JP5397887B2 - Vehicle monitoring system - Google Patents

Description

  The present invention relates to a vehicle monitor system in which a rear image obtained by photographing the rear of a vehicle is displayed on a display means in a vehicle compartment.

2. Description of the Related Art Conventionally, there has been proposed a vehicle monitoring device that displays a rear image obtained by photographing the rear of a vehicle with a camera on a backlight type liquid crystal display embedded in a room mirror body in a vehicle interior (see Patent Document 1). In such a vehicle monitoring apparatus, a rear image representing the state behind the vehicle is displayed on the liquid crystal display in the rearview mirror, so that more information regarding the vehicle rear environment can be provided to the driver. become. As a result, the driver can more accurately determine the state behind the vehicle.
Japanese Patent Laid-Open No. 11-78693

  By the way, when a vehicle travels on any lane of a road having multiple lanes on one side, which lane the following vehicle is traveling from the rear image displayed on the liquid crystal display of the vehicle monitoring device described above It may be difficult to judge quickly. In such a case, when changing the driving lane, the driver must pay particular attention to the trend of the following vehicle. This becomes more noticeable as the number of lanes increases.

  The present invention has been made in view of such circumstances, and provides a vehicle monitoring system that can quickly determine the lane in which the following vehicle is traveling.

  The vehicle monitoring system according to the present invention is provided with an imaging unit for imaging the rear of the vehicle, a processing unit for generating a rear image based on a captured image obtained by the imaging unit, and the processing unit. The vehicle monitor system has a display means for displaying a rear image obtained in the above, wherein the processing means detects a lane image portion for detecting a lane image portion in the rear image, and the vehicle from the detected lane image portion. Travel lane identifying means for identifying a travel lane image portion corresponding to the lane in which the vehicle is traveling, and lane drawing processing means for representing the travel lane image portion and other lane image portions in different colors in the rear image. It becomes the composition which has.

  With such a configuration, a rear image in which a traveling lane image portion corresponding to a lane in which the vehicle is traveling and a lane image portion corresponding to another lane are displayed in different colors is displayed on the display unit. It becomes like this. Thereby, in the rear image displayed on the display means, based on the color of the lane image portion where the subsequent vehicle image portion is located, the lane in which the subsequent vehicle is traveling is the traveling lane of the vehicle or another lane. It becomes possible to judge intuitively whether there is.

  In the vehicle monitor system according to the present invention, the lane drawing processing means can be configured to represent the travel lane image portion in a color different from the color appearing in the captured image.

  With such a configuration, even if the lane image portion other than the traveling lane image portion is the same as the color appearing in the captured image, the traveling lane image portion and the other lane image portion can be represented in different colors. Therefore, the drawing process can be simplified.

  In the vehicle monitor system according to the present invention, the lane drawing processing means may be configured to represent the other lane image portion in a color different from the color that appears in the captured image.

  With such a configuration, even if the traveling lane image portion has the same color as that appearing in the captured image, the traveling lane image portion and the other lane image portion can be represented in different colors, so the drawing process is performed. You can make it easier.

  In the vehicle monitor system according to the present invention, the lane drawing processing means may be configured to represent the travel lane image portion and the lane image portion adjacent thereto in a color different from the color that appears in the captured image. it can.

  With such a configuration, the traveling lane image portion and the lane image portion adjacent to the traveling lane image portion can be expressed in a more easily viewable color different from the color appearing in the captured image.

  Furthermore, in the vehicle monitoring system according to the present invention, the lane drawing processing means represents the lane image portions corresponding to all the lanes assigned to the vehicle traveling in the same direction as the traveling direction of the vehicle in different colors. Can be configured.

  With such a configuration, the lane in which the subsequent vehicle travels from the rear image displayed on the display means, regardless of which lane assigned to the vehicle travel in the same direction as the vehicle travels. Can be intuitively determined by color.

  The vehicle monitoring system according to the present invention further includes a lane change intention determination unit that determines whether or not the driver has an intention to move the vehicle to another lane, and the processing unit When it is determined that there is an intention to move the vehicle to another lane, the lane drawing processing means is controlled so that the traveling lane image portion and the other lane image portion are displayed in different colors in the rear image. It is possible to adopt a configuration having a means to do.

  With such a configuration, when the driver intends to move the vehicle to another lane, that is, when the lane change that should pay particular attention to the following vehicle is performed, the driving lane of the vehicle in the rear image displayed on the display means The image portion and the other lane image portion are represented by different colors.

  Furthermore, in the vehicle monitor system according to the present invention, the processing means detects a rear vehicle image portion representing a vehicle located behind the vehicle in the rear image, and the rear vehicle image portion detects the rear vehicle image portion. In this case, the lane drawing processing unit may be configured to control the lane drawing processing unit so that the traveling lane image part and the other lane image part are represented in different colors in the rear image.

  With such a configuration, when there is a subsequent vehicle to be noted, the traveling lane image of the vehicle and the other lane image are displayed in different colors in the rear image displayed on the display unit.

  Further, in the vehicle monitoring system according to the present invention, the vehicle monitoring system includes a lane change intention determination unit that determines whether or not the driver has an intention to move the vehicle to another lane, and the processing unit includes: Subsequent vehicle means for detecting a rear vehicle image portion representing a vehicle located behind the vehicle, and it is determined that the driver has an intention to move the vehicle to another lane, and the rear vehicle image in the rear image And a means for controlling the lane drawing processing means so that when the portion is detected, the traveling lane image portion and the other lane image portion are represented in different colors in the rear image. it can.

  With such a configuration, when the driver intends to move the vehicle to another lane, i.e., when there is a subsequent vehicle to be particularly careful when changing lanes that should pay special attention to the following vehicle In the rear image displayed on the display means, the traveling lane image of the vehicle and the other lane image are displayed in different colors.

  Furthermore, in the vehicle monitoring system according to the present invention, the lane change intention detection means determines whether or not the driver intends to move the vehicle to another lane based on whether or not the direction indicator is operated. Can be configured to determine.

  With such a configuration, when the direction indicator of the vehicle is operated, the traveling lane image of the vehicle and the other lane image are displayed in different colors in the rear image displayed on the display means.

  In the vehicle monitoring system according to the present invention, the processing means includes a subsequent vehicle detection means for detecting a subsequent vehicle image portion representing a vehicle located behind the vehicle in the rear image, and the lane drawing processing means includes the lane drawing processing means. When the traveling lane image portion and the other lane portion are represented in different colors in the rear image, an instruction mark indicating the subsequent vehicle image portion detected by the subsequent vehicle detecting means is displayed superimposed on the rear image. And an instruction mark drawing means to be configured.

  With such a configuration, a rear image in which a traveling lane image portion corresponding to a lane in which the vehicle is traveling and a lane image portion corresponding to another lane are displayed in different colors is displayed on the display unit. In the state where there is a following vehicle, an instruction mark indicating the following vehicle image portion is displayed superimposed on the rear image. As a result, in the rear image displayed on the display means, the lane in which the subsequent vehicle is traveling is based on the color of the lane image portion in which the subsequent vehicle image portion that can be clearly specified by the instruction mark is located. It becomes possible to intuitively determine whether the lane is another lane.

  The vehicle monitoring system according to the present invention is provided with an imaging unit for imaging the rear of the vehicle, a processing unit for generating a rear image based on a captured image obtained by the imaging unit, and the processing unit. The vehicle monitor system has a display means for displaying a rear image obtained in the above, wherein the processing means detects a lane image portion for detecting a lane image portion in the rear image, and the vehicle from the detected lane image portion. A traveling lane identifying unit that identifies a traveling lane image portion corresponding to a lane in which the vehicle is traveling, a subsequent vehicle detecting unit that detects a subsequent vehicle image portion representing a vehicle located behind the vehicle in the rear image, and a detection Instruction mark drawing means for displaying an instruction mark indicating the following vehicle image portion to be superimposed on the rear image, and the instruction mark drawing means A configuration that represents an indication mark for indicating the following vehicle image portion positioned lane image portion other than the indication mark and the traveling lane image part that instructs a following vehicle image portion located at a portion at a different color.

  With such a configuration, in the rear image displayed on the display means, the instruction mark indicating the subsequent vehicle image portion representing the vehicle located behind the vehicle is such that the lane in which the subsequent vehicle travels is the travel lane of the vehicle. Or different lanes depending on whether it is another lane. Thus, in the rear image displayed on the display means, based on the color of the instruction mark, it is intuitively determined whether the lane in which the subsequent vehicle is traveling is the traveling lane of the vehicle or another lane. Will be able to.

  The instruction mark is not particularly limited as long as it indicates the subsequent vehicle image portion, and may be a figure such as a frame or an arrow surrounding the subsequent image portion, or may color the subsequent vehicle image portion. .

  The vehicle monitoring system according to the present invention further includes a lane change intention determination unit that determines whether or not the driver has an intention to move the vehicle to another lane, and the processing unit transmits the vehicle to the driver. It is possible to have a means for controlling the instruction mark drawing means so that the instruction mark is displayed on the rear image when it is determined that there is an intention to move the vehicle to another lane. .

  With such a configuration, when the driver has an intention to move the vehicle to another lane, that is, when the lane change that should pay particular attention to the subsequent vehicle is performed, in the rear image displayed on the display means, the subsequent vehicle image is displayed. An instruction mark indicating a portion is displayed in a different color depending on whether the lane in which the subsequent vehicle is traveling is the lane of the vehicle or another lane.

  Furthermore, in the vehicle monitoring system according to the present invention, the lane change intention detection means determines whether or not the driver intends to move the vehicle to another lane based on whether or not the direction indicator is operated. Can be configured to determine.

  With such a configuration, when the direction indicator of the vehicle is operated, in the rear image displayed on the display means, the instruction mark indicating the subsequent vehicle image portion indicates that the lane in which the subsequent vehicle travels is the vehicle. Different colors are displayed according to the driving lane or other lane.

  According to the present invention, in the rear image displayed on the display means, based on the color of the lane image portion where the subsequent vehicle image portion is located, whether or not the lane in which the subsequent vehicle is traveling is the traveling lane of the vehicle. It is possible to intuitively determine whether the lane is the lane of the vehicle, and based on the color of the instruction mark, it is intuitive whether the lane that the following vehicle is traveling is the lane of the vehicle or another lane. Therefore, it is possible to quickly determine the lane in which the following vehicle is traveling.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  In the vehicle monitor system according to the embodiment of the present invention, the vehicle is provided with three camera units as shown in FIG. That is, the rear camera unit 21 is provided at a substantially central position in the left-right direction at a predetermined height at the rear end of the vehicle body 100, the right camera unit 22 is provided on the right door mirror 101, and the left camera unit 23 is provided on the left door mirror 102. ing. Each of the rear camera unit 21, the right camera unit 22, and the left camera unit 33 is a wide-angle camera unit having a photographing angle range of approximately 180 °. The rear camera unit 21 photographs an area corresponding to the photographing angle range 180 ° behind the vehicle body 100 (vehicle). The right camera unit 22 captures a region (region extending from the front right side to the rear right side) corresponding to the imaging angle range 180 ° on the right side of the vehicle body 100 (vehicle). The left camera unit 23 captures an area corresponding to the imaging angle range of 180 ° on the left side of the vehicle body 100 (vehicle) (an area extending from the left front to the left rear).

  Further, in this vehicle monitor system, as shown in FIG. 2, the rear monitor unit is located at a predetermined position (substantially the same position as the conventional rearview mirror installation position) on the driver's seat side of the boundary with the front window of the ceiling in the vehicle interior. 31, a right monitor unit 32 is provided at the right end of the instrument panel near the right door mirror 101, and a left monitor unit 33 is provided at the left end of the instrument panel near the left door mirror 102. A rear image IB based on the photographed image obtained by the rear camera unit 21 is displayed on the rear monitor unit 31, and a right side image IR based on the photographed image obtained by the right camera unit 22 is displayed on the right monitor unit 32. A left side image IL based on the captured image obtained by the camera unit 23 is displayed on the left monitor unit 33.

  A main monitor 11 of an AVN (Audio Video Navigation) device is provided in a substantially central part of the instrument panel, and music, video images, a map for navigation, and the like are displayed on the main monitor 11.

  The processing system of this vehicle monitoring system is configured with an AVN device, for example, as shown in FIG. In FIG. 3, the processing unit 10 stores a GPS unit 12 for providing information necessary for vehicle navigation, sensors 13 (gyro sensors, acceleration sensors), and map information (including the number of lanes). A unit 17 (for example, a hard disk unit) is connected. A main monitor unit 11, a rear monitor unit 31, a right monitor unit 32, and a left monitor unit 33 (see FIG. 2) provided in the passenger compartment are connected to the processing unit 10 via the display control circuit 14. The processing unit 10 executes processing related to vehicle navigation based on various information from the GPS unit 12 and sensors 13 and the map information read from the storage unit 17, and the vehicle position mark together with the map related to navigation in the main monitor unit 11. And a guide route and the like are displayed.

  Further, the rear camera unit 21, the right camera unit 22, and the left camera unit 23 described above are connected to the processing unit 10. The processing unit 10 generates a rear image IB to be provided to the occupant based on the captured image obtained from the rear camera unit 21 and displays the rear image IB on the rear monitor unit 31, and the occupant based on the captured image obtained from the right camera unit 22. The right side image IR to be provided to the vehicle is generated and displayed on the right monitor unit 32, and further, the left side image IL to be provided to the occupant is generated based on the photographed image obtained from the left camera unit 23 to generate the left monitor unit. The display control circuit 14 is controlled so as to be displayed on the display 33.

  A speaker 35 is installed in the passenger compartment, and the speaker 35 is connected to the processing unit 10 via the audio output circuit 16. Under the control of the processing unit 10, the voice output circuit 16 outputs a message from the speaker 35 by voice.

  The processing unit 10 executes processing relating to image display according to the procedure shown in FIG.

  In FIG. 4, when the processing unit 10 acquires a captured image from the rear camera unit 21 (S1), the processing unit 10 generates a rear image IB configured like a landscape reflected on the rearview mirror based on the captured image, The image IB is displayed on the rear monitor unit 31 (S2). The processing unit 10 scans the rear image IB in a predetermined direction and extracts an edge portion that is a portion having a large density change (S3). And the processing unit 10 detects the lane image part showing a lane by detecting the white line image part showing the white line which divides a lane based on the edge part extracted from the back image IB (S4). Note that the specific processing of the lane detection can be performed according to a known method (for example, Japanese Patent Laid-Open No. 63-142478).

  Subsequently, the processing unit 10 acquires map information (including the number of lanes) from the storage unit 17 (S5), and calculates the traveling position of the vehicle based on the detection signal from the GPS unit 12 (S6). Then, the processing unit 10 determines the position of the lane in which the vehicle travels based on the map information and the travel position information (S7), and the travel lane representing the travel lane of the vehicle in the detected lane image portion. Specify the image part.

  In parallel with the processing (S1 to S7) for displaying the rear image IB on the rear monitor unit 31 and specifying the traveling lane image portion in the rear image IB, the processing unit 10 applies the edge portion extracted from the rear image IB. Based on this, the process (S8) for detecting the subsequent vehicle image portion corresponding to the vehicle located behind the vehicle is executed. It should be noted that the specific processing for detecting the following vehicle can be performed according to a known method (for example, Japanese Patent Laid-Open No. 8-320999).

  Thereafter, the processing unit 10 determines whether or not the direction indicator has been turned on (S9). If the direction indicator has not been turned on (NO in S8), the driver moves the vehicle to another lane. If it can be determined that there is no intention to do so, the above-described processing (S1 to S7, S8) is repeated. By such processing, a rear image IB as shown in FIG. 5 is displayed on the rear monitor 31, for example. The rear image IB includes a traveling lane image portion LC divided by a left white line image portion WLL and a right white line image portion WLR, and a left lane image portion LL between the left white line image portion WLL and the left shoulder image portion. A right lane image portion LR between the right white line image portion WLR and the right shoulder image portion appears, and a subsequent vehicle image portion Ve located in the left lane image portion LL appears. From such a rear image IB displayed on the rear monitor unit 31, the driver of the vehicle can recognize that the following vehicle is traveling in the lane on the left side of the lane in which the host vehicle is traveling.

  If the processing unit 10 determines that either the right or left direction indicator has been turned on in the process as described above (YES in S9), that is, the driver moves the vehicle to another lane. If it can be determined that there is an intention to do so, the traveling lane image portion LC in the rear image IB is colored in a color (for example, green) different from the color that appears in the captured image, and the detected subsequent vehicle image portion Ve. A drawing process for displaying a designation mark for designating the rear image IB on the rear image IB is performed (S10). By such processing, for example, the rear image IB shown in FIG. 5 changes as shown in FIG. In the rear image IB shown in FIG. 6, the traveling lane image portion LC is represented by a color (for example, green) different from the color that appears in the captured image, and the right lane image portion LR and the left lane image portion LL appear in the captured image. Represented as is. That is, in the rear image IB, the traveling lane image portion LC and the other lane image portions LR and LL are represented by different colors. In addition, an instruction frame ML (instruction mark) that indicates the subsequent vehicle image portion Ve located in the left lane image portion LL is displayed so as to overlap the rear image IB so as to surround the subsequent vehicle image portion Ve.

  Thereafter, while the direction indicator is in the ON state, the above-described processing (S1 to S7, S8, S9 to S10) is repeatedly performed, and the travel lane image portion LC is colored in a color different from the color that appears in the captured image. The state where the rear image IB in which the instruction frame ML that surrounds the subsequent vehicle image portion Ve appears is displayed on the rear monitor 31 is maintained. Note that the processing unit 10 causes the speaker 35 to output a warning message indicating the presence of the subsequent vehicle based on the detection of the subsequent vehicle image portion Ve when the direction indicator is turned on.

  The driver who is about to change the lane is alerted by the warning message from the speaker 35 and is clearly surrounded by the instruction frame ML in the rear image IB displayed on the rear monitor 31. The following vehicle travels in a lane other than the traveling lane of the own vehicle based on the fact that the color of the lane image portion where the following vehicle image portion Ve specified in (2) is different from the color (for example, green) of the traveling lane image portion LC. It is possible to intuitively determine what is being done. As a result, the lane in which the following vehicle is traveling can be quickly determined, and the driving operation for changing the lane can be performed with a relatively large margin.

  In the example of the processing described above (see FIG. 4), when the turn indicator is turned on, the color of the traveling lane image portion LC that is different from the color that appears in the captured image in the rear image IB displayed on the rear monitor 31 ( For example, it may be colored green), but the traveling lane image portion LC may always be colored in the above color regardless of the operation of the direction indicator. In this case, even during normal driving, the lane in which the subsequent vehicle is traveling is determined based on the color of the lane image portion where the subsequent vehicle image portion Ve of the rear image IB displayed on the rear monitor 31 is located. It is possible to intuitively grasp whether the lane is another lane. As a result, the driver can perform the driving operation with a comparative margin.

  The traveling lane image portion LC may be the same as the color appearing in the captured image, and the other lane image portions LL and LR may be different from the color appearing in the captured image (for example, orange or blue). Even in this case, in the rear image IB displayed on the rear monitor 31, the color of the travel lane image portion LC is different from the colors of the other travel lane image portions LL and LC, so that the subsequent vehicle image portion Ve is located. Based on the color of the lane image portion to be performed, it is possible to intuitively determine whether the lane in which the subsequent vehicle is traveling is the traveling lane of the vehicle or another lane.

  In addition, if the color of the traveling lane image portion LC and the colors of the other lane image portions LL and LR are expressed in the rear image IB, in particular, the instruction frame ML for designating the subsequent vehicle image portion Ve. (Instruction mark) may not be displayed. However, displaying the instruction frame ML is preferable in that the subsequent vehicle image portion Ve itself can be grasped more intuitively in the rear image IB.

  The processing unit 10 can perform processing according to the procedure shown in FIG. In FIG. 7, the processing procedure other than the procedure according to the determination step S91 is the same as the processing procedure shown in FIG.

  In the process of the procedure shown in FIG. 7, even when the turn indicator is turned on (YES in S9), if the subsequent vehicle image portion Ve is not detected in the rear image IB (NO in S91). The drawing process (S10), that is, the process of coloring the traveling lane portion LC (lane drawing process) and the process of displaying the instruction mark indicating the subsequent vehicle image portion Ve (instruction mark drawing process) are not performed. The drawing process (S10) is performed only when the turn indicator is turned on (YES in S9) and the subsequent vehicle image portion Ve is detected in the rear image IB (YES in S91).

  By such processing, the lane image portion is colored in the rear image IB and the instruction mark is displayed on the subsequent vehicle image portion Ve only when the driver intends to change lanes and there is actually a following vehicle. As a result, it is possible to eliminate the annoying feeling of the rear monitoring support by the vehicle monitoring system when there is no following vehicle, which may be felt by a skilled driver.

  According to the drawing process (S10) described above, the traveling lane image portion LC of the rear image IB is represented by a color (for example, green) different from the color that appears in the captured image. It is also possible to perform a drawing process in which lane image portions corresponding to all lanes assigned to traveling in the same direction are colored with different colors. In this case, as shown in FIG. 8, in the rear image IB displayed on the rear monitor 31, the lane image portions LC, LL, and LR corresponding to all three lanes on one side including the traveling lane are represented by different colors. For example, the traveling lane image portion LC is represented in green, the right lane image portion LR is represented in blue, and the left lane image portion LL is represented in orange. Then, an instruction frame EL surrounding the subsequent vehicle image portion Ve located in the left lane image portion LL is displayed so as to overlap the rear image IB.

  In this case, no matter which lane assigned to the vehicle traveling in the same direction as the vehicle travels, the lane in which the subsequent vehicle travels is determined from the rear image IB displayed on the rear monitor 31. The colors (green, blue, orange) can be judged intuitively and more clearly.

  The processing unit 10 generates and displays the rear image IB based on the captured image from the rear camera unit 21 as described above, and also displays the scenery reflected on the right door mirror 101 based on the captured image from the right camera unit 22. A right side image IR configured as described above is generated, and a left side image IL configured as a landscape reflected on the left door mirror 102 is generated based on a captured image from the left camera unit 23. Then, the processing unit 10 displays the right side image IR on the right monitor unit 32 and displays the left side image IL on the left monitor unit 33.

  The processing unit 10 can execute processing according to the procedure shown in FIG. 4 or FIG. 7 for each of the captured image from the right camera unit 22 and the captured image from the left camera unit 23. In this case, for example, when the ON operation of the right direction indicator is performed (YES in S9), the above-described drawing process (S10) is performed on the right side image IR. As a result, a right side image IR as shown in FIG. 9 is displayed on the right monitor unit 32, for example. In the right-side image IR, the travel lane image portion LC corresponding to the travel lane in which the vehicle travels is represented by a color (for example, green) different from the color that appears in the captured image.

  When the left direction indicator is turned on (YES in S9), the above-described drawing process (S10) is performed on the left side image IL. As a result, a left side image IL as shown in FIG. 10 is displayed on the left monitor unit 33, for example. In the left-side image IL, the travel lane image portion LC corresponding to the travel lane in which the vehicle travels is represented in a color (for example, green) different from the color that appears in the captured image. In the left side image IL shown in FIG. 10, the subsequent vehicle image portion Ve corresponding to the vehicle traveling behind the vehicle is shown to be positioned in the left lane image portion LL. Then, an instruction frame ML surrounding the subsequent vehicle image portion Ve is displayed so as to overlap the left side image IL. In such a left side image IL, the lane image portion LL where the subsequent vehicle image portion Ve specified by the instruction frame ML is located is different from the color (for example, green) of the traveling lane image portion LC. It is possible to intuitively grasp that the vehicle is traveling in a different lane, that is, a lane adjacent to the left side of the travel lane.

  The processing unit 10 replaces the processing for representing the traveling image lane portion LC of the rear image IB with a color different from the color appearing in the photographed image in the above-described drawing processing (S10 in FIGS. 4 and 7), and the subsequent vehicle image portion. A process of coloring an instruction mark (instruction frame) that indicates Ve can be performed.

  In this case, a rear image IB as shown in FIG. 11 is displayed on the rear monitor unit 31. The rear image IB includes a following vehicle image portion VeC located in the traveling lane image portion LC, a left following vehicle image portion VeL located in the left lane image portion LL, and a right following vehicle image portion located in the right lane image portion LR. VeR is represented. Then, the instruction frame MC that indicates the subsequent vehicle image portion VeC surrounds the subsequent vehicle image portion VeC, and the instruction frame ML that specifies the left subsequent vehicle image portion VeL surrounds the left subsequent vehicle image portion VeL. An instruction frame MR for instructing the right subsequent vehicle image portion VeR is displayed so as to overlap the rear image IB so as to surround the right subsequent vehicle image portion VeR. Further, specifically, the instruction frame MC is displayed in green, the instruction frame ML is displayed in orange, and the instruction frame MR is displayed in blue so that the colors of the instruction frames MC, ML, and MR are different.

  According to such a rear image IB, based on the color of the instruction frame (instruction mark), it is possible to intuitively determine the lane image portion where the subsequent vehicle image portion Ve indicated by the instruction frame is located. As a result, it is possible to intuitively determine which lane the subsequent vehicle is traveling. Therefore, as in the case where the lane image portion is colored, the lane in which the following vehicle is traveling can be quickly determined, and the driving operation for changing the lane can be performed with a comparative margin.

  In the example shown in FIG. 11, the colors of the instruction frames MC, ML, MR surrounding the following vehicle image portions VeC, VeL, VeR located in all the lane image portions LC, LL, LR in the rear image IB are different. The instruction frame MC surrounding the subsequent vehicle image portion VeC positioned in the traveling lane image portion LC and the instruction frames ML and MR surrounding the subsequent vehicle image portions VeL and VeR positioned in the other lane image portions LL and LR are different colors. It may be represented by In this case, based on the color of the instruction frame displayed superimposed on the rear image IB, it is possible to intuitively determine whether at least the following vehicle is traveling in the driving lane of the vehicle or in another lane. As a result, the lane in which the following vehicle is traveling can be quickly determined.

  The vehicle monitor system according to the present invention has an effect that it is possible to quickly determine the lane in which the following vehicle is traveling, and a rear image obtained by photographing the rear of the vehicle is displayed in the vehicle interior. It is useful as a vehicle monitor system that is displayed on the screen.

It is a figure which shows the example of arrangement | positioning of the several camera unit used for the vehicle monitor system which concerns on embodiment of this invention. It is a figure which shows the example of arrangement | positioning of the several monitor part used for the vehicle monitor system which concerns on embodiment of this invention. It is a block diagram showing the structure of the processing system of the vehicle monitor system which concerns on embodiment of this invention. It is a flowchart which shows the 1st example of the process sequence in the process unit in the processing system shown in FIG. It is a figure which shows the example of a display of the back image IB before ON operation of a direction indicator is made. It is a figure which shows the example of a display of the back image IB after ON operation of a direction indicator was made. It is a flowchart which shows the 2nd example of the process sequence in the process unit in the processing system shown in FIG. It is a figure which shows the other example of a display of the back image IB. It is a figure which shows the example of a display of right side image IR. It is a figure which shows the example of a display of the left side image IL. It is a figure which shows the other example of a display of the back image IB.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Processing unit 11 Main monitor part 12 GPS unit 13 Sensors 14 Display control circuit 16 Audio | voice output circuit 17 Memory | storage unit 21 Rear camera 22 Right camera unit 23 Left camera unit 31 Rear monitor part 32 Right monitor part 33 Left monitor part 35 Speaker 100 Body 101 Right door mirror 102 Left door mirror

Claims (3)

Photographing means for photographing the rear of the vehicle;
Processing means for generating a rear image based on the photographed image obtained by the photographing means;
A vehicle monitoring system provided with a display means provided in a passenger compartment and displaying a rear image obtained by the processing means;
The processing means includes
Lane detection means for detecting a lane image portion in the rear image;
Traveling lane identifying means for identifying a traveling lane image portion corresponding to the lane in which the vehicle is traveling from the detected lane image portion;
Subsequent vehicle detection means for detecting a subsequent vehicle image portion representing a vehicle located behind the vehicle in the rear image;
An instruction mark drawing means for displaying an instruction mark indicating the detected succeeding vehicle image portion superimposed on the rear image;
The instruction mark drawing means uses different colors for the instruction mark indicating the subsequent vehicle image portion positioned in the traveling lane image portion and the instruction mark indicating the subsequent vehicle image portion positioned in the lane image portion other than the traveling lane image portion. A vehicle monitoring system. A lane change intention determination means for determining whether or not the driver has an intention to move the vehicle to another lane;
The processing means controls the instruction mark drawing means so that the instruction mark is displayed so as to be superimposed on the rear image when it is determined that the driver intends to move the vehicle to another lane. The vehicle monitor system according to claim 1, comprising: 3. The vehicle monitoring system according to claim 2, wherein the lane change intention detection means determines whether or not the driver has an intention to move the vehicle to another lane based on whether or not the direction indicator has been operated. .

Images