the mirror (that is, at the center position in the width direction of the vehicle). Further, in FIG. 10 below, it is assumed that the near-infrared camera 20 or the like cannot be disposed between both ends of the sun visor in the vehicle width direction in relation to the movable range (position at the time of deployment) of the sun visor on the driver's seat side. Yes.

  In the example shown in FIG. 8, the near-infrared camera 20 is disposed on the driver's seat side of the inner mirror. The target recognition camera 10 is disposed on the passenger seat side of the inner mirror. That is, the near-infrared camera 20 and the target recognition camera 10 are arranged on both sides of the inner mirror, on the driver's seat side and on the passenger seat side, respectively, with the inner mirror interposed therebetween.

  In the example shown in FIG. 9, the near-infrared camera 20 is disposed integrally with the inner mirror on the driver's seat side of the inner mirror. The target recognition camera 10 is disposed integrally with the inner mirror on the passenger seat side of the inner mirror. As described above, the near-infrared camera 20 and the target recognition camera 10 may be integrally disposed on both sides of the inner mirror, on the driver's seat side and on the passenger seat side, with the inner mirror interposed therebetween. Only one of the near-infrared camera 20 and the target recognition camera 10 may be integrally provided on the inner mirror.

  In the example shown in FIG. 10, the near-infrared camera 20 has, in the vehicle width direction, the position of the driver's seat side end of the inner mirror and the position of the driver's seat side end of the passenger's seat (see C4 in the figure). Between them. The target recognition camera 10 is disposed on the passenger seat side of the inner mirror. In the example shown in FIG. 10, when there is a sufficient space between the near-infrared camera 20 and the inner mirror in the vehicle width direction, the target recognition camera 10 is connected to the driver seat side end of the inner mirror. Further, it may be arranged closer to the passenger seat side than the near-infrared camera 20 between the position of the end portion on the passenger seat side of the sun visor on the driver seat side (see C4 in the figure).

  8 to 10, the target recognition camera 10 and the near-infrared camera 20 are preferably near the upper edge of the windshield glass from the lower end position H1 of the inner mirror (see FIG. 5). Or above the lower end position H2 of the sun visor during deployment (see FIG. 5).

  8 to 10, the near-infrared camera 20 can acquire a near-infrared image that does not give a sense of incongruity in the optical axis direction that matches the line-of-sight direction of the driver. In addition, the target recognition camera 10 can capture the environment in front of the vehicle in a range that is equal to the left and right, and thus the recognition accuracy of the target is improved. In the example shown in FIG. 10, even when the near infrared camera 20 is arranged above the lower end position of the driver side sun visor or inner mirror, the movable range of the driver side sun visor is determined by the near infrared camera 20. There is no limit.

  FIGS. 11 and 12 are diagrams illustrating examples of arrangements of the target recognition camera 10 and the near infrared camera 20 that are preferable in relation to the near infrared image display unit of the near infrared camera 20 and the inner mirror and the sun visor. FIG. 2 is a front view of the vehicle as viewed obliquely downward from the front side of the vehicle. 11 and 12, the center line in the width direction of the vehicle is indicated by a one-dot chain line C1, and a line indicating the lateral position (position in the vehicle width direction) of the center portion of the steering wheel (handle) is indicated by a one-dot chain line C2. A line indicating the lateral position of the end portion on the passenger seat side of the combiner 36 is indicated by a one-dot chain line C3, and a line indicating the lateral position of the sun visor on the driver's seat (when unfolded) is indicated by a one-dot chain line C4. It is shown. Here, it is assumed that the target recognition camera 10 or the like cannot be placed in the space behind the inner mirror (ie, at the center position in the width direction of the vehicle), and the movable range of the sun visor on the driver's side (when deployed) In this case, it is assumed that the near-infrared camera 20 or the like cannot be disposed between both ends of the sun visor in the vehicle width direction.

  In the example shown in FIG. 11, the near-infrared image display unit of the near-infrared camera 20, that is, the combiner 36 is arranged at the center position in the vehicle width direction (see C <b> 1 in the figure). The near-infrared camera 20 is closer to the driver seat side than the position of the passenger seat side end of the combiner 36 in the vehicle width direction (see C3 in the figure), and the inner mirror driver seat side end and the driver seat side sun It is arrange | positioned between the positions (refer C4 in a figure) of the passenger seat side edge part of a visor. The target recognition camera 10 is disposed on the passenger seat side of the inner mirror. In the example shown in FIG. 11, when there is a sufficient space between the near-infrared camera 20 and the inner mirror in the vehicle width direction, the target recognition camera 10 is connected to the driver mirror side end of the inner mirror. Further, it may be arranged closer to the passenger seat side than the near-infrared camera 20 between the position of the end portion on the passenger seat side of the sun visor on the driver seat side (see C4 in the figure).

  In the example shown in FIG. 12, the combiner 36 is disposed closer to the driver's seat than the center position in the vehicle width direction. With respect to the arrangement of the combiner 36, as shown in FIG. 12, the near-infrared camera 20 is closer to the driver's seat than the position of the end portion on the passenger seat side of the combiner 36 (see C3 in the figure) in the vehicle width direction. Placed in. In the example shown in FIG. 12, the near-infrared camera 20 is disposed in substantially the same lateral position as the combiner 36, so the near-infrared camera 20 acquires a near-infrared image that is more comfortable for the driver. be able to. Further, the target recognition camera 10 is disposed on the passenger seat side with an inner mirror sandwiched with respect to the near-infrared camera 20. In the example shown in FIG. 12, when there is a sufficient space between the near-infrared camera 20 and the inner mirror in the vehicle width direction, the target recognition camera 10 is similarly virtual with a dotted line in the figure. As shown in the figure, the passenger seat is closer to the passenger seat than the near-infrared camera 20 between the inner mirror driver side end and the position of the driver side sun visor passenger seat end (see C4 in the figure). It may be arranged on the side.

  11 and 12, the target recognition camera 10 and the near-infrared camera 20 are preferably located near the upper edge of the windshield glass from the lower end position H1 of the inner mirror (see FIG. 5). Or above the lower end position H2 of the sun visor during deployment (see FIG. 5).

  According to the example shown in FIGS. 11 and 12, the near-infrared camera 20 can acquire a near-infrared image having no sense of incongruity in the optical axis direction suitable for the position of the combiner 36. This makes it easier for the driver to accurately grasp information in the near-infrared image. In addition, the target recognition camera 10 can capture the environment in front of the vehicle in a range that is equal to the left and right, and thus the recognition accuracy of the target is improved.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, as a preferred embodiment, the target recognition camera 10 and the near-infrared camera 20 are disposed near the upper edge of the windshield glass. The camera 20 may be disposed near the lower edge of the windshield glass. For example, the near-infrared camera 20 preferably captures a region farther than the target recognition camera 10 for the purpose of use. Therefore, the near-infrared camera 20 is placed near the upper edge of the windshield glass, The mark recognition camera 10 may be disposed near the lower edge of the windshield glass and closer to the passenger seat than the near-infrared camera 20.

  In the above-described embodiment, the near-infrared image obtained by using the near-infrared camera 20 is displayed to the driver. However, instead of the near-infrared camera 20, an image obtained by a visible light camera (for example, An image of an external environment that becomes a driver's blind spot) may be displayed on the display unit. In this case, the display unit is not the combiner 36 but a display such as a liquid crystal display. This display may be a liquid crystal display arranged on an instrument panel or the like, and may be a liquid crystal display that displays a map of a navigation device, a TV, or the like. Moreover, in the Example mentioned above, although the display part of the near-infrared image of the near-infrared camera 20 is arrange | positioned at the windshield glass, you may arrange | position in a meter. The same applies to the case where an image obtained by a visible light camera is displayed on the display unit. In any case, the positional relationship between the display unit, the target recognition camera 10 and the near-infrared camera 20 may be the positional relationship shown in FIG. For example, when there is a display unit in the meter, the positional relationship shown in FIGS. 7 and 12 is preferable.

  Moreover, in the Example mentioned above, although the near-infrared image obtained using the near-infrared camera 20 is displayed directly, this invention is not limited to this. For example, in a configuration in which an image obtained by a visible light camera (for example, an image of an external environment serving as a driver's blind spot) is displayed on the display unit, the image can be obtained by a visible light camera, for example, to generate a bird's-eye view display image. The image data may be processed and displayed on the display unit.

  In the above-described embodiment, the target information related to road lane markings such as white lines acquired via the target recognition camera 10 is used for lane keep assist control, but is used for other control and the like. May be. For example, the target information may be used for control to change the optical axis of the headlight according to the position of the target, correction of own vehicle position information obtained from a navigation system (not shown), or traveling It may be used for lane determination or the like.

  In the above-described embodiment, the target recognition camera 10 is a camera for recognizing a road marking line such as a white line as a target. It may be a camera for recognizing a person such as a pedestrian). In this case, for example, information on the obstacle acquired using the target recognition camera 10 may be used for pre-crash control for protecting the occupant before the collision between the obstacle and the vehicle. Pre-crash control is a control that outputs an alarm, increases the tension of the seat belt, drives the bumper to an appropriate height, or generates a braking force before the collision with the obstacle. including.

  In the above-described embodiment, the target recognition camera 10 is a camera for recognizing a road marking line such as a white line as a target, but is installed on a road sign other than the road marking line or on a road. It may be a camera for recognizing a signboard, a traffic light and its lighting color, a parking frame line used for parking assistance, and the like as a target.

  In the above-described embodiments, the target recognition camera 10 and the near-infrared camera 20 may be configured as a unit (housing) including at least a lens and an image sensor, or may further include a signal processing circuit. Etc. may be configured as a unit including the like.

1 is a system configuration diagram showing an embodiment of a vehicle periphery monitoring device 1 according to the present invention. It is a figure which shows the outline | summary of the night view system containing the head-up display. It is a figure which shows the preferable example of arrangement | positioning of the target recognition camera 10 and the near-infrared camera 20. FIG. It is a figure which shows the other preferable example of arrangement | positioning of the camera for target recognition 10 and the near-infrared camera 20. FIG. It is explanatory drawing of the lower end position H1 of the inner mirror of FIG. 3, and the lower end position H2 of a sun visor. It is a figure which shows the example of arrangement | positioning of the preferable target recognition camera 10 and the near-infrared camera 20 with respect to the display part of the near-infrared image of the near-infrared camera 20. FIG. It is a figure which shows the example of arrangement | positioning of the preferable target recognition camera 10 and the near-infrared camera 20 with respect to the display part of the near-infrared image of the near-infrared camera 20. FIG. It is a figure which shows the example of arrangement | positioning of the target recognition camera 10 and the near-infrared camera 20 with a preferable relationship with an inner mirror or a sun visor. It is a figure which shows the example of arrangement | positioning of the target recognition camera 10 and the near-infrared camera 20 preferable in relation to an inner mirror or a sun visor. It is a figure which shows the example of arrangement | positioning of the target recognition camera 10 and the near-infrared camera 20 preferable in relation to an inner mirror or a sun visor. It is a figure which shows the example of arrangement | positioning of the target recognition camera 10 and the near-infrared camera 20 with a preferable relationship between the display part of the near-infrared image of the near-infrared camera 20, and an inner mirror or a sun visor. It is a figure which shows the example of arrangement | positioning of the target recognition camera 10 and the near-infrared camera 20 with a preferable relationship between the display part of the near-infrared image of the near-infrared camera 20, and an inner mirror or a sun visor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle periphery monitoring apparatus 2 Target recognition system 3 Night view system 10 Target recognition camera 12 Image processing apparatus 14 Lane keep assist ECU
16 EPS / ECU
20 Near Infrared Camera 22 Night View Controller 30 Head Up Display 32 Liquid Crystal Display 34 Concave Mirror 36 Combiner

Claims (7)

A display image generating camera disposed in the passenger compartment;
With a target recognition camera arranged in the passenger compartment,
The display image generation camera is arranged closer to the driver's seat than the target recognition camera ,
The vehicle periphery monitoring device, wherein an image captured by the display image generation camera is displayed without changing a viewpoint . A display unit arranged in a passenger compartment and displaying an image captured by the display image generation camera;
The vehicle periphery monitoring device according to claim 1, wherein the display image generation camera is disposed closer to the driver's seat than the position of the end portion on the passenger seat side of the display unit in the vehicle width direction.   The vehicle periphery monitoring device according to claim 1, wherein the display image generation camera and the target recognition camera are arranged on an upper end side of a windshield glass of the vehicle.   The display image generation camera and the target recognition camera are disposed above a lower end position of an inner mirror of a vehicle or above a lower end position of a sun visor during deployment. Vehicle periphery monitoring device.   The vehicle periphery monitoring apparatus according to claim 3, wherein the display image generation camera and the target recognition camera are arranged on a substantially horizontal straight line along a vehicle width direction. An image processing means connected to the target recognition camera for recognizing an image of a predetermined target that can be included in an image captured by the target recognition camera;
6. The apparatus according to claim 1, further comprising a control unit that is connected to the image processing unit and that performs alarm control or control of a running state of the vehicle based on an image recognition result of the image processing unit. The vehicle periphery monitoring device according to claim 1. The image information obtained from the target recognition camera is not used to generate a display image generated based on an image captured by the display image generation camera. The vehicle periphery monitoring device according to claim 1.

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